From 314e894c0d6ce2739344dcd1c94ae7770868a0f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 五月 2025 14:51:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/ShuttleOperaUtils.java | 60 +++++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 53 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 4c14010..45f6a71 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -260,13 +260,15 @@
continue;
}
- HashMap<String, Integer> carMap = findCarMap();
-
String targetLocNo = null;
for (NavigateNode node : outerNodes) {
String dispatchLocNo = NavigatePositionConvert.nodeToLocNo(node);
- if (carMap.containsKey(dispatchLocNo)) {
- continue;
+ //鑾峰彇鍐呭湀鑺傜偣
+ List<NavigateNode> avoidInnerNodes = getInnerNodes(dispatchLocNo, innerCircle, new ArrayList<>());
+ //璁＄畻鍐呭湀鏄惁鏈夊皬杞�
+ List<Integer> avoidNodesCar = findNodesCar(avoidInnerNodes);
+ if(!avoidNodesCar.isEmpty()) {
+ continue;
}
targetLocNo = dispatchLocNo;
break;
@@ -331,7 +333,7 @@
for (int i = 0; i < outerCircle; i++) {
int idx = i + 1;
- List<NavigateNode> list = extend_nodes(map, currentNode, idx);
+ List<NavigateNode> list = extend_outer_nodes(map, currentNode, idx);
if (list.isEmpty()) {
continue;
}
@@ -372,7 +374,7 @@
for (int i = 0; i < innerCircle; i++) {
int idx = i + 1;
- List<NavigateNode> list = extend_nodes(map, currentNode, idx);
+ List<NavigateNode> list = extend_inner_nodes(map, currentNode, idx);
if (list.isEmpty()) {
continue;
}
@@ -395,7 +397,7 @@
return innerNodes;
}
- private List<NavigateNode> extend_nodes(int[][] map, NavigateNode startNode, int innerCircleIdx) {
+ private List<NavigateNode> extend_inner_nodes(int[][] map, NavigateNode startNode, int innerCircleIdx) {
//榛樿鍦板浘姣嶈建鏂瑰悜x
String mapDirection = "x";
ConfigService configService = SpringUtils.getBean(ConfigService.class);
@@ -502,6 +504,50 @@
return nodes;
}
+ private List<NavigateNode> extend_outer_nodes(int[][] map, NavigateNode startNode, int innerCircleIdx) {
+ ArrayList<NavigateNode> nodes = new ArrayList<>();
+ int x = startNode.getX();
+ int y = startNode.getY();
+ int z = startNode.getZ();
+
+ if (is_valid(map, x + innerCircleIdx, y)) {
+ NavigateNode node = new NavigateNode(x + innerCircleIdx, y);
+ node.setNodeValue(map[x + innerCircleIdx][y]);
+ node.setZ(z);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
+ }
+
+ if (is_valid(map, x - innerCircleIdx, y)) {
+ NavigateNode node = new NavigateNode(x - innerCircleIdx, y);
+ node.setNodeValue(map[x - innerCircleIdx][y]);
+ node.setZ(z);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
+ }
+
+ if (is_valid(map, x, y + innerCircleIdx)) {
+ NavigateNode node = new NavigateNode(x, y + innerCircleIdx);
+ node.setNodeValue(map[x][y + innerCircleIdx]);
+ node.setZ(z);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
+ }
+
+ if (is_valid(map, x, y - innerCircleIdx)) {
+ NavigateNode node = new NavigateNode(x, y - innerCircleIdx);
+ node.setNodeValue(map[x][y - innerCircleIdx]);
+ node.setZ(z);
+ if (node.getNodeValue().equals(startNode.getNodeValue())) {
+ nodes.add(node);
+ }
+ }
+ return nodes;
+ }
+
private boolean is_valid(int[][] map, int x, int y) {
if (x < 0 || x >= map.length
|| y < 0 || y >= map[0].length) {
--
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