From 928bc386bea03b9d3157e6d66dcb7afc843e9964 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 17 六月 2023 15:55:50 +0800
Subject: [PATCH] 小车从提升机移动出去增强管控
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 43 +++++++++++++++++++++++++++++++++++++------
1 files changed, 37 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index ea1a70e..9ac5f03 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -1,7 +1,7 @@
package com.zy.common.utils;
-import com.alibaba.fastjson.JSONObject;
import com.zy.asrs.utils.Utils;
+import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.core.enums.ShuttleTaskModeType;
@@ -26,7 +26,7 @@
start.setFather(null);
NavigateNode end = new NavigateNode(endArr[0], endArr[1]);
- NavigateSolution solution = new NavigateSolution(mapType);
+ NavigateSolution solution = new NavigateSolution(mapType, lev);
NavigateNode res_node = solution.astarSearch(start, end);
if (res_node == null) {
System.out.println("鏈壘鍒拌矾寰�");
@@ -163,15 +163,37 @@
//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();
- ArrayList<ArrayList<JSONObject>> lists = mapData.getJsonData(1);
+ List<List<MapNode>> lists = mapData.getJsonData(1);
if (lists != null) {
- JSONObject jsonObject = lists.get(xNode.getX()).get(xNode.getY());
- if (jsonObject != null) {
- return Integer.parseInt(jsonObject.getOrDefault(xNode.getDirection(), 0).toString());
+ MapNode mapNode = lists.get(xNode.getX()).get(xNode.getY());
+ if (mapNode != null) {
+ switch (xNode.getDirection()) {
+ case "top":
+ return mapNode.getTop();
+ case "bottom":
+ return mapNode.getBottom();
+ case "left":
+ return mapNode.getLeft();
+ case "right":
+ return mapNode.getRight();
+ }
}
return 0;
}
return 0;
+ }
+
+ /**
+ * 鏍规嵁鍘熷鑺傜偣缁撴灉锛岃绠楁�昏璧拌窛绂�
+ */
+ public static Integer getOriginPathAllDistance(List<NavigateNode> path) {
+ ArrayList<ArrayList<NavigateNode>> sectionPath = NavigateUtils.getSectionPath(path);
+ Integer allDistance = 0;
+ for (ArrayList<NavigateNode> navigateNodes : sectionPath) {
+ Integer distance = NavigateUtils.getCurrentPathAllDistance(navigateNodes);
+ allDistance += distance;
+ }
+ return allDistance;
}
/**
@@ -191,6 +213,15 @@
return allDistance;
}
+ /**
+ * 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 void main(String[] args) {
//璁＄畻璺緞
List<NavigateNode> calc = calc("1000901", "1800201", ShuttleTaskModeType.PAK_OUT.id);
--
Gitblit v1.9.1