From 220841252e98efec8c0972f2672e2647842ea6a1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 09 十月 2023 10:43:42 +0800
Subject: [PATCH] #检测路径是否可用(fixed)
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 40 ++++++++++++++++++++++++++++++++++++++++
1 files changed, 40 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 16be082..c086759 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -4,7 +4,11 @@
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
+import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleTaskModeType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.thread.NyShuttleThread;
import java.util.*;
@@ -223,6 +227,8 @@
* 鑾峰彇涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
*/
public static Integer getMiddleToDistDistance(List<NavigateNode> path, NavigateNode middlePath) {
+ //鏈�鍚庝竴鏉¤妭鐐逛笉璁＄畻杩涜璧拌窛绂�
+ NavigateNode lastPath = path.get(path.size() - 1);
//鎬昏窛绂�
int allDistance = 0;
boolean flag = false;
@@ -231,6 +237,10 @@
flag = true;
}
+ if (navigateNode.equals(lastPath)) {
+ continue;//鏈�鍚庝竴鏉¤妭鐐逛笉璁＄畻杩涜璧拌窛绂�
+ }
+
if (flag) {
allDistance += navigateNode.getMoveDistance();
}
@@ -238,6 +248,36 @@
return allDistance;
}
+ /**
+ * 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
+ */
+ 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;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ Integer mapType = NavigationMapType.DFX.id;
+ if (shuttleProtocol.getLiftPosition() == 1) {
+ //涓嬮檷浣嶇疆
+ mapType = NavigationMapType.NORMAL.id;
+ }
+
+ 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()];
+ if (value != 0 && value != 3 && value != 5) {//姣嶈建閬�3銆佸瓙杞ㄩ亾0銆佸厖鐢垫々5
+ return false;
+ }
+ }
+ return true;
+ }
+
public static void main(String[] args) {
//璁＄畻璺緞
List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
--
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