From 81d537833adcbd5ef5333453e495eae2cac9f496 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期一, 21 七月 2025 15:01:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 134 ++++++++++++++++++++++++++++++++++++++++----
1 files changed, 120 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 22d5fab..c6e94ab 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.core.common.SpringUtils;
+import com.core.exception.CoolException;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
@@ -31,11 +32,11 @@
@Autowired
private NavigateMapData navigateMapData;
- public List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) {
- return calcJava(startPoint, endPoint, mapType, shuttlePoints, whites);
+ public List<NavigateNode> calc(String startPoint, String endPoint, List<NavigationMapType> mapTypes, List<int[]> shuttlePoints, List<int[]> whites) {
+ return calcJava(startPoint, endPoint, mapTypes, shuttlePoints, whites);
}
- public List<NavigateNode> calcJava(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) {
+ public List<NavigateNode> calcJava(String startPoint, String endPoint, List<NavigationMapType> mapTypes, 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
@@ -48,14 +49,17 @@
//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);
+ NavigateSolution solution = new NavigateSolution(mapTypes, lev, whiteList, shuttlePoints);
+ int[][] map = solution.map;
//鍒濆鍖栧紑濮嬭妭鐐�
NavigateNode start = new NavigateNode(startArr[0], startArr[1]);
//寮�濮嬭妭鐐规棤鐖惰妭鐐�
start.setFather(null);
+ start.setNodeValue(map[startArr[0]][startArr[1]]);
NavigateNode end = new NavigateNode(endArr[0], endArr[1]);
- NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList, shuttlePoints);
+ end.setNodeValue(map[endArr[0]][endArr[1]]);
//寮�濮嬭妭鐐癸紝涓嶇撼鍏ョ鐢ㄨ妭鐐瑰唴璁＄畻
NavigateNode res_node = solution.astarSearchJava(start, end);
@@ -105,7 +109,7 @@
return list;
}
- public List<NavigateNode> calcPython(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) {
+ public List<NavigateNode> calcPython(String startPoint, String endPoint, List<NavigationMapType> mapTypes, 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
@@ -118,14 +122,17 @@
//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);
+ NavigateSolution solution = new NavigateSolution(mapTypes, lev, whiteList, shuttlePoints);
+ int[][] map = solution.map;
//鍒濆鍖栧紑濮嬭妭鐐�
NavigateNode start = new NavigateNode(startArr[0], startArr[1]);
+ start.setNodeValue(map[startArr[0]][startArr[1]]);
//寮�濮嬭妭鐐规棤鐖惰妭鐐�
start.setFather(null);
NavigateNode end = new NavigateNode(endArr[0], endArr[1]);
- NavigateSolution solution = new NavigateSolution(mapType, lev, whiteList, shuttlePoints);
+ end.setNodeValue(map[endArr[0]][endArr[1]]);
//寮�濮嬭妭鐐癸紝涓嶇撼鍏ョ鐢ㄨ妭鐐瑰唴璁＄畻
String pathStr = solution.astarSearchPython(start, end, pythonCalcPath);
@@ -179,6 +186,49 @@
//鏇存柊鑺傜偣鍒楄〃
list.set(0, startNode);
return list;
+ }
+
+ //璁＄畻甯︽湯绔钀借矾寰�
+ public List<List<NavigateNode>> calcEndPath(String startPoint, String endPoint, List<NavigationMapType> mapTypes, List<int[]> shuttlePoints, List<int[]> whites, int lastPathPart) {
+ //璁＄畻璺緞
+ List<NavigateNode> navigateNodes = calc(startPoint, endPoint, mapTypes, shuttlePoints, whites);
+ if (navigateNodes == null) {
+ News.error("{} dash {} can't find navigate path!", startPoint, endPoint);
+ return null;
+ }
+
+ //鑾峰彇鍒嗘璺緞
+ List<List<NavigateNode>> partList = this.getSectionPath(navigateNodes);
+ //鏍规嵁浼犲叆鐨勬湯绔钀借矾寰勶紝鎵惧埌鏈鐐逛綅
+ int partResult = partList.size() - lastPathPart;
+ if (partResult == 0) {//璺緞鏁伴噺鐩稿悓鏃犻渶鍒嗗壊
+ return partList;
+ } else if (partResult < 0) {
+ throw new CoolException("鍒嗘璺緞涓庢湯绔矾寰勬暟閲忚绠楀紓甯�");
+ }
+ int pathIdx = partResult - 1;
+ List<List<NavigateNode>> filterList = new ArrayList<>();
+ for (int i = 0; i <= pathIdx; i++) {
+ filterList.add(partList.get(i));
+ }
+ return filterList;
+ }
+
+ //璁＄畻鏈娈佃惤鍦板潃
+ public String calcEndLocation(String startPoint, String endPoint, List<NavigationMapType> mapTypes, List<int[]> shuttlePoints, List<int[]> whites, int lastPathPart) {
+ List<List<NavigateNode>> endPath = calcEndPath(startPoint, endPoint, mapTypes, shuttlePoints, whites, lastPathPart);
+ if (endPath == null) {
+ return null;
+ }
+
+ return findTargetLocation(endPath);
+ }
+
+ public String findTargetLocation(List<List<NavigateNode>> partList) {
