From 9aee8c2267752430b740803c7711b31cff855c4e Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期三, 29 十月 2025 16:35:20 +0800
Subject: [PATCH] 更新的路径规划脚本，新加的json路径文件
---
algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java | 51
algo-zkd/adjacency.json | 18520 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 18,568 insertions(+), 3 deletions(-)
diff --git a/algo-zkd/adjacency.json b/algo-zkd/adjacency.json
new file mode 100644
index 0000000..f2fd9ef
--- /dev/null
+++ b/algo-zkd/adjacency.json
@@ -0,0 +1,18520 @@
+{
+ "1": [
+ {
+ "code": "2",
+ "direction": "270"
+ },
+ {
+ "code": "36",
+ "direction": "0"
+ }
+ ],
+ "2": [
+ {
+ "code": "1",
+ "direction": "90"
+ },
+ {
+ "code": "3",
+ "direction": "270"
+ }
+ ],
+ "3": [
+ {
+ "code": "2",
+ "direction": "90"
+ },
+ {
+ "code": "4",
+ "direction": "270"
+ },
+ {
+ "code": "37",
+ "direction": "0"
+ }
+ ],
+ "4": [
+ {
+ "code": "3",
+ "direction": "90"
+ },
+ {
+ "code": "5",
+ "direction": "270"
+ }
+ ],
+ "5": [
+ {
+ "code": "4",
+ "direction": "90"
+ },
+ {
+ "code": "6",
+ "direction": "270"
+ },
+ {
+ "code": "38",
+ "direction": "0"
+ }
+ ],
+ "6": [
+ {
+ "code": "5",
+ "direction": "90"
+ },
+ {
+ "code": "7",
+ "direction": "270"
+ }
+ ],
+ "7": [
+ {
+ "code": "6",
+ "direction": "90"
+ },
+ {
+ "code": "8",
+ "direction": "270"
+ }
+ ],
+ "8": [
+ {
+ "code": "7",
+ "direction": "90"
+ },
+ {
+ "code": "9",
+ "direction": "270"
+ }
+ ],
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+ {
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+ "direction": "90"
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+ {
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+ "direction": "270"
+ }
+ ],
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+ {
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+ "direction": "270"
+ }
+ ],
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+ }
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+ },
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+ }
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+ "direction": "90"
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+ "direction": "270"
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+ }
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+ "direction": "270"
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+ "direction": "270"
+ }
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+ "direction": "0"
+ }
+ ],
+ "1329": [
+ {
+ "code": "1285",
+ "direction": "180"
+ },
+ {
+ "code": "1340",
+ "direction": "0"
+ }
+ ],
+ "1384": [
+ {
+ "code": "1340",
+ "direction": "180"
+ },
+ {
+ "code": "1395",
+ "direction": "0"
+ }
+ ],
+ "1439": [
+ {
+ "code": "1395",
+ "direction": "180"
+ },
+ {
+ "code": "1444",
+ "direction": "0"
+ }
+ ],
+ "1461": [
+ {
+ "code": "1444",
+ "direction": "180"
+ },
+ {
+ "code": "1469",
+ "direction": "0"
+ }
+ ],
+ "1502": [
+ {
+ "code": "1469",
+ "direction": "180"
+ },
+ {
