From 592c2747205b78ef0b2f03a4accc2805d89dbdae Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 31 十二月 2024 14:28:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 11 -----------
1 files changed, 0 insertions(+), 11 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 1b3014d..f3e6e74 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
@@ -57,30 +57,19 @@
NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
- long startTime = System.currentTimeMillis();
NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
-// System.out.println("AStart spend time: " + (System.currentTimeMillis() - startTime));
-
if (null == finishNode) {
return new ArrayList<>();
}
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�
while (finishNode != null) {
navigateNodes.add(finishNode);
-
- parentNode = finishNode;
finishNode = finishNode.getParent();
}
Collections.reverse(navigateNodes);
-
-// for (NavigateNode navigateNode : navigateNodes) {
-// navigateNode.setParent(null);
-// }
List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
--
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