From 12f30a09bce1c61b2ae90129124cdc467a59b074 Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期三, 05 十一月 2025 15:03:17 +0800
Subject: [PATCH] 优化更新
---
algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java | 69 +++++++++++++++++++++++++++++-----
1 files changed, 59 insertions(+), 10 deletions(-)
diff --git a/algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java b/algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java
index 5fe5554..894f28e 100644
--- a/algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java
+++ b/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 @@
/**
* 鏈�澶ф悳绱㈡繁搴�
*/
- private final int maxSearchDepth = 15000;
+ private final int maxSearchDepth = 50000;
/**
* 璺濈缂撳瓨
@@ -70,13 +73,22 @@
*/
public AStarPathPlanner(Map<String, Map<String, Integer>> pathMapping) {
this.pathMapping = pathMapping;
- this.adjacencyList = new HashMap<>();
// 鍔犺浇鐜杩為�氭�ф暟鎹�
this.environmentConnectivity = JsonUtils.loadEnvironmentConnectivity("environment.json");
- // 鏋勫缓鐜鎰熺煡鐨勯偦鎺ヨ〃
- buildEnvironmentAwareAdjacencyList();
+ // 鍔犺浇閭绘帴琛�
+ Map<String, List<Map<String, String>>> loadedAdjacency = loadAdjacencyListFromJson("adjacency.json");
+
+ if (loadedAdjacency != null && !loadedAdjacency.isEmpty()) {
+ // 鎴愬姛鍔犺浇棰勭敓鎴愮殑閭绘帴琛�
+ this.adjacencyList = loadedAdjacency;
+ System.out.println("浠� adjacency.json 鍔犺浇閭绘帴琛�: " + adjacencyList.size() + " 涓妭鐐�");
+ } else {
+ this.adjacencyList = new HashMap<>();
+ buildEnvironmentAwareAdjacencyList();
+ System.out.println("浣跨敤缃戞牸鐩搁偦鎬ф瀯寤洪偦鎺ヨ〃: " + adjacencyList.size() + " 涓妭鐐�");
+ }
// 鍔犺浇瀹為檯鍧愭爣鏄犲皠
loadRealCoordinateMapping();
@@ -88,6 +100,39 @@
precomputeCommonDistances();
System.out.println("A*璺緞瑙勫垝鍣ㄥ垵濮嬪寲瀹屾垚锛岄偦鎺ヨ〃鍖呭惈 " + adjacencyList.size() + " 涓妭鐐�");
+ }
+
+ /**
+ * 浠� JSON 鏂囦欢鍔犺浇棰勭敓鎴愮殑閭绘帴琛�
+ */
+ private Map<String, List<Map<String, String>>> loadAdjacencyListFromJson(String filePath) {
+ try {
+ File file = new File(filePath);
+
+ if (!file.exists()) {
+ System.out.println("璺緞閭绘帴琛ㄦ枃浠朵笉瀛樺湪: " + filePath + "锛屼娇鐢ㄩ粯璁ゆ瀯寤烘柟娉�");
+ 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("閭绘帴琛ㄦ枃浠朵负绌�: " + filePath);
+ return null;
+ }
+
+ return adjacency;
+
+ } catch (Exception e) {
+ System.err.println("鍔犺浇閭绘帴琛ㄥけ璐�: " + 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 闈欐�佺害鏉熸潯浠�
* @param spaceTimeOccupancyMap 鏃剁┖鍗犵敤琛�
* @param physicalConfig CTU鐗╃悊閰嶇疆
+ * @param startTimeMs 璧峰鏃堕棿锛堟绉掞級
* @return 瑙勫垝鐨勮矾寰�
*/
public PlannedPath planSpaceTimePath(String startCode, String endCode,
List<double[]> constraints,
Map<String, String> spaceTimeOccupancyMap,
- CTUPhysicalConfig physicalConfig) {
+ CTUPhysicalConfig physicalConfig,
+ long startTimeMs) {
// 楠岃瘉杈撳叆
if (!isValidPathPoint(startCode) || !isValidPathPoint(endCode)) {
System.out.println("鏃犳晥鐨勮矾寰勭偣: " + startCode + " 鎴� " + endCode);
@@ -167,7 +215,7 @@
// 鏃剁┖A*绠楁硶瀹炵幇
PlannedPath result = spaceTimeAStarSearch(
startCode, endCode, startCoord, endCoord,
- constraints, spaceTimeOccupancyMap, physicalConfig
+ constraints, spaceTimeOccupancyMap, physicalConfig, startTimeMs
);
if (result != null) {
@@ -189,13 +237,15 @@
* @param constraints 绾︽潫鏉′欢
* @param occupancyMap 鏃剁┖鍗犵敤琛�
* @param physicalConfig 鐗╃悊閰嶇疆
+ * @param startTimeMs 璧峰鏃堕棿锛堟绉掞級
* @return 瑙勫垝鐨勮矾寰�
*/
private PlannedPath spaceTimeAStarSearch(String startCode, String endCode,
int[] startCoord, int[] endCoord,
List<double[]> constraints,
Map<String, String> occupancyMap,
- CTUPhysicalConfig physicalConfig) {
+ CTUPhysicalConfig physicalConfig,
+ long startTimeMs) {
// 浣跨敤浼樺厛闃熷垪瀹炵幇寮�鏀惧垪琛�
PriorityQueue<SpaceTimeAStarNode> openSet = new PriorityQueue<>(
@@ -205,8 +255,7 @@
Map<String, Double> gScores = new HashMap<>();
Map<String, SpaceTimeAStarNode> cameFrom = new HashMap<>();
- // 璧峰鏃堕棿
- long startTime = System.currentTimeMillis();
+ long startTime = startTimeMs;
// 鍒濆鍖栬捣濮嬭妭鐐�
SpaceTimeAStarNode startNode = new SpaceTimeAStarNode(
--
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