+ "code": "1510",
+ "direction": "0"
+ }
+ ],
+ "1543": [
+ {
+ "code": "1510",
+ "direction": "180"
+ },
+ {
+ "code": "1551",
+ "direction": "0"
+ }
+ ],
+ "1584": [
+ {
+ "code": "1551",
+ "direction": "180"
+ },
+ {
+ "code": "1590",
+ "direction": "0"
+ }
+ ],
+ "1608": [
+ {
+ "code": "1590",
+ "direction": "180"
+ },
+ {
+ "code": "1616",
+ "direction": "0"
+ }
+ ],
+ "1648": [
+ {
+ "code": "1616",
+ "direction": "180"
+ },
+ {
+ "code": "1657",
+ "direction": "0"
+ }
+ ],
+ "1689": [
+ {
+ "code": "1657",
+ "direction": "180"
+ },
+ {
+ "code": "1696",
+ "direction": "0"
+ }
+ ],
+ "37": [
+ {
+ "code": "3",
+ "direction": "180"
+ },
+ {
+ "code": "44",
+ "direction": "0"
+ }
+ ],
+ "78": [
+ {
+ "code": "44",
+ "direction": "180"
+ },
+ {
+ "code": "85",
+ "direction": "0"
+ }
+ ],
+ "119": [
+ {
+ "code": "85",
+ "direction": "180"
+ },
+ {
+ "code": "125",
+ "direction": "0"
+ }
+ ],
+ "125": [
+ {
+ "code": "119",
+ "direction": "180"
+ },
+ {
+ "code": "143",
+ "direction": "0"
+ }
+ ],
+ "143": [
+ {
+ "code": "125",
+ "direction": "180"
+ },
+ {
+ "code": "150",
+ "direction": "0"
+ }
+ ],
+ "183": [
+ {
+ "code": "150",
+ "direction": "180"
+ },
+ {
+ "code": "191",
+ "direction": "0"
+ }
+ ],
+ "224": [
+ {
+ "code": "191",
+ "direction": "180"
+ },
+ {
+ "code": "232",
+ "direction": "0"
+ }
+ ],
+ "265": [
+ {
+ "code": "232",
+ "direction": "180"
+ },
+ {
+ "code": "270",
+ "direction": "0"
+ }
+ ],
+ "270": [
+ {
+ "code": "265",
+ "direction": "180"
+ },
+ {
+ "code": "287",
+ "direction": "0"
+ }
+ ],
+ "287": [
+ {
+ "code": "270",
+ "direction": "180"
+ },
+ {
+ "code": "294",
+ "direction": "0"
+ }
+ ],
+ "340": [
+ {
+ "code": "294",
+ "direction": "180"
+ },
+ {
+ "code": "349",
+ "direction": "0"
+ }
+ ],
+ "395": [
+ {
+ "code": "349",
+ "direction": "180"
+ },
+ {
+ "code": "404",
+ "direction": "0"
+ }
+ ],
+ "450": [
+ {
+ "code": "404",
+ "direction": "180"
+ },
+ {
+ "code": "458",
+ "direction": "0"
+ }
+ ],
+ "458": [
+ {
+ "code": "450",
+ "direction": "180"
+ },
+ {
+ "code": "484",
+ "direction": "0"
+ }
+ ],
+ "484": [
+ {
+ "code": "458",
+ "direction": "180"
+ },
+ {
+ "code": "493",
+ "direction": "0"
+ }
+ ],
+ "538": [
+ {
+ "code": "493",
+ "direction": "180"
+ },
+ {
+ "code": "548",
+ "direction": "0"
+ }
+ ],
+ "593": [
+ {
+ "code": "548",
+ "direction": "180"
+ },
+ {
+ "code": "603",
+ "direction": "0"
+ }
+ ],
+ "648": [
+ {
+ "code": "603",
+ "direction": "180"
+ },
+ {
+ "code": "655",
+ "direction": "0"
+ }
+ ],
+ "655": [
+ {
+ "code": "648",
+ "direction": "180"
+ },
+ {
+ "code": "680",
+ "direction": "0"
+ }
+ ],
+ "680": [
+ {
+ "code": "655",
+ "direction": "180"
+ },
+ {
+ "code": "689",
+ "direction": "0"
+ }
+ ],
+ "735": [
+ {
+ "code": "689",
+ "direction": "180"
+ },
+ {
+ "code": "744",
+ "direction": "0"
+ }
+ ],
+ "790": [
+ {
+ "code": "744",
+ "direction": "180"
+ },
+ {
+ "code": "799",
+ "direction": "0"
+ }
+ ],
+ "845": [
+ {
+ "code": "799",
