From d808837cd368c3772962be591aa6532bcc0cf3e4 Mon Sep 17 00:00:00 2001
From: jianghaiyue <jianghaiyue@zkyt.com>
Date: 星期一, 22 九月 2025 12:11:37 +0800
Subject: [PATCH] 更新版本
---
algo-zkd/src/main/java/com/algo/service/CollisionResolver.java | 74
algo-zkd/man_code.json | 10012 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java | 2
algo-zkd/src/main/java/com/algo/model/CTUPhysicalConfig.java | 161
algo-zkd/src/main/java/com/algo/model/PathCode.java | 44
algo-zkd/src/main/java/com/algo/service/PathPlanningService.java | 19
algo-zkd/src/main/java/com/algo/util/PathTimeCalculator.java | 318 +
algo-zkd/src/main/java/com/algo/util/JsonUtils.java | 198
algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java | 208
9 files changed, 10,968 insertions(+), 68 deletions(-)
diff --git a/algo-zkd/man_code.json b/algo-zkd/man_code.json
new file mode 100644
index 0000000..674a111
--- /dev/null
+++ b/algo-zkd/man_code.json
@@ -0,0 +1,10012 @@
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+ }
+ ],
+ "1613": [
+ {
+ "x": 79970.0,
+ "y": 1270.0
+ }
+ ],
+ "1614": [
+ {
+ "x": 79970.0,
+ "y": 2240.0
+ }
+ ],
+ "1615": [
+ {
+ "x": 79970.0,
+ "y": 3210.0
+ }
+ ],
+ "1616": [
+ {
+ "x": 79970.0,
+ "y": 4180.0
+ }
+ ],
+ "1617": [
+ {
+ "x": 79970.0,
+ "y": 4964.5
+ }
+ ],
+ "1618": [
+ {
+ "x": 79970.0,
+ "y": 5749.0
+ }
+ ],
+ "1619": [
+ {
+ "x": 79970.0,
+ "y": 6249.0
+ }
+ ],
+ "1620": [
+ {
+ "x": 79970.0,
+ "y": 6749.0
+ }
+ ],
+ "1621": [
+ {
+ "x": 79970.0,
+ "y": 7249.0
+ }
+ ],
+ "1622": [
+ {
+ "x": 79970.0,
+ "y": 7904.0
+ }
+ ],
+ "1623": [
+ {
+ "x": 79970.0,
+ "y": 8404.0
+ }
+ ],
+ "1624": [
+ {
+ "x": 79970.0,
+ "y": 8904.0
+ }
+ ],
+ "1625": [
+ {
+ "x": 79970.0,
+ "y": 9404.0
+ }
+ ],
+ "1626": [
+ {
+ "x": 79970.0,
+ "y": 10145.0
+ }
+ ],
+ "1627": [
+ {
+ "x": 79970.0,
+ "y": 10929.5
+ }
+ ],
+ "1628": [
+ {
+ "x": 79970.0,
+ "y": 11714.0
+ }
+ ],
+ "1629": [
+ {
+ "x": 79970.0,
+ "y": 12214.0
+ }
+ ],
+ "1630": [
+ {
+ "x": 79970.0,
+ "y": 12714.0
+ }
+ ],
+ "1631": [
+ {
+ "x": 79970.0,
+ "y": 13214.0
+ }
+ ],
+ "1632": [
+ {
+ "x": 79970.0,
+ "y": 13869.0
+ }
+ ],
+ "1633": [
+ {
+ "x": 79970.0,
