From 0d04bc5d8080b82338302fba0a59fccff2eaedfc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 06 七月 2025 11:28:29 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java | 23 ++++++++++++++++-------
1 files changed, 16 insertions(+), 7 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
index bc4ae37..67536be 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
@@ -2,9 +2,12 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.SpringUtils;
+import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.NavigateNode;
+import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
+
import java.util.ArrayList;
import java.util.List;
@@ -16,7 +19,7 @@
*/
public class NavigateSolution {
- // -1 -> 澧欏锛� 0 -> 璐т綅锛� 1 -> 璧风偣 2 -> 缁堢偣 3-> 姣嶈建 4->绔欑偣
+ // -1 -> 澧欏锛� 0 -> 璐т綅锛� 1 -> 璧风偣 2 -> 缁堢偣 3-> 姣嶈建 4->杈撻�佺珯鐐� 5->鍏呯數妗� 66->灏忚溅 67->鎻愬崌鏈�
int[][] map = {{}};
@@ -34,7 +37,7 @@
mapData.setLev(lev);
int[][] data = mapData.getDataFromRedis(mapType, whitePoints, shuttlePoints);
if (data == null) {
- data = mapData.getData(mapType, whitePoints, shuttlePoints);
+ throw new CoolException("鍦板浘鏈浇鍏ワ紒");
}
this.map = data;
}
@@ -151,8 +154,8 @@
}
}
- if (map[x][y] == 0 || map[x][y] == 3 || map[x][y] == 4 || map[x][y] == 5) {
- //瀛愯建鍜屾瘝杞ㄣ�佽緭閫佺嚎銆佸厖鐢垫々鎵嶈兘杩涜宸﹀彸绉诲姩
+ if (map[x][y] == 0 || map[x][y] == 3 || map[x][y] == 4 || map[x][y] == 5 || map[x][y] == 67) {
+ //瀛愯建鍜屾瘝杞ㄣ�佽緭閫佺嚎銆佸厖鐢垫々銆佹彁鍗囨満鎵嶈兘杩涜宸﹀彸绉诲姩
if (is_valid(x, y + 1))
{
NavigateNode node = new NavigateNode(x, y + 1);
@@ -179,8 +182,8 @@
}
}
- if (map[x][y] == 0 || map[x][y] == 3 || map[x][y] == 4 || map[x][y] == 5) {
- //瀛愯建鍜屾瘝杞ㄣ�佽緭閫佺嚎銆佸厖鐢垫々鎵嶈兘杩涜涓婁笅绉诲姩
+ if (map[x][y] == 0 || map[x][y] == 3 || map[x][y] == 4 || map[x][y] == 5 || map[x][y] == 67) {
+ //瀛愯建鍜屾瘝杞ㄣ�佽緭閫佺嚎銆佸厖鐢垫々銆佹彁鍗囨満鎵嶈兘杩涜涓婁笅绉诲姩
if (is_valid(x + 1, y))
{
NavigateNode node = new NavigateNode(x + 1, y);
@@ -203,7 +206,13 @@
return false;
}
// 濡傛灉缁撶偣鐨勪綅缃皬浜�0锛屽垯涓嶅悎娉�
- if (map[x][y] < 0) return false;
+ if (map[x][y] < 0) {
+ return false;
+ }
+
+ if (map[x][y] == MapNodeType.CAR.id) {//鑺傜偣鏄皬杞�
+ return false;
+ }
NavigateNode navigateNode = new NavigateNode(x, y);
if (is_exist(navigateNode)) {
return false;
--
Gitblit v1.9.1