From 8dc3bcb40363cc6f9281092b4f6ea0ebcb9335b0 Mon Sep 17 00:00:00 2001
From: tzsk <Administrator@qq.com>
Date: 星期三, 07 二月 2024 11:27:36 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 67 ++++++++++++++++++++++++++++++---
1 files changed, 60 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index eb2b668..689e571 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.*;
@@ -13,13 +17,16 @@
*/
public class NavigateUtils {
- public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints) {
+ public static List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, 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
ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
whiteList.add(startArr);//灏嗗紑濮嬭妭鐐硅缃负鐧藉悕鍗曪紝浠ラ槻琚繃婊�
+ if (whites != null && !whites.isEmpty()) {
+ whiteList.addAll(whites);//鎵归噺娣诲姞鐧藉悕鍗曡妭鐐�
+ }
//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);
@@ -35,7 +42,7 @@
NavigateNode res_node = solution.astarSearch(start, end);
if (res_node == null) {
- System.out.println("鏈壘鍒拌矾寰�");
+ System.out.println(start + "," + end + "锛氭湭鎵惧埌璺緞");
return null;
} else {
ArrayList<NavigateNode> list = new ArrayList<>();
@@ -222,15 +229,61 @@
/**
* 鑾峰彇涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
*/
- public static Integer getMiddleToDistDistance(List<NavigateNode> path, Integer distance) {
- //涓棿璺緞
- NavigateNode middlePath = path.get(path.size() - distance);
- 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, List<int[]> whitePoints) {
+ 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, whitePoints, 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, null);
+ List<NavigateNode> calc = calc("1000901", "1800201", NavigationMapType.NONE.id, null, null);
System.out.println(calc);
System.out.println("------------------------");
// List<NavigateNode> calc = calc("0501401", "0201801", "out");
--
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