package com.zy.common.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.BasMap;
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import com.zy.asrs.service.BasMapService;
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import com.zy.common.model.NavigateNode;
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import com.zy.core.enums.MapNodeType;
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import java.util.*;
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/**
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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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// 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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//用来存放已经出现过的结点。
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Map<String, Integer> bestGMap = new HashMap<>();
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public List<List<NavigateNode>> getStationMap() {
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BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
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BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", 1));
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if (basMap == null) {
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throw new CoolException("地图不存在");
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}
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List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);
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List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
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for (int i = 0; i < dataList.size(); i++) {
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List<JSONObject> row = dataList.get(i);
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List<NavigateNode> navigateNodeRow = new ArrayList<>();
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for (int j = 0; j < row.size(); j++) {
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JSONObject map = row.get(j);
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NavigateNode navigateNode = new NavigateNode(i, j);
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String nodeType = map.getString("type");
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if(nodeType == null) {
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navigateNode.setValue(MapNodeType.DISABLE.id);
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}else if(nodeType.equals("devp") || nodeType.equals("merge")){
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navigateNode.setValue(MapNodeType.NORMAL_PATH.id);
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JSONObject valueObj = JSON.parseObject(map.getString("value"));
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List<String> directionList = valueObj.getJSONArray("direction").toJavaList(String.class);
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navigateNode.setDirectionList(directionList);
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}else {
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navigateNode.setValue(MapNodeType.DISABLE.id);
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}
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navigateNode.setNodeType(nodeType);
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navigateNode.setNodeValue(map.getString("value"));
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navigateNodeRow.add(navigateNode);
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}
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navigateNodeList.add(navigateNodeRow);
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}
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return navigateNodeList;
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}
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public NavigateNode astarSearchJava(List<List<NavigateNode>> map, NavigateNode start, NavigateNode end) {
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// 清理上次搜索的状态，防止复用实例导致记录残留
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this.Open.clear();
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this.Close.clear();
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this.bestGMap.clear();
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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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//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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if (current_node.getX() == end.getX() && current_node.getY() == end.getY()) {//找到目标结点就返回
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return current_node;
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}
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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(map, 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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// 已在关闭列表中的节点不再处理，避免父链反复改写形成环
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if (Close.contains(node)) {
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continue;
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}
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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 = calcNodeExtraCost(current_node, node, end);
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//进行计算对G, F, H 等值
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node.setG(1 + 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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String key = node.getX() + "_" + node.getY();
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Integer recordedG = bestGMap.get(key);
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// 仅当找到更小的代价时才更新与入Open，避免等价代价反复入队导致父链抖动
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if (recordedG == null || node.getG() < recordedG) {
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bestGMap.put(key, node.getG());
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Open.add(node);
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}
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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(List<List<NavigateNode>> map, NavigateNode current_node) {
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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(current_node.getValue() == MapNodeType.DISABLE.id) {
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return neighbour_node;
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}
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List<String> directionList = current_node.getDirectionList();
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if(directionList == null || directionList.size() == 0) {
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return neighbour_node;
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}
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for(String direction : directionList) {
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if(direction.equals("top")) {
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NavigateNode node = getValidNavigateNode(map, x - 1, y);
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if(node != null) {
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neighbour_node.add(node);
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}
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}else if(direction.equals("bottom")) {
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NavigateNode node = getValidNavigateNode(map, x + 1, y);
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if(node != null) {
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neighbour_node.add(node);
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}
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}else if(direction.equals("left")) {
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NavigateNode node = getValidNavigateNode(map, x, y - 1);
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if(node != null) {
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neighbour_node.add(node);
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}
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}else if(direction.equals("right")) {
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NavigateNode node = getValidNavigateNode(map, x, y + 1);
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if(node != null) {
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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 NavigateNode getValidNavigateNode(List<List<NavigateNode>> map, int x, int y) {
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if (x < 0 || x >= map.size()
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|| y < 0 || y >= map.get(0).size()) {
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return null;
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}
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NavigateNode node = map.get(x).get(y);
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if(node.getValue() == MapNodeType.DISABLE.id) {
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return null;
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}
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return node;
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}
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public NavigateNode findStationNavigateNode(List<List<NavigateNode>> map, int stationId) {
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for(int x = 0; x < map.size(); x++) {
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for(int y = 0; y < map.get(0).size(); y++) {
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NavigateNode node = map.get(x).get(y);
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if("devp".equals(node.getNodeType())) {
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JSONObject valueObj = JSON.parseObject(node.getNodeValue());
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if(valueObj.getInteger("stationId") == stationId) {
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return node;
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}
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}
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}
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}
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return null;
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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 0;
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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 1;
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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 1;
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}
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//------------------A*启发函数-end------------------//
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}
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