From 2d2fd991826837d7189cc488aee6f309a6f5e216 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 09 三月 2026 22:48:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 41 ++++++++++++++++++++++++++++++-----------
1 files changed, 30 insertions(+), 11 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index fb734e1..377f2d2 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -15,7 +15,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
@@ -35,7 +35,7 @@
private BasStationService basStationService;
public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
- BasStation startStation = basStationService.selectById(startStationId);
+ BasStation startStation = basStationService.getById(startStationId);
if (startStation == null) {
throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勭珯鐐规暟鎹�");
}
@@ -45,12 +45,12 @@
List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
- if (startNode == null){
+ if (startNode == null) {
throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勮妭鐐�");
}
NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
- if (endNode == null){
+ if (endNode == null) {
throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
}
@@ -58,7 +58,8 @@
News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(stationMap, startNode, endNode, 120, 500, 300);
if (allList.isEmpty()) {
- throw new CoolException("鏈壘鍒拌璺緞");
+// throw new CoolException("鏈壘鍒拌璺緞");
+ return new ArrayList<>();
}
News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
@@ -70,9 +71,12 @@
//鍘婚噸
HashSet<Integer> set = new HashSet<>();
List<NavigateNode> fitlerList = new ArrayList<>();
- for(NavigateNode navigateNode : list){
+ for (NavigateNode navigateNode : list) {
JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
- if(set.add(valuObject.getInteger("stationId"))){
+ if (valuObject.containsKey("rgvCalcFlag")) {
+ continue;
+ }
+ if (set.add(valuObject.getInteger("stationId"))) {
fitlerList.add(navigateNode);
}
}
@@ -80,6 +84,20 @@
for (int i = 0; i < fitlerList.size(); i++) {
NavigateNode currentNode = fitlerList.get(i);
currentNode.setIsInflectionPoint(false);
+ currentNode.setIsLiftTransferPoint(false);
+
+ try {
+ JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
+ if (valueObject != null) {
+ Object isLiftTransfer = valueObject.get("isLiftTransfer");
+ if (isLiftTransfer != null) {
+ String isLiftTransferStr = isLiftTransfer.toString();
+ if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
+ currentNode.setIsLiftTransferPoint(true);
+ }
+ }
+ }
+ } catch (Exception ignore) {}
NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
@@ -112,7 +130,8 @@
News.info("[WCS Debug] RGV璺緞寮�濮嬭绠�,startTrackSiteNo:{},endTrackSiteNo={}", startTrackSiteNo, endTrackSiteNo);
NavigateNode res_node = navigateSolution.astarSearchJava(rgvTrackMap, startNode, endNode);
if (res_node == null) {
- throw new CoolException("鏈壘鍒拌璺緞");
+// throw new CoolException("鏈壘鍒拌璺緞");
+ return new ArrayList<>();
}
News.info("[WCS Debug] RGV璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
@@ -199,7 +218,7 @@
try {
DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class);
if (deviceConfigService != null) {
- List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
.eq("device_type", String.valueOf(SlaveType.Devp)));
for (DeviceConfig deviceConfig : devpList) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, deviceConfig.getDeviceNo());
@@ -277,13 +296,13 @@
try {
ConfigService configService = SpringUtils.getBean(ConfigService.class);
if (configService != null) {
- Config cfgLen = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
+ Config cfgLen = configService.getOne(new QueryWrapper<Config>().eq("code", "stationPathLenWeightPercent"));
if (cfgLen != null && cfgLen.getValue() != null) {
String v = cfgLen.getValue().trim();
if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
try { lenWeightPercent = Double.parseDouble(v); } catch (Exception ignore) {}
}
- Config cfgCong = configService.selectOne(new EntityWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
+ Config cfgCong = configService.getOne(new QueryWrapper<Config>().eq("code", "stationPathCongWeightPercent"));
if (cfgCong != null && cfgCong.getValue() != null) {
String v = cfgCong.getValue().trim();
if (v.endsWith("%")) v = v.substring(0, v.length() - 1);
--
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