From a68bf17ab81df98882e19b79628e6876bb260468 Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期三, 18 六月 2025 10:04:26 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/fyxc_shuttle_wcs' into fyxc_shuttle_wcs
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 21 +++++++++++++++------
1 files changed, 15 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 22d5fab..f2ec05d 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -16,7 +16,10 @@
import java.io.BufferedReader;
import java.io.InputStreamReader;
-import java.util.*;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
/**
* A*绠楁硶浣跨敤宸ュ叿
@@ -48,14 +51,17 @@
//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(mapType, 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);
@@ -118,14 +124,17 @@
//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(mapType, 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);
@@ -182,7 +191,7 @@
}
//鍒ゆ柇褰撳墠鑺傜偣鍒颁笅涓�涓妭鐐规槸鍚︿负鎷愮偣
- public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
+ public HashMap<String, Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
HashMap<String, Object> map = new HashMap<>();
map.put("result", false);//鏄惁涓烘嫄鐐癸紝true锛氭嫄鐐癸紝false锛氱洿绾�
// 绗竴涓偣鎴栫洿绾跨偣
@@ -212,7 +221,7 @@
if (currentNode.getX() - fatherNode.getX() > 0) {
//澶т簬0锛屾柟鍚憈op
direction = "top";
- }else {
+ } else {
//灏忎簬0锛屾柟鍚慴ottom
direction = "bottom";
}
@@ -224,7 +233,7 @@
if (currentNode.getY() - fatherNode.getY() > 0) {
//澶т簬0锛屾柟鍚憀eft
direction = "left";
- }else {
+ } else {
//灏忎簬0锛屾柟鍚憆ight
direction = "right";
}
--
Gitblit v1.9.1