From 082ce62245f66477bb8d97384632a41a1c67c5f8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 17 十二月 2024 16:30:10 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/RetreatNavigateNode.java  |   13 ++++++
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java         |   15 +++++++
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java      |   12 +++---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java |   58 +++++------------------------
 4 files changed, 44 insertions(+), 54 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index fa4c317..f51d239 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -80,13 +80,13 @@
         RetreatNavigateNode finialNode = null;
 
         PriorityQueue<RetreatNavigateNode> openQueue = new PriorityQueue<>();
-        ArrayList<RetreatNavigateNode> existNodes = new ArrayList<>();
+        Set<RetreatNavigateNode> existNodes = new HashSet<>();
 
         openQueue.add(start);
         existNodes.add(start);
         boolean phaseSecond = true;
 
-        while (openQueue.size() > 0 && null == finialNode) {
+        while (!openQueue.isEmpty() && null == finialNode) {
 
             RetreatNavigateNode currentNode = openQueue.poll();
 
@@ -203,7 +203,7 @@
             int actualLanesOfTurn = 0;
             int filterPointOfTurnTimes = 0;
 
-            while (openQueue.size() > 0 && null == finialNode) {
+            while (!openQueue.isEmpty() && null == finialNode) {
 
                 RetreatNavigateNode currentNode = openQueue.poll();
                 List<RetreatNavigateNode> enableNodes = new ArrayList<>();
@@ -315,7 +315,7 @@
     }
 
     // 鑾峰彇鍥涘懆鑺傜偣
-    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, List<RetreatNavigateNode> existNodes) {
+    private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes) {
 
         int x = currentNode.getX();
         int y = currentNode.getY();
@@ -345,7 +345,7 @@
         return neighbourNodes;
     }
 
-    private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, List<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
+    private RetreatNavigateNode extendNeighborNodes(RetreatNavigateNode currentNode, RetreatNavigateNode extendNode, Set<RetreatNavigateNode> existNodes, Integer dx, Integer dy) {
         RetreatNavigateNode nextNode;
 
         if (null == dx || null == dy) {
@@ -371,7 +371,7 @@
             return extendNeighborNodes(currentNode, nextNode, existNodes, dx, dy);
 
         } else {
-            if (this.isExist(nextNode, existNodes)) {
+            if (existNodes.contains(nextNode)) {
                 return null;
             }
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index 0f4def0..1f506ac 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -50,7 +50,7 @@
         Integer maxAgvCountInLane = configService.getVal("maxAgvCountInLane", Integer.class);
 
         PriorityQueue<NavigateNode> openQueue = new PriorityQueue<>();
-        ArrayList<NavigateNode> existNodes = new ArrayList<>();
+        Set<NavigateNode> existNodes = new HashSet<>();
 
         openQueue.add(start);
         existNodes.add(start);
@@ -59,7 +59,7 @@
         DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
         String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
 
-        while (openQueue.size() > 0) {
+        while (!openQueue.isEmpty()) {
             // 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣
             NavigateNode currentNode = openQueue.poll();
 
@@ -175,7 +175,7 @@
     }
 
     // 鑾峰彇鍥涘懆鑺傜偣
-    private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, List<NavigateNode> existNodes) {
+    private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
         //鑾峰彇褰撳墠缁撶偣鐨剎, y
         int x = currentNode.getX();
         int y = currentNode.getY();
@@ -183,29 +183,29 @@
         ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
 
         NavigateNode rightNode = extendNeighborNodes(currentNode, new NavigateNode(x, y + 1), mapMatrix, existNodes, null, null);
-        if (is_valid(currentNode, rightNode, mapMatrix, existNodes)) {
+        if (is_valid(currentNode, rightNode)) {
             neighbourNodes.add(rightNode);
         }
 
         NavigateNode leftNode = extendNeighborNodes(currentNode, new NavigateNode(x, y - 1), mapMatrix, existNodes, null, null);
-        if (is_valid(currentNode, leftNode, mapMatrix, existNodes)) {
+        if (is_valid(currentNode, leftNode)) {
             neighbourNodes.add(leftNode);
         }
 
         NavigateNode topNode = extendNeighborNodes(currentNode, new NavigateNode(x - 1, y), mapMatrix, existNodes, null, null);
-        if (is_valid(currentNode, topNode, mapMatrix, existNodes)) {
+        if (is_valid(currentNode, topNode)) {
             neighbourNodes.add(topNode);
         }
 
