优化更新

jianghaiyue

7 天以前 1d520bffcd63cb8389c9cdf719c3cf7e7c4af567

 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.*;

/**
@@ -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();
@@ -91,6 +103,39 @@
    }
    
    /**
     * 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;
        }
    }
    
    /**
     * 加载实际坐标映射
     */
    private void loadRealCoordinateMapping() {