优化更新

jianghaiyue

2025-11-05 12f30a09bce1c61b2ae90129124cdc467a59b074

 algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java

@@ -5,7 +5,10 @@
import com.algo.model.PlannedPath;
import com.algo.util.JsonUtils;
import com.algo.util.PathTimeCalculator;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;

import java.io.File;
import java.util.*;

/**
@@ -41,7 +44,7 @@
    /**
     * 最大搜索深度
     */
    private final int maxSearchDepth = 15000;
    private final int maxSearchDepth = 50000;

    /**
     * 距离缓存
@@ -70,13 +73,22 @@
     */
    public AStarPathPlanner(Map<String, Map<String, Integer>> pathMapping) {
        this.pathMapping = pathMapping;
        this.adjacencyList = new HashMap<>();

        // 加载环境连通性数据
        this.environmentConnectivity = JsonUtils.loadEnvironmentConnectivity("environment.json");

        // 构建环境感知的邻接表
        buildEnvironmentAwareAdjacencyList();
        // 加载邻接表
        Map<String, List<Map<String, String>>> loadedAdjacency = loadAdjacencyListFromJson("adjacency.json");
        
        if (loadedAdjacency != null && !loadedAdjacency.isEmpty()) {
            // 成功加载预生成的邻接表
            this.adjacencyList = loadedAdjacency;
            System.out.println("从 adjacency.json 加载邻接表: " + adjacencyList.size() + " 个节点");
        } else {
            this.adjacencyList = new HashMap<>();
            buildEnvironmentAwareAdjacencyList();
            System.out.println("使用网格相邻性构建邻接表: " + adjacencyList.size() + " 个节点");
        }
        
        // 加载实际坐标映射
        loadRealCoordinateMapping();
@@ -88,6 +100,39 @@
        precomputeCommonDistances();

        System.out.println("A*路径规划器初始化完成，邻接表包含 " + adjacencyList.size() + " 个节点");
    }
    
    /**
     * 从 JSON 文件加载预生成的邻接表
     */
    private Map<String, List<Map<String, String>>> loadAdjacencyListFromJson(String filePath) {
        try {
            File file = new File(filePath);
            
            if (!file.exists()) {
                System.out.println("路径邻接表文件不存在: " + filePath + "，使用默认构建方法");
                return null;
            }
            
            ObjectMapper objectMapper = new ObjectMapper();
            
            TypeReference<Map<String, List<Map<String, String>>>> typeRef = 
                new TypeReference<Map<String, List<Map<String, String>>>>() {};
            
            Map<String, List<Map<String, String>>> adjacency = objectMapper.readValue(file, typeRef);
            
            if (adjacency == null || adjacency.isEmpty()) {
                System.out.println("邻接表文件为空: " + filePath);
                return null;
            }
            
            return adjacency;
            
        } catch (Exception e) {
            System.err.println("加载邻接表失败: " + e.getMessage());
            e.printStackTrace();
            return null;
        }
    }
    
    /**
@@ -113,7 +158,8 @@
        if (fastPath != null) {
            return fastPath;
        }
        return planSpaceTimePath(startCode, endCode, constraints, null, null);
        long defaultStartTime = System.currentTimeMillis();
        return planSpaceTimePath(startCode, endCode, constraints, null, null, defaultStartTime);
    }

    @Override
@@ -129,12 +175,14 @@
     * @param constraints           静态约束条件
     * @param spaceTimeOccupancyMap 时空占用表
     * @param physicalConfig        CTU物理配置
     * @param startTimeMs           起始时间（毫秒）
     * @return 规划的路径
     */
    public PlannedPath planSpaceTimePath(String startCode, String endCode,
                                         List<double[]> constraints,
                                         Map<String, String> spaceTimeOccupancyMap,
                                         CTUPhysicalConfig physicalConfig) {
                                         CTUPhysicalConfig physicalConfig,
                                         long startTimeMs) {
        // 验证输入
        if (!isValidPathPoint(startCode) || !isValidPathPoint(endCode)) {
            System.out.println("无效的路径点: " + startCode + " 或 " + endCode);
@@ -167,7 +215,7 @@
        // 时空A*算法实现
        PlannedPath result = spaceTimeAStarSearch(
                startCode, endCode, startCoord, endCoord,
                constraints, spaceTimeOccupancyMap, physicalConfig
                constraints, spaceTimeOccupancyMap, physicalConfig, startTimeMs
        );

        if (result != null) {
@@ -189,13 +237,15 @@
     * @param constraints    约束条件
     * @param occupancyMap   时空占用表
     * @param physicalConfig 物理配置
     * @param startTimeMs    起始时间（毫秒）
     * @return 规划的路径
     */
    private PlannedPath spaceTimeAStarSearch(String startCode, String endCode,
                                             int[] startCoord, int[] endCoord,
                                             List<double[]> constraints,
                                             Map<String, String> occupancyMap,
                                             CTUPhysicalConfig physicalConfig) {
                                             CTUPhysicalConfig physicalConfig,
                                             long startTimeMs) {

        // 使用优先队列实现开放列表
        PriorityQueue<SpaceTimeAStarNode> openSet = new PriorityQueue<>(
@@ -205,8 +255,7 @@
        Map<String, Double> gScores = new HashMap<>();
        Map<String, SpaceTimeAStarNode> cameFrom = new HashMap<>();

        // 起始时间
        long startTime = System.currentTimeMillis();
        long startTime = startTimeMs;

        // 初始化起始节点
        SpaceTimeAStarNode startNode = new SpaceTimeAStarNode(