From 85392bb7db247c4596d3fbf49c9e00cfd0e76a13 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期四, 11 九月 2025 09:15:11 +0800
Subject: [PATCH] 1
---
algo-zkd/src/main/java/com/algo/service/TaskAllocationService.java | 34 ++----
algo-zkd/src/main/java/com/algo/expose/impl/BaseDataServiceImpl.java | 39 +++++++
algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java | 18 +++
algo-zkd/src/main/java/com/algo/expose/impl/AlgoSupportImpl.java | 16 ++
algo-zkd/src/main/java/com/algo/config/EnvDataConfig.java | 32 ++++++
algo-zkd/src/main/java/com/algo/expose/AlgoSupport.java | 2
algo-zkd/src/main/java/com/algo/service/PathPlanningService.java | 62 +++---------
algo-zkd/pom.xml | 7 +
algo-zkd/src/main/java/com/algo/AlgorithmMain.java | 23 ++--
algo-zkd/target/classes/META-INF/spring.factories | 3
algo-zkd/src/main/java/com/algo/expose/BaseDataService.java | 40 ++++++++
11 files changed, 192 insertions(+), 84 deletions(-)
diff --git a/algo-zkd/pom.xml b/algo-zkd/pom.xml
index d4b218e..1e21f94 100644
--- a/algo-zkd/pom.xml
+++ b/algo-zkd/pom.xml
@@ -40,6 +40,13 @@
<artifactId>junit</artifactId>
</dependency>
+
+ <dependency>
+ <groupId>org.projectlombok</groupId>
+ <artifactId>lombok</artifactId>
+ <version>1.18.20</version>
+ <scope>provided</scope>
+ </dependency>
</dependencies>
</project>
\ No newline at end of file
diff --git a/algo-zkd/src/main/java/com/algo/AlgorithmMain.java b/algo-zkd/src/main/java/com/algo/AlgorithmMain.java
index e596e88..a8774ff 100644
--- a/algo-zkd/src/main/java/com/algo/AlgorithmMain.java
+++ b/algo-zkd/src/main/java/com/algo/AlgorithmMain.java
@@ -6,18 +6,24 @@
import com.algo.service.PathPlanningService;
import com.algo.service.TaskAllocationService;
import com.algo.util.AgvTaskUtils;
-import com.algo.util.JsonUtils;
import org.junit.Test;
import org.junit.runner.RunWith;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.test.context.SpringBootTest;
import org.springframework.test.context.junit4.SpringRunner;
import java.util.List;
-import java.util.Map;
@SpringBootTest
@RunWith(SpringRunner.class)
public class AlgorithmMain {
+
+
+ @Autowired
+ private TaskAllocationService taskAllocationService;
+
+ @Autowired
+ private PathPlanningService pathPlanningService;
/**
@@ -25,12 +31,7 @@
*/
@Test
public void taskAllocationService() {
- Map<String, Map<String, Integer>> pathMapping = JsonUtils.loadPathMapping("path_mapping.json");
- System.out.println(pathMapping);
- Map<String, Object> environment = JsonUtils.loadEnvironment("environment.json");
- System.out.println(environment);
- TaskAllocationService taskAllocationService = new TaskAllocationService(pathMapping, environment);
List<AGVStatus> agvStatusList = AgvTaskUtils.loadAgvStatus("ctu_agv_status.json");
System.out.println(agvStatusList);
@@ -50,17 +51,13 @@
*/
@Test
public void pathPlanningService() {
- Map<String, Map<String, Integer>> pathMapping = JsonUtils.loadPathMapping("path_mapping.json");
- System.out.println(pathMapping);
- Map<String, Object> environment = JsonUtils.loadEnvironment("environment.json");
- System.out.println(environment);
+
