From 0d04e9440d19f30a8220f498ebdde5a8bfcc48a8 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 10 十月 2023 13:50:03 +0800
Subject: [PATCH] #机械臂任务下发
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 6 ++----
1 files changed, 2 insertions(+), 4 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 91baf99..c086759 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -251,7 +251,7 @@
/**
* 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
*/
- public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
+ public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev, List<int[]> whitePoints) {
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
if (shuttleThread == null) {
return false;
@@ -267,9 +267,7 @@
mapType = NavigationMapType.NORMAL.id;
}
- path.remove(0);//杩囨护绗竴涓妭鐐癸紝浠ラ槻绗竴涓妭鐐规槸F鐘舵�佸鑷磋溅杈嗕笉鍔�
-
- NavigateSolution solution = new NavigateSolution(mapType, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�)
+ NavigateSolution solution = new NavigateSolution(mapType, lev, whitePoints, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�)
int[][] map = solution.map;
for (NavigateNode node : path) {
int value = map[node.getX()][node.getY()];
--
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