From 7635dc25bd2a4d565df496b2d96354639966768d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 25 九月 2025 11:09:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateMapData.java | 481 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 305 insertions(+), 176 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 7e2f6b6..9ad47cb 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,21 +1,40 @@
package com.zy.common.utils;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
+import com.core.exception.CoolException;
+import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasMapService;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
-import com.zy.core.enums.ShuttleTaskModeType;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.MapNodeType;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.ShuttleCommandModeType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.TrafficControlDataModel;
+import com.zy.core.model.command.ShuttleAssignCommand;
+import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.command.ShuttleRedisCommand;
+import com.zy.core.model.protocol.ForkLiftStaProtocol;
+import com.zy.core.thread.ForkLiftThread;
+import com.zy.core.thread.TrafficControlThread;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
-import java.io.*;
+import java.io.IOException;
import java.util.ArrayList;
-import java.util.Date;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
/**
* A*绠楁硶鍦板浘鑾峰彇绫�
@@ -23,82 +42,33 @@
@Component
public class NavigateMapData {
- private Integer lev;//鍦板浘妤煎眰
-
- public NavigateMapData() {
- this.lev = 1;
- }
-
- public NavigateMapData(Integer lev) {
- this.lev = lev;
- }
-
- public int[][] getData() {
- return getData(NavigationMapType.NONE.id, null, null);//榛樿璇诲彇鏃犺繃婊ょ殑鍏ㄩ儴鍦板浘鏁版嵁
- }
-
- public int[][] getData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
- try {
- String mapFilename = "map_" + lev + ".json";
-
- String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
- File file = new File(fileName);
- StringBuffer stringBuffer = new StringBuffer();
- if (file.isFile() && file.exists()) {
- InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
- BufferedReader br = new BufferedReader(isr);
- String lineTxt = null;
- while ((lineTxt = br.readLine()) != null) {
- stringBuffer.append(lineTxt);
- }
- br.close();
-
- //瑙ｆ瀽json鍦板浘鏁版嵁
- ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
- int[][] map = new int[lists.size()][];
- int j = 0;
- for (List<MapNode> list : lists) {
- int[] tmp = new int[list.size()];
- int i = 0;
- for (MapNode mapNode : list) {
- //灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
- tmp[i++] = mapNode.getValue();
- }
- //鏁版嵁娣诲姞杩涗竴缁存暟缁�
- map[j++] = tmp;
- }
-
- return map;
- } else {
- System.out.println("鏂囦欢涓嶅瓨鍦�!");
- }
- } catch (IOException ioException) {
- ioException.printStackTrace();
- }
- return null;
- }
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
+ @Autowired
+ private BasMapService basMapService;
+ @Autowired
+ private ObjectMapper objectMapper;
/**
* 灏濊瘯浠巖edis鑾峰彇鏁版嵁
*/
- public int[][] getDataFromRedis(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
- RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
- Object o = redisUtil.get("realtimeBasMap_" + lev);
- if (o == null) {
+ public int[][] getDataFromRedis(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {
return null;
}
- BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
- return this.getDataFormString(basMap.getData(), mapType, whitePoints, shuttlePoints);
+ List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
+ return this.getDataFormString(lev, arrayList, mapTypes, whitePoints, shuttlePoints);
}
/**
* 浠嶭ist鏁版嵁涓幏鍙栧湴鍥�
*/
- public int[][] getDataFormString(String data, Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
- ArrayList arrayList = JSON.parseObject(data, ArrayList.class);