+ "y": 14369.0
+ }
+ ],
+ "1634": [
+ {
+ "x": 79970.0,
+ "y": 14869.0
+ }
+ ],
+ "1635": [
+ {
+ "x": 79970.0,
+ "y": 15369.0
+ }
+ ],
+ "1636": [
+ {
+ "x": 79970.0,
+ "y": 16110.0
+ }
+ ],
+ "1637": [
+ {
+ "x": 79970.0,
+ "y": 16894.5
+ }
+ ],
+ "1638": [
+ {
+ "x": 79970.0,
+ "y": 17679.0
+ }
+ ],
+ "1639": [
+ {
+ "x": 79970.0,
+ "y": 18179.0
+ }
+ ],
+ "1640": [
+ {
+ "x": 79970.0,
+ "y": 18679.0
+ }
+ ],
+ "1641": [
+ {
+ "x": 79970.0,
+ "y": 19179.0
+ }
+ ],
+ "1642": [
+ {
+ "x": 79970.0,
+ "y": 19834.0
+ }
+ ],
+ "1643": [
+ {
+ "x": 79970.0,
+ "y": 20334.0
+ }
+ ],
+ "1644": [
+ {
+ "x": 79970.0,
+ "y": 20834.0
+ }
+ ],
+ "1645": [
+ {
+ "x": 79970.0,
+ "y": 21334.0
+ }
+ ],
+ "1646": [
+ {
+ "x": 79970.0,
+ "y": 22075.0
+ }
+ ],
+ "1647": [
+ {
+ "x": 81165.0,
+ "y": 2240.0
+ }
+ ],
+ "1648": [
+ {
+ "x": 81165.0,
+ "y": 4180.0
+ }
+ ],
+ "1649": [
+ {
+ "x": 81165.0,
+ "y": 10145.0
+ }
+ ],
+ "1653": [
+ {
+ "x": 82360.0,
+ "y": 300.0
+ }
+ ],
+ "1654": [
+ {
+ "x": 82360.0,
+ "y": 1270.0
+ }
+ ],
+ "1655": [
+ {
+ "x": 82360.0,
+ "y": 2240.0
+ }
+ ],
+ "1656": [
+ {
+ "x": 82360.0,
+ "y": 3210.0
+ }
+ ],
+ "1657": [
+ {
+ "x": 82360.0,
+ "y": 4180.0
+ }
+ ],
+ "1658": [
+ {
+ "x": 82360.0,
+ "y": 4964.5
+ }
+ ],
+ "1659": [
+ {
+ "x": 82360.0,
+ "y": 5749.0
+ }
+ ],
+ "1660": [
+ {
+ "x": 82360.0,
+ "y": 6249.0
+ }
+ ],
+ "1661": [
+ {
+ "x": 82360.0,
+ "y": 6749.0
+ }
+ ],
+ "1662": [
+ {
+ "x": 82360.0,
+ "y": 7249.0
+ }
+ ],
+ "1663": [
+ {
+ "x": 82360.0,
+ "y": 7904.0
+ }
+ ],
+ "1664": [
+ {
+ "x": 82360.0,
+ "y": 8404.0
+ }
+ ],
+ "1665": [
+ {
+ "x": 82360.0,
+ "y": 8904.0
+ }
+ ],
+ "1666": [
+ {
+ "x": 82360.0,
+ "y": 9404.0
+ }
+ ],
+ "1667": [
+ {
+ "x": 82360.0,
+ "y": 10145.0
+ }
+ ],
+ "1708": [
+ {
+ "x": 15632.5,
+ "y": 300.0
+ }
+ ],
+ "1709": [
+ {
+ "x": 15632.5,
+ "y": 1270.0
+ }
+ ],
+ "1714": [
+ {
+ "x": 51375.0,
+ "y": 1270.0
+ }
+ ],
+ "1713": [
+ {
+ "x": 51375.0,
+ "y": 300.0
+ }
+ ],
+ "1717": [
+ {
+ "x": 69117.5,
+ "y": 1270.0
+ }
+ ],
+ "1716": [
+ {
+ "x": 69117.5,
+ "y": 300.0
+ }
+ ],
+ "1718": [
+ {
+ "x": 15632.5,
+ "y": 3210.0
+ }
+ ],
+ "1712": [
+ {
+ "x": 33375.0,
