From af9941fca9bd1b5d5542e88db71536a18f4606f9 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 29 十一月 2024 14:51:16 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java |   30 +++++-------------------------
 1 files changed, 5 insertions(+), 25 deletions(-)

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 ce7c2ab..64ba32f 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
@@ -59,32 +59,15 @@
         DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
         String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
 
-//        List<String> included = new ArrayList<>();
-//        if (!Cools.isEmpty(whiteList)) {
-//            included.addAll(whiteList);
-//        }
-//        included.add(agvNo);
-//        List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
-
         while (openQueue.size() > 0) {
             // 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();
-            // 瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
+
             ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
-            // 瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇
-            label: for (NavigateNode node : neighbourNodes) {
+            for (NavigateNode node : neighbourNodes) {
+                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
+
                 int weight = 0;
-                // 鑺傜偣瀛樺湪鍏朵粬杞﹁締
-//                for (VehicleDto vehicleDto : vehicleDtoList) {
-//                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
-//                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
-//                            continue label;
-//                        }
-//                        if (lock) {
-//                            continue label;
-//                        }
-//                    }
-//                }
 
                 if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                     continue;
@@ -146,16 +129,13 @@
                     }
 
                     if (lanVehicleSet.size() + 1 > maxAgvCountInLane) {
-//                        if (lock) {
-//                            continue;
-//                        }
                         continue;
                     }
                 }
 
 
                 //鎵惧埌鐩爣缁撶偣灏辫繑鍥�
-                if (node.getX() == end.getX() && node.getY() == end.getY()) {
+                if (isEndNode) {
                     //骞朵笖璁$畻鍑篏锛� F锛� H绛夊��
                     node.initNode(currentNode, end);
                     return node;

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