- List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
+ public int[][] getDataFormString(Integer lev, List<List<MapNode>> arrayList, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
int[][] map = new int[lists.size()][];
int j = 0;
for (List<MapNode> list : lists) {
@@ -115,35 +85,54 @@
return map;
}
- //鑾峰彇JSON鏍煎紡鏁版嵁
- public List<List<MapNode>> getJsonData(Integer mapType, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ //鑾峰彇瀹炴椂鍦板浘-JSON鏍煎紡鏁版嵁
+ public List<List<MapNode>> getJsonData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
try {
- String mapFilename = "map_" + lev + ".json";
-
- String fileName = this.getClass().getClassLoader().getResource(mapFilename).getPath();//鑾峰彇鏂囦欢璺緞
- File file = new File(fileName);
- StringBuffer stringBuffer = new StringBuffer();
- if (file.isFile() && file.exists()) {
- InputStreamReader isr = new InputStreamReader(new FileInputStream(file), "GBK");
- BufferedReader br = new BufferedReader(isr);
- String lineTxt = null;
- while ((lineTxt = br.readLine()) != null) {
- stringBuffer.append(lineTxt);
- }
- br.close();
-
- //瑙ｆ瀽json鍦板浘鏁版嵁
- ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
- List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
-
- return lists;
- } else {
- System.out.println("鏂囦欢涓嶅瓨鍦�!");
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {
+ return null;
}
- } catch (IOException ioException) {
- ioException.printStackTrace();
+
+ List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
+ List<List<MapNode>> lists = filterMap(mapTypes, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
+ return lists;
+ } catch (Exception e) {
+ e.printStackTrace();
}
return null;
+ }
+
+ //鑾峰彇鍘熷鍦板浘-JSON鏍煎紡鏁版嵁
+ public List<List<MapNode>> getJsonOriginData(Integer lev, List<NavigationMapType> mapTypes, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ try {
+ BasMap basMap = basMapService.selectLatestMap(lev);
+ String originData = basMap.getOriginData();
+ //瑙ｆ瀽json鍦板浘鏁版嵁
+ ArrayList arrayList = JSON.parseObject(originData, ArrayList.class);
+ //閲嶅缓鏁版嵁鏍煎紡
+ List<List<MapNode>> lists = rebuildData(arrayList);
+ return lists;
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return null;
+ }
+
+ public int[][] parseJsonDataArr(List<List<MapNode>> lists) {
+ int[][] map = new int[lists.size()][];
+ int j = 0;
+ for (List<MapNode> list : lists) {
+ int[] tmp = new int[list.size()];
+ int i = 0;
+ for (MapNode mapNode : list) {
+ //灏嗘暟鎹坊鍔犺繘浜岀淮鏁扮粍
+ tmp[i++] = mapNode.getValue();
+ }
+ //鏁版嵁娣诲姞杩涗竴缁存暟缁�
+ map[j++] = tmp;
+ }
+
+ return map;
}
/**
@@ -153,7 +142,45 @@
* @param whitePoints 鐧藉悕鍗曡妭鐐癸紝涓嶉渶瑕佽杩囨护
* @param shuttlePoints 绌挎杞﹁妭鐐癸紝闇�瑕佸姞杞借繘鍦板浘
*/
- public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ public List<List<MapNode>> filterMap(List<NavigationMapType> mapTypes, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+ List<NavigationMapType> locMapType = new ArrayList<>();
+ locMapType.add(NavigationMapType.DFX);
+ locMapType.add(NavigationMapType.NORMAL);
+ for (NavigationMapType mapType : mapTypes) {
+ if(locMapType.contains(mapType)) {
+ //杞藉叆搴撲綅淇℃伅
+ lists = loadLocMast(mapType.id, lists, lev, whitePoints);
+ }
+
+ if (mapType.equals(NavigationMapType.SHUTTLE)) {
+ //鍔犺浇杞﹁締
+ lists = loadShuttle(lists, shuttlePoints);
+ }
+
+ if (mapType.equals(NavigationMapType.LIFT)) {
+ //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+ lists = loadForkLift(lists, lev);
+ }
+
+ if(mapType.equals(NavigationMapType.PATH_LOCK)) {
+ //鍔犺浇璺緞閿�
+ lists = loadPathLock(lists, lev);
+ }
+
+ if(mapType.equals(NavigationMapType.TRAFFIC_CONTROL)) {
+ //鍔犺浇浜ら�氱鍒�
+ lists = loadTrafficControl(lists, lev);
+ }
+ }
+
+ //鍔犺浇鐧藉悕鍗曡妭鐐�
+ lists = loadWhite(lists, lev, whitePoints);
+
+ return lists;
+ }
+
+ //閲嶅缓鏁版嵁鏍煎紡
+ public List<List<MapNode>> rebuildData(List arrayList) {
