From 7cb1e89cce2134985a9468b71954e184846b26ca Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期日, 08 十月 2023 22:02:28 +0800 Subject: [PATCH] #检测路径是否可用(fixed) --- src/main/java/com/zy/common/utils/NavigateUtils.java | 10 ++++++++-- 1 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java index 91baf99..489c168 100644 --- a/src/main/java/com/zy/common/utils/NavigateUtils.java +++ b/src/main/java/com/zy/common/utils/NavigateUtils.java @@ -261,17 +261,23 @@ return false; } + if (shuttleProtocol.getPoint() == null) { + return false;//灏忚溅涓嶅瓨鍦ㄨ妭鐐� + } + Integer mapType = NavigationMapType.DFX.id; if (shuttleProtocol.getLiftPosition() == 1) { //涓嬮檷浣嶇疆 mapType = NavigationMapType.NORMAL.id; } - path.remove(0);//杩囨护绗竴涓妭鐐癸紝浠ラ槻绗竴涓妭鐐规槸F鐘舵�佸鑷磋溅杈嗕笉鍔� - 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) { + if (shuttleProtocol.getPoint().getX() == node.getX() && shuttleProtocol.getPoint().getY() == node.getY()) { + continue;//灏忚溅鍧愭爣鍜屽綋鍓嶆娴嬪潗鏍囩浉鍚岋紝鐩存帴璺宠繃锛屼笉妫�娴嬪皬杞︽墍澶勫綋鍓嶅潗鏍� + } + 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; -- Gitblit v1.9.1