From 925b834a3341dbe9f486964a7ad5d1affd7a404d Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 十月 2023 13:33:05 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 14 +++-----------
1 files changed, 3 insertions(+), 11 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 489c168..596e595 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -39,7 +39,7 @@
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<>();
@@ -251,7 +251,7 @@
/**
* 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
*/
- public static boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
+ 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;
@@ -261,23 +261,15 @@
return false;
}
- if (shuttleProtocol.getPoint() == null) {
- return false;//灏忚溅涓嶅瓨鍦ㄨ妭鐐�
- }
-
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, null, 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�)
+ 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) {
- if (shuttleProtocol.getPoint().getX() == node.getX() && shuttleProtocol.getPoint().getY() == node.getY()) {
- continue;//灏忚溅鍧愭爣鍜屽綋鍓嶆娴嬪潗鏍囩浉鍚岋紝鐩存帴璺宠繃锛屼笉妫�娴嬪皬杞︽墍澶勫綋鍓嶅潗鏍�
- }
-
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;
--
Gitblit v1.9.1