From 19df3213d5d4a7b85d2d4ceffef7460a59c1f062 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:20:27 +0800
Subject: [PATCH] fixed
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 35 +++++++++++++++++++++++++++++------
1 files changed, 29 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 38fbb15..d96542a 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -1,6 +1,7 @@
package com.zy.common.utils;
-import com.alibaba.fastjson.JSONObject;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.core.enums.ShuttleTaskModeType;
@@ -16,13 +17,16 @@
int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐�
int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//缁撴潫鑺傜偣
+ //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);
+ NavigateSolution solution = new NavigateSolution(mapType, lev);
NavigateNode res_node = solution.astarSearch(start, end);
if (res_node == null) {
System.out.println("鏈壘鍒拌矾寰�");
@@ -35,6 +39,7 @@
while (res_node != null) {
res_node.setDirection(null);
res_node.setIsInflectionPoint(false);
+ res_node.setZ(lev);//璁剧疆灞傞珮
//瀵绘壘鎷愮偣
HashMap<String, Object> result = searchInflectionPoint(res_node, fatherNode, res_node.getFather());//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
@@ -158,11 +163,20 @@
//鑾峰彇浠巟鐐瑰埌涓嬩竴鐐圭殑琛岃蛋璺濈
public static Integer getXToNextDistance(NavigateNode xNode) {
NavigateMapData mapData = new NavigateMapData();
- ArrayList<ArrayList<JSONObject>> lists = mapData.getJsonData(1);
+ List<List<MapNode>> lists = mapData.getJsonData(1);
if (lists != null) {
- JSONObject jsonObject = lists.get(xNode.getX()).get(xNode.getY());
- if (jsonObject != null) {
- return Integer.parseInt(jsonObject.getOrDefault(xNode.getDirection(), 0).toString());
+ MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
+ if (mapNode != null) {
+ switch (xNode.getDirection()) {
+ case "top":
+ return mapNode.getTop();
+ case "bottom":
+ return mapNode.getBottom();
+ case "left":
+ return mapNode.getLeft();
+ case "right":
+ return mapNode.getRight();
+ }
}
return 0;
}
@@ -186,6 +200,15 @@
return allDistance;
}
+ /**
+ * 鑾峰彇涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ */
+ public static Integer getMiddleToDistDistance(List<NavigateNode> path) {
+ //涓棿璺緞
+ NavigateNode middlePath = path.get(path.size() - 2);
+ return middlePath.getMoveDistance();
+ }
+
public static void main(String[] args) {
//璁＄畻璺緞
List<NavigateNode> calc = calc("1000901", "1800201", ShuttleTaskModeType.PAK_OUT.id);
--
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