1

zhang

2025-09-11 85392bb7db247c4596d3fbf49c9e00cfd0e76a13

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

@@ -1,26 +1,23 @@
package com.algo.service;

import com.algo.config.EnvDataConfig;
import com.algo.model.*;
import com.algo.util.JsonUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import javax.annotation.PostConstruct;
import java.util.*;
import java.util.concurrent.*;

/**
 * 路径规划服务
 */
@Service
public class PathPlanningService {

    /**
     * 路径映射表
     */
    private Map<String, Map<String, Integer>> pathMapping;

    /**
     * 环境配置
     */
    private Map<String, Object> environmentConfig;
    @Autowired
    private EnvDataConfig envDataConfig;

    /**
     * 执行中任务提取
@@ -47,63 +44,35 @@
     */
    private RemainingPathProcessor remainingPathProcessor;

    /**
     * 线程池大小
     */
    private final int threadPoolSize;

    /**
     * 线程池
     */
    private final ExecutorService executorService;
    private final ExecutorService executorService = Executors.newFixedThreadPool(Math.max(4, Runtime.getRuntime().availableProcessors()));

    /**
     * CTU批处理大小
     */
    private final int batchSize = 10;

    /**
     * 构造函数
     *
     * @param pathMapping       路径映射表
     * @param environmentConfig 环境配置
     * @param taskDataList      任务数据列表
     */
    public PathPlanningService(Map<String, Map<String, Integer>> pathMapping,
                               Map<String, Object> environmentConfig,
                               List<TaskData> taskDataList) {
        this.pathMapping = pathMapping;
        this.environmentConfig = environmentConfig;

        this.threadPoolSize = Math.max(4, Runtime.getRuntime().availableProcessors());
        this.executorService = Executors.newFixedThreadPool(threadPoolSize);

        // 初始化
        initializeComponents(taskDataList);

        System.out.println("路径规划服务初始化完成（线程池大小: " + threadPoolSize + "）");
    }

    /**
     * 初始化各个组件
     *
     * @param taskDataList 任务数据列表
     */
    private void initializeComponents(List<TaskData> taskDataList) {
        // 初始化任务提取器
        this.taskExtractor = new ExecutingTaskExtractor(pathMapping, taskDataList);
    @PostConstruct
    public void initializeComponents() {

        // 初始化路径规划器
        this.pathPlanner = new AStarPathPlanner(pathMapping);
        this.pathPlanner = new AStarPathPlanner(envDataConfig.getPathMapping());

        // 初始化碰撞检测器
        this.collisionDetector = new CollisionDetector(pathMapping);
        this.collisionDetector = new CollisionDetector(envDataConfig.getPathMapping());

        // 初始化碰撞解决器
        this.collisionResolver = new CollisionResolver(collisionDetector);

        // 初始化剩余路径处理器
        this.remainingPathProcessor = new RemainingPathProcessor(pathMapping);
        this.remainingPathProcessor = new RemainingPathProcessor(envDataConfig.getPathMapping());
    }

    /**
@@ -114,9 +83,12 @@
     * @param constraints    路径约束条件
     * @return 路径规划结果
     */
    public PathPlanningResult planAllAgvPaths(List<AGVStatus> agvStatusList,
    public PathPlanningResult planAllAgvPaths(List<TaskData> taskList, List<AGVStatus> agvStatusList,
                                              boolean includeIdleAgv,
                                              List<double[]> constraints) {
        // 初始化任务提取器
        this.taskExtractor = new ExecutingTaskExtractor(envDataConfig.getPathMapping(), taskList);

        long startTime = System.currentTimeMillis();

        System.out.println("开始为 " + agvStatusList.size() + " 个CTU规划");
@@ -416,7 +388,7 @@
        long currentTime = System.currentTimeMillis() / 1000; // 转换为秒

        for (PathCode pathCode : codeList) {
            int[] coord = JsonUtils.getCoordinate(pathCode.getCode(), pathMapping);
            int[] coord = JsonUtils.getCoordinate(pathCode.getCode(), envDataConfig.getPathMapping());
            if (coord != null) {
                String spaceTimeKey = coord[0] + "," + coord[1] + "," + currentTime;
                occupancyMap.put(spaceTimeKey, agvStatus.getAgvId());