From 1cc1d0c34335555f1ee6c8f2e49ee76e5af74649 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 01 十一月 2024 09:33:13 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 23 +++++++----------------
1 files changed, 7 insertions(+), 16 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index bfecd47..946ce40 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -1,8 +1,8 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSONObject;
-import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.enums.AgvDirectionType;
+import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -10,9 +10,7 @@
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.service.ActionService;
-import com.zy.acs.manager.manager.service.CodeGapService;
import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.manager.service.RouteService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
@@ -32,10 +30,6 @@
@Autowired
private CodeService codeService;
@Autowired
- private CodeGapService codeGapService;
- @Autowired
- private RouteService routeService;
- @Autowired
private FloydNavigateService floydNavigateService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@@ -51,7 +45,7 @@
}
/**
- * 瀵诲潃 ===>> A*
+ * 瀵诲潃 ===>> A Star
*/
public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
, Boolean lock, List<String> whiteList, List<String> blackList) {
@@ -72,7 +66,7 @@
ArrayList<NavigateNode> navigateNodes = new ArrayList<>();
// 娓叉煋
- NavigateNode parentNode = null;//褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
+ NavigateNode parentNode = null; // 褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
while (finishNode != null) {
navigateNodes.add(finishNode);
@@ -82,12 +76,9 @@
Collections.reverse(navigateNodes);
- //灏嗘瘡涓妭鐐归噷闈㈢殑fatherNode鑷充负null(鏂逛究鍚庣画璁＄畻鏃剁埗鑺傜偣杩囧瀵艰嚧鏄剧ず鐨勮妭鐐瑰お澶�)
- for (NavigateNode navigateNode : navigateNodes) {
- //鐖惰妭鐐硅缃负null锛屼笉褰卞搷璁＄畻缁撴灉锛屼笉褰卞搷鍚庣画鎿嶄綔銆�
- //姝ゆ搷浣滀粎涓哄悗缁帓鏌ュ鐞嗘彁渚涜瑙夋柟渚裤��
- navigateNode.setParent(null);
- }
+// for (NavigateNode navigateNode : navigateNodes) {
+// navigateNode.setParent(null);
+// }
return navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
}
@@ -133,7 +124,7 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
double angle = Math.atan2(deltaX, deltaY);
- int offsetAngle = Integer.parseInt(configService.getVal("mapXoffset"));
+ int offsetAngle = configService.getVal("mapXoffset", Integer.class);
angle = angle + offsetAngle;
angle = Math.toDegrees(angle);
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
--
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