From f941a47ccd057a719eef4db7decf13bf9ad2a4f8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 25 十二月 2024 11:13:11 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 11 ++++++++---
1 files changed, 8 insertions(+), 3 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 f26ba52..9e9e982 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
@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service.astart;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
@@ -11,14 +12,17 @@
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.system.service.ConfigService;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
/**
* Created by vincent on 6/12/2024
*/
+@Slf4j
@Service
public class AStarNavigateService {
@@ -58,9 +62,10 @@
// 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();
- ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
+ List<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
for (NavigateNode node : neighbourNodes) {
node.setCodeData(codeMatrix[node.getX()][node.getY()]);
+
boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
int weight = 0;
@@ -171,11 +176,11 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
+ private List<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
int x = currentNode.getX();
int y = currentNode.getY();
- ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
+ List<NavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
List<NavigateNode> possibleNodes = Arrays.asList(
new NavigateNode(x, y + 1), // right
--
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