         NavigateNode bottomNode = extendNeighborNodes(currentNode, new NavigateNode(x + 1, y), mapMatrix, existNodes, null, null);
-        if (is_valid(currentNode, bottomNode, mapMatrix, existNodes)) {
+        if (is_valid(currentNode, bottomNode)) {
             neighbourNodes.add(bottomNode);
         }
 
         return neighbourNodes;
     }
 
-    private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, List<NavigateNode> existNodes, Integer dx, Integer dy) {
+    private NavigateNode extendNeighborNodes(NavigateNode currentNode, NavigateNode extendNode, int[][] mapMatrix, Set<NavigateNode> existNodes, Integer dx, Integer dy) {
         NavigateNode nextNode = null;
 
         if (null == dx || null == dy) {
@@ -230,7 +230,7 @@
 
         } else {
 
-            if (isExist(nextNode, existNodes)) {
+            if (existNodes.contains(nextNode)) {
                 return null;
             }
 
@@ -257,49 +257,12 @@
         }
     }
 
-    private boolean is_valid(NavigateNode currentNode, NavigateNode node, int[][] mapMatrix, List<NavigateNode> existNodes) {
+    private boolean is_valid(NavigateNode currentNode, NavigateNode node) {
         if (null == node) {
             return false;
         }
-//        int x = node.getX();
-//        int y = node.getY();
-//        if (x < 0 || x >= mapMatrix.length
-//                || y < 0 || y >= mapMatrix[0].length) {
-//            return false;
-//        }
-//
-//        // 濡傛灉缁撶偣鐨勪綅缃皬浜�0锛屽垯涓嶅悎娉�
-//        if (mapMatrix[x][y] < 0) return false;
-//
-//        if (is_exist(node, existNodes)) {
-//            return false;
-//        }
-//
-//        // 鍒ゆ柇閫氳繃鎬�
-//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
-//        String currentNodeCodeData = codeMatrix[currentNode.getX()][currentNode.getY()];
-//        String nextNodeCodeData = codeMatrix[node.getX()][node.getY()];
-//        node.setCodeData(nextNodeCodeData);
-//
-//        Route route = routeService.findByCodeOfBoth(
-//                codeService.selectByData(currentNodeCodeData).getId(),
-//                codeService.selectByData(nextNodeCodeData).getId()
-//        );
-//        if (null == route) {
-//            return false;
-//        }
-
         return true;
     }
-
-//    private boolean is_exist(NavigateNode node, List<NavigateNode> existNodes) {
-//        for (NavigateNode exist_node : existNodes) {
-//            if (node.getX() == exist_node.getX() && node.getY() == exist_node.getY()) {
-//                return true;
-//            }
-//        }
-//        return false;
-//    }
 
     private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
         for (NavigateNode existNode : existNodes) {
@@ -324,7 +287,6 @@
 //        Code code1 = codeService.selectByData(node1.getCodeData());
 //        Code code2 = codeService.selectByData(node2.getCodeData());
 //        return (int) (Math.abs(code2.getX() - code1.getX()) + Math.abs(code2.getY() - code1.getY()));
-
         return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
     }
 
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java
index f3bab8b..a27e0d9 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/NavigateNode.java
@@ -3,6 +3,7 @@
 import lombok.Data;
 
 import java.io.Serializable;
+import java.util.Objects;
 import java.util.Optional;
 
 /**
@@ -74,4 +75,18 @@
         }
         return null;
     }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (!(obj instanceof NavigateNode)) return false;
+        NavigateNode that = (NavigateNode) obj;
+        return this.x == that.x && this.y == that.y;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(x, y);
+    }
+
 }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/RetreatNavigateNode.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/RetreatNavigateNode.java
index c6c6134..0df1925 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/RetreatNavigateNode.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/RetreatNavigateNode.java
@@ -3,6 +3,7 @@
 import lombok.Data;
 
 import java.io.Serializable;
+import java.util.Objects;
 import java.util.Optional;
 
 @Data
@@ -68,5 +69,17 @@
         return null;
     }
 
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (!(obj instanceof RetreatNavigateNode)) return false;
+        RetreatNavigateNode that = (RetreatNavigateNode) obj;
+        return this.x == that.x && this.y == that.y;
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(x, y);
+    }
 
 }

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