List<TaskData> taskList = AgvTaskUtils.loadTaskList("ctu_task_data.json");
System.out.println(taskList);
- PathPlanningService pathPlanningService = new PathPlanningService(pathMapping, environment, taskList);
List<AGVStatus> agvStatusList = AgvTaskUtils.loadAgvStatus("ctu_agv_status.json");
System.out.println(agvStatusList);
- PathPlanningService.PathPlanningResult planningResult = pathPlanningService.planAllAgvPaths(agvStatusList, true, null);
+ PathPlanningService.PathPlanningResult planningResult = pathPlanningService.planAllAgvPaths(taskList, agvStatusList, true, null);
System.out.println(planningResult);
}
diff --git a/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java b/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java
new file mode 100644
index 0000000..24e04a6
--- /dev/null
+++ b/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java
@@ -0,0 +1,18 @@
+//package com.algo.config;
+//
+//import com.algo.expose.BaseDataService;
+//import com.algo.expose.impl.BaseDataServiceImpl;
+//import org.springframework.context.annotation.Bean;
+//import org.springframework.context.annotation.Configuration;
+//
+//@Configuration
+//public class BaseDataConfig {
+//
+//
+// @Bean
+// public BaseDataService baseDataService() {
+// return new BaseDataServiceImpl();
+// }
+//
+//
+//}
diff --git a/algo-zkd/src/main/java/com/algo/config/EnvDataConfig.java b/algo-zkd/src/main/java/com/algo/config/EnvDataConfig.java
new file mode 100644
index 0000000..ca6238f
--- /dev/null
+++ b/algo-zkd/src/main/java/com/algo/config/EnvDataConfig.java
@@ -0,0 +1,32 @@
+package com.algo.config;
+
+import com.algo.expose.BaseDataService;
+import lombok.Data;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.util.Map;
+
+@Component
+@Data
+public class EnvDataConfig {
+
+ @Autowired
+ private BaseDataService baseDataService;
+
+
+ private Map<String, Map<String, Integer>> pathMapping;
+
+
+ private Map<String, Object> environmentConfig;
+
+ /**
+ * 鍒濆鍖�
+ */
+ @PostConstruct
+ public void init() {
+ setEnvironmentConfig(baseDataService.loadEnvironment());
+ setPathMapping(baseDataService.loadPathMapping());
+ }
+}
diff --git a/algo-zkd/src/main/java/com/algo/expose/AlgoSupport.java b/algo-zkd/src/main/java/com/algo/expose/AlgoSupport.java
index 010bd27..25c6d62 100644
--- a/algo-zkd/src/main/java/com/algo/expose/AlgoSupport.java
+++ b/algo-zkd/src/main/java/com/algo/expose/AlgoSupport.java
@@ -20,6 +20,6 @@
*
* @return
*/
- PathPlanningService.PathPlanningResult planAllAgvPaths(List<AGVStatus> agvStatusList, boolean flag, List<double[]> constraints);
+ PathPlanningService.PathPlanningResult planAllAgvPaths(List<TaskData> taskList, List<AGVStatus> agvStatusList, boolean flag, List<double[]> constraints);
}
diff --git a/algo-zkd/src/main/java/com/algo/expose/BaseDataService.java b/algo-zkd/src/main/java/com/algo/expose/BaseDataService.java
new file mode 100644
index 0000000..7fb962a
--- /dev/null
+++ b/algo-zkd/src/main/java/com/algo/expose/BaseDataService.java
@@ -0,0 +1,40 @@
+package com.algo.expose;
+
+import com.algo.model.AGVStatus;
+import com.algo.model.TaskData;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 鍩虹
