From 26419bf11ec888de7af9141a0ac1874065775e61 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 04 十一月 2023 13:59:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 34 ++++++++++++++++++++++++++++------
1 files changed, 28 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 e0a730d..689e571 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.*;
@@ -13,13 +17,16 @@
*/
public class NavigateUtils {
- public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
+ public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) {
//閫氳繃寮�濮嬬紪鍙峰拰缁撴潫缂栧彿鑾峰彇瀵瑰簲鐨剎y杞村潗鏍�
int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐�
int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//缁撴潫鑺傜偣
ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
whiteList.add(startArr);//灏嗗紑濮嬭妭鐐硅缃负鐧藉悕鍗曪紝浠ラ槻琚繃婊�
+ if (whites != null && !whites.isEmpty()) {
+ whiteList.addAll(whites);//鎵归噺娣诲姞鐧藉悕鍗曡妭鐐�
+ }
//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);
@@ -35,7 +42,7 @@
NavigateNode res_node = solution.astarSearch(start, end);
if (res_node == null) {
- System.out.println("鏈壘鍒拌矾寰�");
+ System.out.println(start + "," + end + "锛氭湭鎵惧埌璺緞");
return null;
} else {
ArrayList<NavigateNode> list = new ArrayList<>();
@@ -247,12 +254,27 @@
/**
* 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
*/
- public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
- NavigateSolution solution = new NavigateSolution(NavigationMapType.DFX.id, 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�)
+ 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) {
+ 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;
}
}
@@ -261,7 +283,7 @@
public static void main(String[] args) {
//璁＄畻璺緞
- List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
+ List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null, null);
System.out.println(calc);
System.out.println("------------------------");
// List<NavigateNode> calc = calc("0501401", "0201801", "out");
--
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