+ "direction": "180"
+ },
+ {
+ "code": "853",
+ "direction": "0"
+ }
+ ],
+ "853": [
+ {
+ "code": "845",
+ "direction": "180"
+ },
+ {
+ "code": "879",
+ "direction": "0"
+ }
+ ],
+ "879": [
+ {
+ "code": "853",
+ "direction": "180"
+ },
+ {
+ "code": "888",
+ "direction": "0"
+ }
+ ],
+ "933": [
+ {
+ "code": "888",
+ "direction": "180"
+ },
+ {
+ "code": "943",
+ "direction": "0"
+ }
+ ],
+ "988": [
+ {
+ "code": "943",
+ "direction": "180"
+ },
+ {
+ "code": "998",
+ "direction": "0"
+ }
+ ],
+ "1043": [
+ {
+ "code": "998",
+ "direction": "180"
+ },
+ {
+ "code": "1050",
+ "direction": "0"
+ }
+ ],
+ "1050": [
+ {
+ "code": "1043",
+ "direction": "180"
+ },
+ {
+ "code": "1075",
+ "direction": "0"
+ }
+ ],
+ "1075": [
+ {
+ "code": "1050",
+ "direction": "180"
+ },
+ {
+ "code": "1084",
+ "direction": "0"
+ }
+ ],
+ "1130": [
+ {
+ "code": "1084",
+ "direction": "180"
+ },
+ {
+ "code": "1139",
+ "direction": "0"
+ }
+ ],
+ "1185": [
+ {
+ "code": "1139",
+ "direction": "180"
+ },
+ {
+ "code": "1194",
+ "direction": "0"
+ }
+ ],
+ "1240": [
+ {
+ "code": "1194",
+ "direction": "180"
+ },
+ {
+ "code": "1248",
+ "direction": "0"
+ }
+ ],
+ "1248": [
+ {
+ "code": "1240",
+ "direction": "180"
+ },
+ {
+ "code": "1274",
+ "direction": "0"
+ }
+ ],
+ "1274": [
+ {
+ "code": "1248",
+ "direction": "180"
+ },
+ {
+ "code": "1283",
+ "direction": "0"
+ }
+ ],
+ "1328": [
+ {
+ "code": "1283",
+ "direction": "180"
+ },
+ {
+ "code": "1338",
+ "direction": "0"
+ }
+ ],
+ "1383": [
+ {
+ "code": "1338",
+ "direction": "180"
+ },
+ {
+ "code": "1393",
+ "direction": "0"
+ }
+ ],
+ "1438": [
+ {
+ "code": "1393",
+ "direction": "180"
+ },
+ {
+ "code": "1460",
+ "direction": "0"
+ }
+ ],
+ "1460": [
+ {
+ "code": "1467",
+ "direction": "0"
+ },
+ {
+ "code": "1438",
+ "direction": "180"
+ }
+ ],
+ "1501": [
+ {
+ "code": "1467",
+ "direction": "180"
+ },
+ {
+ "code": "1508",
+ "direction": "0"
+ }
+ ],
+ "1542": [
+ {
+ "code": "1508",
+ "direction": "180"
+ },
+ {
+ "code": "1549",
+ "direction": "0"
+ }
+ ],
+ "1583": [
+ {
+ "code": "1549",
+ "direction": "180"
+ },
+ {
+ "code": "1589",
+ "direction": "0"
+ }
+ ],
+ "1589": [
+ {
+ "code": "1583",
+ "direction": "180"
+ },
+ {
+ "code": "1607",
+ "direction": "0"
+ }
+ ],
+ "1607": [
+ {
+ "code": "1589",
+ "direction": "180"
+ },
+ {
+ "code": "1614",
+ "direction": "0"
+ }
+ ],
+ "1647": [
+ {
+ "code": "1614",
+ "direction": "180"
+ },
+ {
+ "code": "1655",
+ "direction": "0"
+ }
+ ],
+ "1688": [
+ {
+ "code": "1655",
+ "direction": "180"
+ },
+ {
+ "code": "1694",
+ "direction": "0"
+ }
+ ],
+ "36": [
+ {
+ "code": "1",
+ "direction": "180"
+ },
+ {
+ "code": "42",
+ "direction": "0"
+ }
+ ],
+ "77": [
+ {
+ "code": "42",
+ "direction": "180"
+ },
+ {
+ "code": "83",
+ "direction": "0"
+ }
+ ],
+ "118": [
+ {
+ "code": "83",
+ "direction": "180"
+ },
+ {
+ "code": "124",
+ "direction": "0"
+ }
+ ],
+ "124": [
+ {
+ "code": "118",
+ "direction": "180"
+ },
+ {