List<List<MapNode>> lists = new ArrayList<>();
//閲嶅缓鏁版嵁鏍煎紡
@@ -167,57 +194,74 @@
lists.add(list);
}
+ return lists;
+ }
+
+ //杞藉叆搴撲綅淇℃伅
+ public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
//杩囨护鏁版嵁
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
- //鑾峰彇褰撳墠妤煎眰搴撲綅鏁版嵁
- List<LocMast> locMasts = locMastService.selectLocByLev(lev);
- for (LocMast locMast : locMasts) {
- Integer row = locMast.getRow1();
- Integer bay = locMast.getBay1();
+ try {
+ //鑾峰彇褰撳墠妤煎眰搴撲綅鏁版嵁
+ List<LocMast> locMasts = locMastService.selectLocByLev(lev);
+ for (LocMast locMast : locMasts) {
+ Integer row = locMast.getRow1();
+ Integer bay = locMast.getBay1();
- boolean whiteFlag = false;//榛樿涓嶅瓨鍦ㄧ櫧鍚嶅崟
- if (whitePoints != null) {
- for (int[] whitePoint : whitePoints) {
- if (whitePoint[0] == row && whitePoint[1] == bay) {
- //瀛樺湪鐧藉悕鍗�
- whiteFlag = true;
- break;
+ boolean whiteFlag = false;//榛樿涓嶅瓨鍦ㄧ櫧鍚嶅崟
+ if (whitePoints != null) {
+ for (int[] whitePoint : whitePoints) {
+ if (whitePoint[0] == row && whitePoint[1] == bay) {
+ //瀛樺湪鐧藉悕鍗�
+ whiteFlag = true;
+ break;
+ }
}
}
- }
- if (whiteFlag) {
- continue;//瀛樺湪鐧藉悕鍗曪紝涓嶆墽琛屼笅鍒楄繃婊ゆ柟妗�
- }
-
-
- List<MapNode> list = lists.get(row);
- MapNode mapNode = list.get(bay);
-
- if (mapType == NavigationMapType.NONE.id) {
- //涓嶈繃婊や换浣曟暟鎹�
- } else if (mapType == NavigationMapType.DFX.id) {
- //杞﹁締鏈夎揣
- //璇诲彇瀵瑰簲搴撲綅鏁版嵁锛屽皢DFX搴撲綅鐘舵�佺殑鑺傜偣缃负-1(闅滅鐗�)
- if (locMast.getLocSts().equals("F")
- || locMast.getLocSts().equals("D")
- || locMast.getLocSts().equals("X")
- || locMast.getLocSts().equals("R")
- || locMast.getLocSts().equals("P")
- ) {
- mapNode.setValue(-1);//绂佺敤鑺傜偣
+ if (whiteFlag) {
+ continue;//瀛樺湪鐧藉悕鍗曪紝涓嶆墽琛屼笅鍒楄繃婊ゆ柟妗�
}
- } else if (mapType == NavigationMapType.NORMAL.id) {
- //杩囨护搴撲綅鐘舵�乆
- if (locMast.getLocSts().equals("X")) {
- mapNode.setValue(-1);//绂佺敤鑺傜偣
- }
- }
- //鏇存柊list
- list.set(bay, mapNode);
- lists.set(row, list);
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ if (mapType == NavigationMapType.NONE.id) {
+ //涓嶈繃婊や换浣曟暟鎹�
+ } else if (mapType == NavigationMapType.DFX.id) {
+ //杞﹁締鏈夎揣
+ //璇诲彇瀵瑰簲搴撲綅鏁版嵁锛屽皢DFX搴撲綅鐘舵�佺殑鑺傜偣缃负-1(闅滅鐗�)
+ if (locMast.getLocSts().equals("F")
+ || locMast.getLocSts().equals("D")
+ || locMast.getLocSts().equals("X")
+ || locMast.getLocSts().equals("R")
+ || locMast.getLocSts().equals("P")
+ ) {
+ mapNode.setValue(MapNodeType.DISABLE.id);//绂佺敤鑺傜偣
+ }
+ } else if (mapType == NavigationMapType.NORMAL.id) {
+ //杩囨护搴撲綅鐘舵�乆
+ if (locMast.getLocSts().equals("X")) {
+ mapNode.setValue(MapNodeType.DISABLE.id);//绂佺敤鑺傜偣
+ }
+ }
+
+ mapNode.setLocSts(locMast.getLocSts());
+ mapNode.setLocNo(locMast.getLocNo());
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+ }catch (Exception e) {
+ e.printStackTrace();
}
+ return lists;
+ }
+
+ //鍔犺浇杞﹁締
+ public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) {
//鍔犺浇杞﹁締鍧愭爣鍒板湴鍥句腑
if (shuttlePoints != null) {
for (int[] points : shuttlePoints) {
@@ -225,7 +269,7 @@
int y = points[1];
List<MapNode> list = lists.get(x);
MapNode mapNode = list.get(y);
- mapNode.setValue(66);//璁剧疆涓鸿溅杈嗕唬鐮�66
+ mapNode.setValue(MapNodeType.CAR.id);//璁剧疆涓鸿溅杈嗕唬鐮�66
//鏇存柊list
list.set(y, mapNode);
lists.set(x, list);
@@ -235,55 +279,140 @@
return lists;
}
- /**
- * 鍐欏叆璺緞鑺傜偣鏁版嵁鍒皉edis鍦板浘涓�
- * lock涓簍rue 绂佺敤搴撲綅锛宭ock涓篺alse鎭㈠搴撲綅
- */
- public boolean writeNavigateNodeToRedisMap(List<NavigateNode> nodes, boolean lock) {
- RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ //鍔犺浇鐧藉悕鍗曡妭鐐�
+ public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
+ //鍔犺浇鐧藉悕鍗曡妭鐐�
+ if (whitePoints != null) {
+ List<List<MapNode>> realMap = getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘
+ for (int[] points : whitePoints) {
+ //鑾峰彇鍘熷鑺傜偣鏁版嵁
+ int x = points[0];
+ int y = points[1];
+ List<MapNode> rows = realMap.get(x);
+ MapNode col = rows.get(y);
+
+ List<MapNode> list = lists.get(x);
