package com.zy.asrs.wcs.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.SpringUtils;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.PythonResult;
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import com.zy.asrs.wcs.core.model.enums.MapNodeType;
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import com.zy.asrs.wcs.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import java.io.BufferedReader;
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import java.io.IOException;
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import java.io.InputStreamReader;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.PriorityQueue;
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/**
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* 四向库核心
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* A*算法实现类
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*/
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public class NavigateSolution {
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// -1 -> 墙壁， 0 -> 货位， 1 -> 起点 2 -> 终点 3-> 母轨 4->输送站点 5->充电桩 6->小车可走输送站点 66->小车 67->提升机
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int[][] map = {{}};
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public NavigateSolution() {
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//载入地图
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NavigateMapData mapData = SpringUtils.getBean(NavigateMapData.class);
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mapData.setLev(1);
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int[][] data = mapData.getData();
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this.map = data;
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}
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public NavigateSolution(Integer mapType, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
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//载入地图指定层高地图
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NavigateMapData mapData = SpringUtils.getBean(NavigateMapData.class);
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mapData.setLev(lev);
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int[][] data = mapData.getDataFromRedis(mapType, whitePoints, shuttlePoints);
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if (data == null) {
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throw new CoolException("地图未载入！");
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}
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this.map = data;
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}
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public NavigateSolution(int[][] data) {
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this.map = data;
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}
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// Open表用优先队列
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public PriorityQueue<NavigateNode> Open = new PriorityQueue<NavigateNode>();
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//Close表用普通的数组
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public ArrayList<NavigateNode> Close = new ArrayList<NavigateNode>();
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//Exist表用来存放已经出现过的结点。
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public ArrayList<NavigateNode> Exist = new ArrayList<NavigateNode>();
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public String astarSearch(NavigateNode start, NavigateNode end, String pythonScriptPath) {
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String maps = JSON.toJSONString(map);
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String startStr = start.getX() + "-" + start.getY();
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String targetStr = end.getX() + "-" + end.getY();
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//默认地图母轨方向x
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String mapDirection = "x";
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DictService dictService = SpringUtils.getBean(DictService.class);
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if (dictService != null) {
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
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.eq(Dict::getFlag, "direction_map")
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.eq(Dict::getStatus, 1));
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if (dict != null) {
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mapDirection = dict.getValue();
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}
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}
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ProcessBuilder processBuilder = new ProcessBuilder("python", pythonScriptPath, maps, startStr, targetStr, mapDirection);
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processBuilder.redirectErrorStream(true);
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try {
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Process process = processBuilder.start();
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// 读取Python脚本的输出
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BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
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String line;
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StringBuilder builder = new StringBuilder();
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while ((line = reader.readLine()) != null) {
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builder.append(line);
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}
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// 等待Python脚本执行完成
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int exitCode = process.waitFor();
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if (exitCode != 0) {
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System.out.println("Python script exited with error code: " + exitCode);
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return null;
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}
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reader.close();
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if (builder.length() <= 0) {
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return null;
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}
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PythonResult result = JSON.parseObject(builder.toString(), PythonResult.class);
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if (result.getCalcResult() != 200) {
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return null;
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}
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String path = result.getPath();
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return path;
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} catch (IOException | InterruptedException e) {
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e.printStackTrace();
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}
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return null;
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}
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// public NavigateNode astarSearch(NavigateNode start, NavigateNode end) {
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// //把第一个开始的结点加入到Open表中
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// this.Open.add(start);
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// //把出现过的结点加入到Exist表中
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// this.Exist.add(start);
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// //主循环
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// while (Open.size() > 0) {
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// //取优先队列顶部元素并且把这个元素从Open表中删除
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// NavigateNode current_node = Open.poll();
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// //将这个结点加入到Close表中
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// Close.add(current_node);
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// //对当前结点进行扩展，得到一个四周结点的数组
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// ArrayList<NavigateNode> neighbour_node = extend_current_node(current_node);
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// //对这个结点遍历，看是否有目标结点出现
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// for (NavigateNode node : neighbour_node) {
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// // G + H + E (对启发函数增加去拐点方案calcNodeExtraCost)
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// int gCost = calcNodeCost(current_node, node) * calcNodeExtraCost(current_node, node, end);
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// if (node.getX() == end.getX() && node.getY() == end.getY()) {//找到目标结点就返回
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// //init_node操作把这个邻居结点的父节点设置为当前结点
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// //并且计算出G， F， H等值
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// node.setLastDistance(gCost);
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// node.init_node(current_node, end);
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// return node;
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// }
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//
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// //进行计算对G, F, H 等值
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// node.setLastDistance(gCost);
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// node.init_node(current_node, end);
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// node.setH(calcNodeCost(node, end));
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// node.setF(node.getG() + node.getH());
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//
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// Open.add(node);
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// Exist.add(node);
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// }
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// }
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// //如果遍历完所有出现的结点都没有找到最终的结点，返回null
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// return null;
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// }
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public ArrayList<NavigateNode> extend_current_node(NavigateNode current_node) {
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//默认地图母轨方向x
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String mapDirection = "x";
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DictService dictService = SpringUtils.getBean(DictService.class);
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if (dictService != null) {
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
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.eq(Dict::getFlag, "direction_map")
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.eq(Dict::getStatus, 1));
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if (dict != null) {
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mapDirection = dict.getValue();