+ */
+public interface BaseDataService {
+ /**
+ * 鍔犺浇璺緞鏄犲皠
+ *
+ * @return
+ */
+ Map<String, Map<String, Integer>> loadPathMapping();
+
+ /**
+ * 鍔犺浇鐜鍙傛暟
+ *
+ * @return
+ */
+ Map<String, Object> loadEnvironment();
+
+ /**
+ * 鍔犺浇agv鐘舵��
+ *
+ * @return
+ */
+ List<AGVStatus> loadAgvStatus();
+
+ /**
+ * 鍔犺浇浠诲姟鍒楄〃
+ *
+ * @return
+ */
+ List<TaskData> loadTaskList();
+}
diff --git a/algo-zkd/src/main/java/com/algo/expose/impl/AlgoSupportImpl.java b/algo-zkd/src/main/java/com/algo/expose/impl/AlgoSupportImpl.java
index ebbbeb4..fb150b1 100644
--- a/algo-zkd/src/main/java/com/algo/expose/impl/AlgoSupportImpl.java
+++ b/algo-zkd/src/main/java/com/algo/expose/impl/AlgoSupportImpl.java
@@ -5,22 +5,30 @@
import com.algo.model.TaskAssignment;
import com.algo.model.TaskData;
import com.algo.service.PathPlanningService;
+import com.algo.service.TaskAllocationService;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.Collections;
import java.util.List;
@Service
public class AlgoSupportImpl implements AlgoSupport {
+ @Autowired
+ private TaskAllocationService taskAllocationService;
+
+ @Autowired
+ private PathPlanningService pathPlanningService;
+
+
@Override
public List<TaskAssignment> allocateTasks(List<AGVStatus> agvStatusList, List<TaskData> taskList) {
- return Collections.emptyList();
+ return taskAllocationService.allocateTasks(agvStatusList, taskList);
}
@Override
- public PathPlanningService.PathPlanningResult planAllAgvPaths(List<AGVStatus> agvStatusList, boolean flag, List<double[]> constraints) {
- return null;
+ public PathPlanningService.PathPlanningResult planAllAgvPaths(List<TaskData> taskList, List<AGVStatus> agvStatusList, boolean flag, List<double[]> constraints) {
+ return pathPlanningService.planAllAgvPaths(taskList, agvStatusList, true, null);
}
}
diff --git a/algo-zkd/src/main/java/com/algo/expose/impl/BaseDataServiceImpl.java b/algo-zkd/src/main/java/com/algo/expose/impl/BaseDataServiceImpl.java
new file mode 100644
index 0000000..6968d08
--- /dev/null
+++ b/algo-zkd/src/main/java/com/algo/expose/impl/BaseDataServiceImpl.java
@@ -0,0 +1,39 @@
+package com.algo.expose.impl;
+
+import com.algo.expose.BaseDataService;
+import com.algo.model.AGVStatus;
+import com.algo.model.TaskData;
+import com.algo.util.AgvTaskUtils;
+import com.algo.util.JsonUtils;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 鍩虹
+ */
+@Service
+public class BaseDataServiceImpl implements BaseDataService {
+
+
+ @Override
+ public Map<String, Map<String, Integer>> loadPathMapping() {
+ return JsonUtils.loadPathMapping("path_mapping.json");
+ }
+
+ @Override
+ public Map<String, Object> loadEnvironment() {
+ return JsonUtils.loadEnvironment("environment.json");
+ }
+
+ @Override
+ public List<AGVStatus> loadAgvStatus() {
+ return AgvTaskUtils.loadAgvStatus("ctu_agv_status.json");
+ }
+
+ @Override
+ public List<TaskData> loadTaskList() {
+ return AgvTaskUtils.loadTaskList("ctu_task_data.json");
+ }
+}
diff --git a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java b/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
