From ac09ee9c9f39cb9d452b57504e5c79321e0371eb Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 03 四月 2025 15:34:34 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateUtils.java | 74 +++++++++++++++++++++++++++++++++++++
1 files changed, 74 insertions(+), 0 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateUtils.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateUtils.java
index 1013656..4d998c0 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateUtils.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateUtils.java
@@ -30,6 +30,80 @@
@Value("${pythonCalcSimilarity}")
private String pythonCalcSimilarity;
+ public List<NavigateNode> calcWhiteList(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
+ //閫氳繃寮�濮嬬紪鍙峰拰缁撴潫缂栧彿鑾峰彇瀵瑰簲鐨剎y杞村潗鏍�
+ int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐�
+ int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//缁撴潫鑺傜偣
+
+ ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ whiteList.add(startArr);//灏嗗紑濮嬭妭鐐硅缃负鐧藉悕鍗曪紝浠ラ槻琚繃婊�
+ whiteList.add(endArr);//灏嗙粨鏉熻妭鐐硅缃负鐧藉悕鍗曪紝浠ラ槻琚繃婊�
+
+ //鑾峰彇褰撳墠鑺傜偣璁＄畻鐨勫眰楂橈紝骞惰祴鍊煎埌姣忎竴涓妭鐐逛腑
+ int lev = Utils.getLev(startPoint);
+
+ //鍒濆鍖栧紑濮嬭妭鐐�
+ NavigateNode start = new NavigateNode(startArr[0], startArr[1]);
+ //寮�濮嬭妭鐐规棤鐖惰妭鐐�
+ start.setFather(null);
+
+ NavigateNode end = new NavigateNode(endArr[0], endArr[1]);
+ NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList, shuttlePoints);
+ //寮�濮嬭妭鐐癸紝涓嶇撼鍏ョ鐢ㄨ妭鐐瑰唴璁＄畻
+
+ String pathStr = solution.astarSearch(start, end, pythonCalcPath);
+ if (pathStr == null) {
+ News.error("{} dash {} can't find navigate path!", startPoint, endPoint);
+ return null;
+ }
+
+ List<NavigateNode> list = new ArrayList<>();
+
+ NavigateNode fatherNode = null;//褰撳墠寰幆涓婁竴鑺傜偣锛岀敤浜庢嫄鐐硅绠�
+ JSONArray rows = JSON.parseArray(pathStr);
+
+ for (int i = 0; i < rows.size(); i++) {
+ Object currentObj = rows.get(i);
+
+ NavigateNode nextNode = null;
+ if ((i + 1) < rows.size()) {
+ Object object = rows.get(i + 1);
+ nextNode = pythonObjTransferNode(object, lev);
+ }
+
+ NavigateNode node = pythonObjTransferNode(currentObj, lev);
+
+ //瀵绘壘鎷愮偣
+ HashMap<String, Object> result = searchInflectionPoint(node, fatherNode, nextNode);//鍒嗗埆浼犲叆褰撳墠鑺傜偣銆佺埗鑺傜偣銆佷笅涓�鑺傜偣
+ //鍒ゆ柇褰撳墠鑺傜偣鏄惁涓烘嫄鐐�
+ if (Boolean.parseBoolean(result.get("result").toString())) {
+ //褰撳墠涓烘嫄鐐�
+ node.setIsInflectionPoint(true);
+ //鎷愮偣鏂瑰悜
+ node.setDirection(result.get("direction").toString());
+ }
+
+ list.add(node);
+
+ fatherNode = node;//鎶婂綋鍓嶈妭鐐逛繚瀛樻垚涓�涓埗鑺傜偣
+ }
+
+ //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 : list) {
+ //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.setFather(null);
+ }
+
+ //璧峰鑺傜偣璁＄畻鏂瑰悜
+ String direction = calcDirection(list.get(0), list.get(1));
+ NavigateNode startNode = list.get(0);
+ startNode.setDirection(direction);
+ //鏇存柊鑺傜偣鍒楄〃
+ list.set(0, startNode);
+ return list;
+ }
+
public List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
//閫氳繃寮�濮嬬紪鍙峰拰缁撴潫缂栧彿鑾峰彇瀵瑰簲鐨剎y杞村潗鏍�
int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐�
--
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