+ MapNode mapNode = list.get(y);
+ mapNode.setValue(col.getValue());//鎭㈠鍘熷鑺傜偣
+
+ //鏇存柊list
+ list.set(y, mapNode);
+ lists.set(x, list);
+ }
+ }
+ return lists;
+ }
+
+ //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+ public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer lev) {
try {
- if (!redisUtil.tryLock("realtimeBasMap_" + lev)) {
- return false;//鍔犻攣澶辫触
- }
-
- Object o = redisUtil.get("realtimeBasMap_" + lev);
- if (o == null) {
- return false;
- }
-
- BasMap basMap = JSON.parseObject(o.toString(), BasMap.class);
- ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
- List<List<MapNode>> lists = filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
-
- NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
- List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
- for (NavigateNode node : nodes) {
- if (node.getZ() != lev) {
+ //鍔犺浇璐у弶鎻愬崌鏈烘斁璐х偣浣嶆暟鎹�
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
+ if (forkLiftThread == null) {
continue;
}
- List<MapNode> listX = lists.get(node.getX());
- MapNode mapNode = listX.get(node.getY());
- if (lock) {
- mapNode.setValue(-999);//绂佺敤搴撲綅
- } else {
- //鑾峰彇鍘熷鑺傜偣鏁版嵁
- List<MapNode> rows = realMap.get(node.getX());
- MapNode col = rows.get(node.getY());
- mapNode.setValue(col.getValue());//鎭㈠搴撲綅
+ for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
+ if (staProtocol.getLev() != lev) {
+ continue;
+ }
+ int row = Utils.getRow(staProtocol.getLocNo());
+ int bay = Utils.getBay(staProtocol.getLocNo());
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+// if (mapType == NavigationMapType.DFX.id) {
+// //杞﹁締鏈夎揣
+// if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) {
+// mapNode.setValue(MapNodeType.DISABLE.id);
+// }
+// } else {
+// if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) {
+// mapNode.setValue(MapNodeType.CAR.id);
+// }
+// }
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
}
- listX.set(node.getY(), mapNode);
- lists.set(node.getX(), listX);
}
- basMap.setData(JSON.toJSONString(lists));
- basMap.setUpdateTime(new Date());
- //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
- redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
} catch (Exception e) {
e.printStackTrace();
}
- return true;
+ return lists;
+ }
+
+ //鍔犺浇璺緞閿�
+ public List<List<MapNode>> loadPathLock(List<List<MapNode>> lists, Integer lev) {
+ try {
+ HashMap<String, Object> lockMap = new HashMap<>();
+ Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev);
+ if (o != null) {
+ lockMap = (HashMap<String, Object>) o;
+ }
+
+ for (Map.Entry<String, Object> entry : lockMap.entrySet()) {
+ String key = entry.getKey();
+ int row = Utils.getRow(key);
+ int bay = Utils.getBay(key);
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ //鑺傜偣璁剧疆鎴愯矾寰勯攣
+ mapNode.setValue(MapNodeType.LOCK.id);
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return lists;
+ }
+
+ //鍔犺浇浜ら�氱鍒�
+ public List<List<MapNode>> loadTrafficControl(List<List<MapNode>> lists, Integer lev) {
+ try {
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ if (trafficControlThread == null) {
+ throw new CoolException("init traffic control thread error");
+ }
+
+ List<TrafficControlDataModel> trafficList = trafficControlThread.getAllTrafficControl();
+ for (TrafficControlDataModel trafficControlDataModel : trafficList) {
+ List<NavigateNode> totalNodeList = trafficControlDataModel.getTotalNodeList();
+ NavigateNode startNode = totalNodeList.get(0);
+ if (startNode.getZ() != lev) {
+ continue;
+ }
+
+ for (NavigateNode node : totalNodeList) {
+ int row = node.getX();
+ int bay = node.getY();
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ //鑺傜偣璁剧疆鎴怐isable
+ mapNode.setValue(MapNodeType.DISABLE.id);
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return lists;
}
}
--
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