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}
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}
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//获取当前结点的x, y
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int x = current_node.getX();
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int y = current_node.getY();
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//如果当前结点的邻结点合法，就加入到neighbour_node
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ArrayList<NavigateNode> neighbour_node = new ArrayList<NavigateNode>();
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// if (map[x][y] == 0 || map[x][y] == 3) {
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// //只有子轨和母轨才能进行左右移动
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// if (is_valid(x, y + 1))
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// {
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// Node node = new Node(x, y + 1);
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// neighbour_node.add(node);
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// }
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// if (is_valid(x, y - 1))
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// {
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// Node node = new Node(x, y - 1);
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// neighbour_node.add(node);
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// }
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// }
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//
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// if (map[x][y] == 3) {
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// //只有母轨才能进行上下移动
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// if (is_valid(x + 1, y))
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// {
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// Node node = new Node(x + 1, y);
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// neighbour_node.add(node);
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// }
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// if (is_valid(x - 1, y))
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// {
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// Node node = new Node(x -1, y);
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// neighbour_node.add(node);
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// }
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// }
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if (mapDirection.equals("x")) {//母轨x方向
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if (map[x][y] == MapNodeType.MAIN_PATH.id) {
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//母轨才能进行上下移动
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if (is_valid(x + 1, y))
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{
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NavigateNode node = new NavigateNode(x + 1, y);
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neighbour_node.add(node);
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}
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if (is_valid(x - 1, y))
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{
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NavigateNode node = new NavigateNode(x -1, y);
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neighbour_node.add(node);
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}
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}
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if (map[x][y] == MapNodeType.NORMAL_PATH.id || map[x][y] == MapNodeType.MAIN_PATH.id || map[x][y] == MapNodeType.CONVEYOR_CAR_GO.id || map[x][y] == MapNodeType.CHARGE.id || map[x][y] == MapNodeType.LIFT.id) {
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//子轨和母轨、小车可走输送线、充电桩、提升机才能进行左右移动
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if (is_valid(x, y + 1))
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{
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NavigateNode node = new NavigateNode(x, y + 1);
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neighbour_node.add(node);
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}
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if (is_valid(x, y - 1))
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{
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NavigateNode node = new NavigateNode(x, y - 1);
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neighbour_node.add(node);
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}
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}
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}else if (mapDirection.equals("y")) {//母轨y方向
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if (map[x][y] == MapNodeType.MAIN_PATH.id) {
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//母轨才能进行左右移动
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if (is_valid(x, y + 1))
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{
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NavigateNode node = new NavigateNode(x, y + 1);
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neighbour_node.add(node);
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}
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if (is_valid(x, y - 1))
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{
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NavigateNode node = new NavigateNode(x, y - 1);
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neighbour_node.add(node);
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}
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}
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if (map[x][y] == MapNodeType.NORMAL_PATH.id || map[x][y] == MapNodeType.MAIN_PATH.id || map[x][y] == MapNodeType.CONVEYOR_CAR_GO.id || map[x][y] == MapNodeType.CHARGE.id || map[x][y] == MapNodeType.LIFT.id) {
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//子轨和母轨、小车可走输送线、充电桩、提升机才能进行上下移动
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if (is_valid(x + 1, y))
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{
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NavigateNode node = new NavigateNode(x + 1, y);
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neighbour_node.add(node);
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}
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if (is_valid(x - 1, y))
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{
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NavigateNode node = new NavigateNode(x -1, y);
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neighbour_node.add(node);
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}
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}
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}
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return neighbour_node;
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}
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public boolean is_valid(int x, int y) {
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if (x < 0 || x >= this.map.length
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|| y < 0 || y >= this.map[0].length) {
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return false;
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}
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// 如果结点的位置小于0，则不合法
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if (map[x][y] < 0) {
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return false;
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}
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if (map[x][y] == MapNodeType.CAR.id) {//节点是小车
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return false;
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}
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NavigateNode navigateNode = new NavigateNode(x, y);
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if (is_exist(navigateNode)) {
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return false;
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}
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//以上情况都没有则合法
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return true;
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}
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public boolean is_exist(NavigateNode node)
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{
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for (NavigateNode exist_node : Exist) {
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if (node.getX() == exist_node.getX() && node.getY() == exist_node.getY()) {
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return true;
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}
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}
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return false;
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}
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//------------------A*启发函数------------------//
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//计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
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private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
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return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
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}
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//去除拐点算法，给直线增加优先级
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private int calcNodeExtraCost(NavigateNode currNode, NavigateNode nextNode, NavigateNode endNode) {
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// 第一个点或直线点
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if (currNode.getFather() == null || nextNode.getX() == currNode.getFather().getX()
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|| nextNode.getY() == currNode.getFather().getY()) {
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return 1;
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}
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// 拐向终点的点
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if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
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return 2;
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}
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// 普通拐点
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/*
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拐点判断逻辑
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拿到父节点和下一节点
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通过判断父节点和下一节点的x数据和y数据都不相同时，则表明当前坐标是一个拐点
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*/
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return 3;
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}
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//------------------A*启发函数-end------------------//
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}
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