+ List<NavigateNode> nodes = partList.get(partList.size() - 1);
+ NavigateNode targetNode = nodes.get(0);
+ String locNo = NavigatePositionConvert.nodeToLocNo(targetNode);
+ return locNo;
}
//鍒ゆ柇褰撳墠鑺傜偣鍒颁笅涓�涓妭鐐规槸鍚︿负鎷愮偣
@@ -237,10 +287,10 @@
* 鍔犺浆寮妭鐐�
* 鑾峰彇鍒嗘璺緞锛屾瘡褰撴湁涓�涓嫄鐐瑰垯杩涜涓�娆″垎娈碉紝鏈�缁堣繑鍥炴�诲垎娈垫暟鎹�
*/
- public ArrayList<ArrayList<NavigateNode>> getSectionPath(List<NavigateNode> mapList) {
- ArrayList<ArrayList<NavigateNode>> list = new ArrayList<>();
+ public List<List<NavigateNode>> getSectionPath(List<NavigateNode> mapList) {
+ List<List<NavigateNode>> list = new ArrayList<>();
- ArrayList<NavigateNode> data = new ArrayList<>();
+ List<NavigateNode> data = new ArrayList<>();
String direction = mapList.get(0).getDirection();//琛岃蛋鏂瑰悜
for (NavigateNode navigateNode : mapList) {
@@ -263,13 +313,58 @@
//灏嗘渶鍚庝竴娈垫暟鎹坊鍔犺繘鍏�
list.add(data);
- return list;
+ List<List<NavigateNode>> paths = getSectionPathToSplitOverLength(list);
+ return paths;
+ }
+
+ //鍒嗘璺緞-澶勭悊瓒呴暱鐩寸嚎娈佃矾寰�
+ public List<List<NavigateNode>> getSectionPathToSplitOverLength(List<List<NavigateNode>> list) {
+ List<List<NavigateNode>> paths = new ArrayList<>();
+ int overLength = 9;
+ for (List<NavigateNode> nodes : list) {
+ if (nodes.size() > overLength) {
+ List<NavigateNode> copy = JSON.parseArray(JSON.toJSONString(nodes), NavigateNode.class);
+ List<NavigateNode> tmp = new ArrayList<>();
+ int tmpCount = 0;
+ NavigateNode lastNode = null;
+ for (NavigateNode node : copy) {
+ tmp.add(node);
+ tmpCount++;
+
+ if(tmpCount >= overLength) {
+ if (lastNode == null) {
+ NavigateNode startNode = tmp.get(0);
+ startNode.setLinePartAllowGo(true);//鐩寸嚎娈佃秴闀块儴鍒嗗厑璁哥洿鎺ヨ璧�
+ tmp.set(0, startNode);
+ }
+ NavigateNode targetNode = tmp.get(tmp.size() - 1);
+ targetNode.setLinePartAllowGo(true);//鐩寸嚎娈佃秴闀块儴鍒嗗厑璁哥洿鎺ヨ璧�
+ if (lastNode != null) {
+ tmp.add(0, lastNode);
+ }
+
+ paths.add(tmp);
+ tmp = new ArrayList<>();
+ tmpCount = 0;
+ lastNode = targetNode;
+ }
+ }
+
+ if (tmpCount > 0) {
+ tmp.add(0, lastNode);
+ paths.add(tmp);
+ }
+ }else {
+ paths.add(nodes);
+ }
+ }
+ return paths;
}
//鑾峰彇浠巟鐐瑰埌涓嬩竴鐐圭殑琛岃蛋璺濈
public Integer getXToNextDistance(NavigateNode xNode) {
NavigateMapData mapData = SpringUtils.getBean(NavigateMapData.class);
- List<List<MapNode>> lists = mapData.getJsonData(xNode.getZ(), NavigationMapType.NONE.id, null, null);
+ List<List<MapNode>> lists = mapData.getJsonData(xNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
if (lists != null) {
MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
if (mapNode != null) {
@@ -293,9 +388,9 @@
* 鏍规嵁鍘熷鑺傜偣缁撴灉锛岃绠楁�昏璧拌窛绂�
*/
public Integer getOriginPathAllDistance(List<NavigateNode> path) {
- ArrayList<ArrayList<NavigateNode>> sectionPath = getSectionPath(path);
+ List<List<NavigateNode>> sectionPath = getSectionPath(path);
Integer allDistance = 0;
- for (ArrayList<NavigateNode> navigateNodes : sectionPath) {
+ for (List<NavigateNode> navigateNodes : sectionPath) {
Integer distance = getCurrentPathAllDistance(navigateNodes);
allDistance += distance;
}
@@ -348,7 +443,7 @@
* 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
*/
public boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
- int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, Utils.getShuttlePoints(shuttleNo, lev));
+ int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.getDfxWithDevice(), null, Utils.getShuttlePoints(shuttleNo, lev));
for (NavigateNode node : path) {
int value = map[node.getX()][node.getY()];
if (value != MapNodeType.NORMAL_PATH.id && value != MapNodeType.MAIN_PATH.id && value != MapNodeType.CHARGE.id && value != MapNodeType.CONVEYOR_CAR_GO.id) {//姣嶈建閬�3銆佸瓙杞ㄩ亾0銆佸厖鐢垫々5銆佸皬杞﹀彲璧拌緭閫佺珯
@@ -420,6 +515,17 @@
return 0D;
}
+ //妫�娴嬪簱浣嶈矾寰勬槸鍚﹀彲鐢�(鐢ㄤ簬搴撲綅鏄惁鍙Щ鍔ㄦ娴�)
+ public boolean checkLocPathIsAvailable(String startLocNo, String endLocNo) {
+ List<int[]> shuttlePoints = Utils.getShuttlePoints(0, Utils.getLev(startLocNo));
+ //璁＄畻搴撲綅鍒版彁鍗囨満搴撲綅锛岃矾寰勬槸鍚﹀彲鐢�
+ List<NavigateNode> nodeList = this.calc(startLocNo, endLocNo, NavigationMapType.getMapTypes(NavigationMapType.DFX), shuttlePoints, null);
+ if (nodeList == null) {
+ return false;
+ }
+ return true;
+ }
+
public static void main(String[] args) {
// //璁＄畻璺緞
// List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null);
--
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