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@@ -226,4 +226,98 @@ class PathStrategyDataService {
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return algPathStrategyInputData
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}
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+ @BizApiMethod(matchedApis = ThreeConstant.BIZ_API_NAME, desc = "查询数据")
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+ Map<String, Object> queryAllTransTo(@BizRequestPm(key = "mapId", nullable = false, desc = "底图ID") String mapId) throws Exception {
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+ AlgPathStrategyInputData algPathStrategyInputData = queryAll(mapId)
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+ Map<String, Object> reMap = new HashMap<>()
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+ AlgBaseMap algBaseMap = algPathStrategyInputData.getAlgBaseMap()
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+ List<AlgObstacle> algObstacleList = algPathStrategyInputData.getAlgObstacleList()
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+ if (algBaseMap != null && algObstacleList != null) {
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+ // blocks
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+ String[] pcss = algBaseMap.getPcsBorder().split(";")
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+ int max = Integer.MIN_VALUE;
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+ for (String pcs : pcss) {
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+ String[] ps = pcs.split(",")
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+ for (String p : ps) {
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+ int pp = (int) Double.parseDouble(p)
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+ if (pp > max) {
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+ max = pp;
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+ }
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+ }
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+ }
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+ List<Map<String, Object>> blocks = new ArrayList<>()
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+ for (int i = 1; i <= max; i++) {
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+ for (int j = 1; j <= max; j++) {
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+ Map<String, Object> blockMap = new HashMap<>()
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+ blockMap.put("id", ((i - 1) * max + j) + "")
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+ blockMap.put("x", i)
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+ blockMap.put("y", j)
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+ boolean fg = false;
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+ for (AlgObstacle algObstacle : algObstacleList) {
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+ // 解析坐标
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+ int[] point = [i, j];
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+ double[] polygon = parsePolygonString(algObstacle.getPcsBorder());
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+ // 判断点是否在多边形内
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+ if (isPointInPolygon(polygon, point[0], point[1])) {
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+ fg = true;
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+ break
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+ }
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+ }
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+ blockMap.put("isObstacle", fg)
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+ blocks.add(blockMap)
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+ }
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+ }
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+ reMap.put("blocks", blocks)
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+ // tasks
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+ List<Map<String, Object>> tasks = new ArrayList<>()
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+ List<AlgVehicleTask> algVehicleTaskList = algPathStrategyInputData.getAlgVehicleTaskList()
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+ for (int i = 1; i <= algVehicleTaskList.size(); i++) {
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+ AlgVehicleTask algVehicleTask = algVehicleTaskList.get(i - 1)
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+ Map<String, Object> taskMap = new HashMap<>()
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+ taskMap.put("id", algVehicleTask.getVehicleNo())
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+ String[] sp = algVehicleTask.getStartPosition().split(",")
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+ int fi = (int) Double.parseDouble(sp[0])
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+ int fj = (int) Double.parseDouble(sp[1])
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+ taskMap.put("from", ((fi - 1) * max + fj) + "")
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+ String[] ep = algVehicleTask.getStartPosition().split(",")
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+ int ti = (int) Double.parseDouble(ep[0])
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+ int tj = (int) Double.parseDouble(ep[1])
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+ taskMap.put("to", ((ti - 1) * max + tj) + "")
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+ taskMap.put("beginTime", i)
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+ tasks.add(taskMap)
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+ }
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+ reMap.put("tasks", tasks)
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+ }
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+ return reMap
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+ }
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+
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+ // 解析点坐标字符串
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+
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+ // 解析多边形顶点坐标字符串
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+ private static double[] parsePolygonString(String polygonStr) {
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+ String[] vertexStrs = polygonStr.split(";");
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+ double[] vertices = new double[vertexStrs.length * 2];
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+ for (int i = 0; i < vertexStrs.length; i++) {
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+ String[] coords = vertexStrs[i].split(",");
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+ vertices[i * 2] = Double.parseDouble(coords[0]);
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+ vertices[i * 2 + 1] = Double.parseDouble(coords[1]);
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+ }
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+ return vertices;
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+ }
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+
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+ // 判断点是否在多边形内
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+ public static boolean isPointInPolygon(double[] polygon, int pointX, int pointY) {
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+ int n = (int) (polygon.length / 2);
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+ boolean c = false;
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+ for (int i = 0, j = n - 1; i < n; i++) {
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+ if ((polygon[2 * i + 1] > pointY) != (polygon[2 * j + 1] > pointY) &&
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+ pointX < (polygon[2 * j] - polygon[2 * i]) * (pointY - polygon[2 * i + 1]) /
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+ (polygon[2 * j + 1] - polygon[2 * i + 1]) + polygon[2 * i]) {
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+ c = !c;
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+ }
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+ j = i;
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+ }
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+ return c;
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+ }
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+
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}
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csw