From 5432b5251106ba5e8e5512c6868d31ebaec0b8ce Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期一, 31 三月 2025 09:59:07 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 20 ++++++++++++++++++--
1 files changed, 18 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 4c44728..9451d91 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -44,7 +44,7 @@
Integer shuttleNo = shuttleProtocol.getShuttleNo();
//鑾峰彇灏忚溅绉诲姩閫熷害
Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
- List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
+ List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
if (nodeList == null) {
News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
@@ -52,8 +52,24 @@
}
List<NavigateNode> allNode = new ArrayList<>();
+ List<NavigateNode> lockNode = new ArrayList<>();
for (NavigateNode node : nodeList) {
allNode.add(node.clone());
+
+ if (whites != null) {
+ boolean flag = false;
+ for (int[] white : whites) {
+ if(white[0] == node.getX() && white[1] == node.getY()) {
+ flag = true;
+ break;
+ }
+ }
+
+ if (flag) {//鐧藉悕鍗曡烦杩囬攣瀹�
+ continue;
+ }
+ }
+ lockNode.add(node.clone());
}
List<ShuttleCommand> commands = new ArrayList<>();
@@ -79,7 +95,7 @@
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
- boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, allNode, true);//閿佸畾璺緞
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, lockNode, true);//閿佸畾璺緞
if (!result) {
News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
shuttleThread.offerSystemMsg("{} dash {} can't lock path!", startLocNo, endLocNo);
--
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