From 74e0eb7a7e84b5006903e79554c007d9d5fbbcbc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 05 十月 2023 17:04:32 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/common/utils/NavigateUtils.java |   66 +++++++++++++++++++++++++++++----
 1 files changed, 58 insertions(+), 8 deletions(-)

diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 35b0f3a..aeb08e7 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.*;
 
@@ -13,7 +17,7 @@
  */
 public class NavigateUtils {
 
-    public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType) {
+    public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
         //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
@@ -30,7 +34,7 @@
         start.setFather(null);
 
         NavigateNode end = new NavigateNode(endArr[0], endArr[1]);
-        NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList);
+        NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList, shuttlePoints);
         //寮�濮嬭妭鐐癸紝涓嶇撼鍏ョ鐢ㄨ妭鐐瑰唴璁＄畻
 
         NavigateNode res_node = solution.astarSearch(start, end);
@@ -169,7 +173,7 @@
     //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();
-        List<List<MapNode>> lists = mapData.getJsonData(NavigationMapType.NONE.id, null);
+        List<List<MapNode>> lists = mapData.getJsonData(NavigationMapType.NONE.id, null, null);
         if (lists != null) {
             MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
             if (mapNode != null) {
@@ -222,15 +226,61 @@
     /**
      * 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 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;
+        for (NavigateNode navigateNode : path) {
+            if (!flag && navigateNode.equals(middlePath)) {
+                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();
+            }
+        }
+        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) {
+        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, 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�)
+        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);
+        List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
         System.out.println(calc);
         System.out.println("------------------------");
 //        List<NavigateNode> calc = calc("0501401", "0201801", "out");

--
Gitblit v1.9.1