index 9fef948..833510e 100644
--- a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
+++ b/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.*;
/**
* 璺緞瑙勫垝鏈嶅姟
*/
+@Service
public class PathPlanningService {
- /**
- * 璺緞鏄犲皠琛�
- */
- private Map<String, Map<String, Integer>> pathMapping;
-
- /**
- * 鐜閰嶇疆
- */
- private Map<String, Object> environmentConfig;
+ @Autowired
+ private EnvDataConfig envDataConfig;
/**
* 鎵ц涓换鍔℃彁鍙�
@@ -47,63 +44,35 @@
*/
private RemainingPathProcessor remainingPathProcessor;
- /**
- * 绾跨▼姹犲ぇ灏�
- */
- private final int threadPoolSize;
/**
* 绾跨▼姹�
*/
- private final ExecutorService executorService;
+ private final ExecutorService executorService = Executors.newFixedThreadPool(Math.max(4, Runtime.getRuntime().availableProcessors()));
/**
* CTU鎵瑰鐞嗗ぇ灏�
*/
private final int batchSize = 10;
- /**
- * 鏋勯�犲嚱鏁�
- *
- * @param pathMapping 璺緞鏄犲皠琛�
- * @param environmentConfig 鐜閰嶇疆
- * @param taskDataList 浠诲姟鏁版嵁鍒楄〃
- */
- 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);
-
- // 鍒濆鍖�
- initializeComponents(taskDataList);
-
- System.out.println("璺緞瑙勫垝鏈嶅姟鍒濆鍖栧畬鎴愶紙绾跨▼姹犲ぇ灏�: " + threadPoolSize + "锛�");
- }
/**
* 鍒濆鍖栧悇涓粍浠�
- *
- * @param taskDataList 浠诲姟鏁版嵁鍒楄〃
*/
- private void initializeComponents(List<TaskData> taskDataList) {
- // 鍒濆鍖栦换鍔℃彁鍙栧櫒
- this.taskExtractor = new ExecutingTaskExtractor(pathMapping, taskDataList);
+ @PostConstruct
+ public void initializeComponents() {
// 鍒濆鍖栬矾寰勮鍒掑櫒
- this.pathPlanner = new AStarPathPlanner(pathMapping);
+ this.pathPlanner = new AStarPathPlanner(envDataConfig.getPathMapping());
// 鍒濆鍖栫鎾炴娴嬪櫒
- this.collisionDetector = new CollisionDetector(pathMapping);
+ this.collisionDetector = new CollisionDetector(envDataConfig.getPathMapping());
// 鍒濆鍖栫鎾炶В鍐冲櫒
this.collisionResolver = new CollisionResolver(collisionDetector);
// 鍒濆鍖栧墿浣欒矾寰勫鐞嗗櫒
- this.remainingPathProcessor = new RemainingPathProcessor(pathMapping);
+ this.remainingPathProcessor = new RemainingPathProcessor(envDataConfig.getPathMapping());
}
/**
@@ -114,9 +83,12 @@
* @param constraints 璺緞绾︽潫鏉′欢
* @return 璺緞瑙勫垝缁撴灉
*/
- public PathPlanningResult planAllAgvPaths(List<AGVStatus> agvStatusList,
+ public PathPlanningResult planAllAgvPaths(List<TaskData> taskList, List<AGVStatus> agvStatusList,
boolean includeIdleAgv,
List<double[]> constraints) {
+ // 鍒濆鍖栦换鍔℃彁鍙栧櫒
+ this.taskExtractor = new ExecutingTaskExtractor(envDataConfig.getPathMapping(), taskList);
+
long startTime = System.currentTimeMillis();
System.out.println("寮�濮嬩负 " + agvStatusList.size() + " 涓狢TU瑙勫垝");
@@ -416,7 +388,7 @@
long currentTime = System.currentTimeMillis() / 1000; // 杞崲涓虹
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());
diff --git a/algo-zkd/src/main/java/com/algo/service/TaskAllocationService.java b/algo-zkd/src/main/java/com/algo/service/TaskAllocationService.java
index dbe8985..fd1946f 100644
--- a/algo-zkd/src/main/java/com/algo/service/TaskAllocationService.java
+++ b/algo-zkd/src/main/java/com/algo/service/TaskAllocationService.java
@@ -1,10 +1,12 @@
package com.algo.service;
+import com.algo.config.EnvDataConfig;
import com.algo.model.AGVStatus;
import com.algo.model.BackpackData;