+ "code": "142",
+ "direction": "0"
+ }
+ ],
+ "142": [
+ {
+ "code": "124",
+ "direction": "180"
+ },
+ {
+ "code": "148",
+ "direction": "0"
+ }
+ ],
+ "339": [
+ {
+ "code": "292",
+ "direction": "180"
+ },
+ {
+ "code": "347",
+ "direction": "0"
+ }
+ ],
+ "394": [
+ {
+ "code": "347",
+ "direction": "180"
+ },
+ {
+ "code": "402",
+ "direction": "0"
+ }
+ ],
+ "449": [
+ {
+ "code": "402",
+ "direction": "180"
+ },
+ {
+ "code": "457",
+ "direction": "0"
+ }
+ ],
+ "457": [
+ {
+ "code": "449",
+ "direction": "180"
+ },
+ {
+ "code": "483",
+ "direction": "0"
+ }
+ ],
+ "483": [
+ {
+ "code": "457",
+ "direction": "180"
+ },
+ {
+ "code": "491",
+ "direction": "0"
+ }
+ ],
+ "734": [
+ {
+ "code": "687",
+ "direction": "180"
+ },
+ {
+ "code": "742",
+ "direction": "0"
+ }
+ ],
+ "789": [
+ {
+ "code": "742",
+ "direction": "180"
+ },
+ {
+ "code": "797",
+ "direction": "0"
+ }
+ ],
+ "844": [
+ {
+ "code": "797",
+ "direction": "180"
+ },
+ {
+ "code": "852",
+ "direction": "0"
+ }
+ ],
+ "852": [
+ {
+ "code": "844",
+ "direction": "180"
+ },
+ {
+ "code": "878",
+ "direction": "0"
+ }
+ ],
+ "878": [
+ {
+ "code": "852",
+ "direction": "180"
+ },
+ {
+ "code": "886",
+ "direction": "0"
+ }
+ ],
+ "1129": [
+ {
+ "code": "1082",
+ "direction": "180"
+ },
+ {
+ "code": "1137",
+ "direction": "0"
+ }
+ ],
+ "1184": [
+ {
+ "code": "1137",
+ "direction": "180"
+ },
+ {
+ "code": "1192",
+ "direction": "0"
+ }
+ ],
+ "1239": [
+ {
+ "code": "1192",
+ "direction": "180"
+ },
+ {
+ "code": "1247",
+ "direction": "0"
+ }
+ ],
+ "1247": [
+ {
+ "code": "1239",
+ "direction": "180"
+ },
+ {
+ "code": "1273",
+ "direction": "0"
+ }
+ ],
+ "1273": [
+ {
+ "code": "1247",
+ "direction": "180"
+ },
+ {
+ "code": "1281",
+ "direction": "0"
+ }
+ ],
+ "1500": [
+ {
+ "code": "1465",
+ "direction": "180"
+ },
+ {
+ "code": "1506",
+ "direction": "0"
+ }
+ ],
+ "1541": [
+ {
+ "code": "1506",
+ "direction": "180"
+ },
+ {
+ "code": "1547",
+ "direction": "0"
+ }
+ ],
+ "1582": [
+ {
+ "code": "1547",
+ "direction": "180"
+ },
+ {
+ "code": "1588",
+ "direction": "0"
+ }
+ ],
+ "1588": [
+ {
+ "code": "1582",
+ "direction": "180"
+ },
+ {
+ "code": "1606",
+ "direction": "0"
+ }
+ ],
+ "1606": [
+ {
+ "code": "1588",
+ "direction": "180"
+ },
+ {
+ "code": "1612",
+ "direction": "0"
+ }
+ ],
+ "1708": [
+ {
+ "code": "271",
+ "direction": "90"
+ }
+ ],
+ "1713": [
+ {
+ "code": "1051",
+ "direction": "90"
+ }
+ ],
+ "1711": [
+ {
+ "code": "656",
+ "direction": "90"
+ }
+ ],
+ "1716": [
+ {
+ "code": "1444",
+ "direction": "90"
+ }
+ ]
+}
\ No newline at end of file
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..cdc4431 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.*;
/**
@@ -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();
@@ -91,6 +103,39 @@
}
/**
+ * 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;
+ }
+ }
+
+ /**
* 鍔犺浇瀹為檯鍧愭爣鏄犲皠
*/
private void loadRealCoordinateMapping() {
--
Gitblit v1.9.1