import com.algo.model.TaskAssignment;
import com.algo.model.TaskData;
import com.algo.util.JsonUtils;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.*;
@@ -13,22 +15,14 @@
/**
* 浠诲姟鍒嗛厤鏈嶅姟绫�
*/
+@Service
public class TaskAllocationService {
- private Map<String, Map<String, Integer>> pathMapping;
- private Map<String, Object> environmentConfig;
+ @Autowired
+ private EnvDataConfig envDataConfig;
- /**
- * 鏋勯�犲嚱鏁�
- *
- * @param pathMapping 璺緞鏄犲皠淇℃伅
- * @param environmentConfig 鐜閰嶇疆淇℃伅
- */
- public TaskAllocationService(Map<String, Map<String, Integer>> pathMapping,
- Map<String, Object> environmentConfig) {
- this.pathMapping = pathMapping;
- this.environmentConfig = environmentConfig;
- }
+
+
/**
* 鎵ц浠诲姟鍒嗛厤
@@ -42,9 +36,9 @@
System.out.println("寮�濮嬩换鍔″垎閰嶏紝AGV鏁伴噺: " + agvStatusList.size() + ", 浠诲姟鏁伴噺: " + taskList.size());
// 杈撳嚭鐜淇℃伅
- System.out.println("鐜淇℃伅锛氬搴�=" + environmentConfig.get("width") +
- ", 楂樺害=" + environmentConfig.get("height") +
- ", 宸ヤ綔绔欐暟閲�=" + environmentConfig.get("stationCount"));
+ System.out.println("鐜淇℃伅锛氬搴�=" + envDataConfig.getEnvironmentConfig().get("width") +
+ ", 楂樺害=" + envDataConfig.getEnvironmentConfig().get("height") +
+ ", 宸ヤ綔绔欐暟閲�=" + envDataConfig.getEnvironmentConfig().get("stationCount"));
List<TaskAssignment> assignments = new ArrayList<>();
@@ -109,8 +103,8 @@
System.out.println("澶勭悊璧风偣 " + startLocation + " 鐨勪换鍔★紝鏁伴噺: " + locationTasks.size());
// 妫�鏌ユ槸鍚︿负宸ヤ綔绔�
- if (JsonUtils.isStation(startLocation, environmentConfig)) {
- Map<String, Object> stationInfo = JsonUtils.getStationInfo(startLocation, environmentConfig);
+ if (JsonUtils.isStation(startLocation, envDataConfig.getEnvironmentConfig())) {
+ Map<String, Object> stationInfo = JsonUtils.getStationInfo(startLocation, envDataConfig.getEnvironmentConfig());
if (stationInfo != null) {
Integer capacity = (Integer) stationInfo.get("capacity");
System.out.println("宸ヤ綔绔� " + startLocation + " 瀹归噺: " + capacity);
@@ -203,7 +197,7 @@
AGVStatus bestAgv = null;
double minDistance = Double.MAX_VALUE;
- int[] targetCoord = JsonUtils.getCoordinate(targetLocation, pathMapping);
+ int[] targetCoord = JsonUtils.getCoordinate(targetLocation, envDataConfig.getPathMapping());
if (targetCoord == null) {
System.out.println("鏃犳硶鑾峰彇鐩爣浣嶇疆 " + targetLocation + " 鐨勫潗鏍�");
return availableAgvs.isEmpty() ? null : availableAgvs.get(0);
@@ -216,7 +210,7 @@
continue;
}
- int[] agvCoord = JsonUtils.getCoordinate(agv.getPosition(), pathMapping);
+ int[] agvCoord = JsonUtils.getCoordinate(agv.getPosition(), envDataConfig.getPathMapping());
if (agvCoord != null) {
double distance = JsonUtils.calculateManhattanDistance(agvCoord, targetCoord);
diff --git a/algo-zkd/target/classes/META-INF/spring.factories b/algo-zkd/target/classes/META-INF/spring.factories
index ab43764..82fa48f 100644
--- a/algo-zkd/target/classes/META-INF/spring.factories
+++ b/algo-zkd/target/classes/META-INF/spring.factories
@@ -1 +1,2 @@
-org.springframework.boot.autoconfigure.EnableAutoConfiguration=
+org.springframework.boot.autoconfigure.EnableAutoConfiguration=com.algo.service.PathPlanningService
+
--
Gitblit v1.9.1