+ "y": 1270.0
+ }
+ ],
+ "1711": [
+ {
+ "x": 33375.0,
+ "y": 300.0
+ }
+ ],
+ "1719": [
+ {
+ "x": 33375.0,
+ "y": 3210.0
+ }
+ ],
+ "1720": [
+ {
+ "x": 51375.0,
+ "y": 3210.0
+ }
+ ],
+ "1800": [
+ {
+ "x": 69117.5,
+ "y": 3210.0
+ }
+ ],
+ "1850": [
+ {
+ "x": 83555.0,
+ "y": 10145.0
+ }
+ ],
+ "1851": [
+ {
+ "x": 84750.0,
+ "y": 10145.0
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java b/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java
index 24e04a6..eb3971a 100644
--- a/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java
+++ b/algo-zkd/src/main/java/com/algo/config/BaseDataConfig.java
@@ -1,4 +1,4 @@
-//package com.algo.config;
+package com.algo.config;//package com.algo.config;
//
//import com.algo.expose.BaseDataService;
//import com.algo.expose.impl.BaseDataServiceImpl;
diff --git a/algo-zkd/src/main/java/com/algo/model/CTUPhysicalConfig.java b/algo-zkd/src/main/java/com/algo/model/CTUPhysicalConfig.java
index a63d923..d201612 100644
--- a/algo-zkd/src/main/java/com/algo/model/CTUPhysicalConfig.java
+++ b/algo-zkd/src/main/java/com/algo/model/CTUPhysicalConfig.java
@@ -71,16 +71,16 @@
*/
private double standardPointDistance;
- // 榛樿鏋勯�犲嚱鏁� - 浣跨敤鎺ㄨ崘鐨勯粯璁ゅ��
+ // 榛樿鏋勯�犲嚱鏁� - 浣跨敤鍩轰簬瀹為檯鍦哄湴鐨勭墿鐞嗗弬鏁�
public CTUPhysicalConfig() {
- this.maxSpeed = 2.0; // 2绫�/绉�
- this.normalSpeed = 1.5; // 1.5绫�/绉�
- this.maxAcceleration = 1.0; // 1绫�/绉捖�
- this.maxDeceleration = 1.5; // 1.5绫�/绉捖�
- this.turnTime90 = 2.0; // 90搴﹁浆鍚戦渶瑕�2绉�
- this.turnTime180 = 4.0; // 180搴﹁浆鍚戦渶瑕�4绉�
+ this.maxSpeed = 1.0; // 1000mm/s = 1.0绫�/绉�
+ this.normalSpeed = 1.0; // 姝ｅ父杩愯閫熷害100%鏈�澶ч�熷害
+ this.maxAcceleration = 0.4; // 400 mm/s^2 = 0.4绫�/绉捖�
+ this.maxDeceleration = 0.4; // 鐩稿悓鐨勫姞鍑忛�熷害
+ this.turnTime90 = 4.0; // 姣�90搴﹁浆鍚戦渶瑕�4绉�
+ this.turnTime180 = 8.0; // 180搴﹁浆鍚戦渶瑕�8绉�
this.minSafetyDistance = 3.0; // 鏈�灏忓畨鍏ㄨ窛绂�3绫�
- this.minFollowingDistance = 2.0; // 鏈�灏忚窡闅忚窛绂�2绫�
+ this.minFollowingDistance = 3.0; // 鏈�灏忚窡闅忚窛绂�3绫�
this.ctuLength = 1.5; // CTU闀垮害1.5绫�
this.ctuWidth = 1.0; // CTU瀹藉害1绫�
this.startupTime = 1.0; // 鍚姩鏃堕棿1绉�
@@ -301,6 +301,151 @@
return distance >= minDistance;
}
+ /**
+ * 璁＄畻绮剧‘鐨勭Щ鍔ㄦ椂闂达紝鑰冭檻鍔犻�熷害銆佸噺閫熷害鍜屽疄闄呰窛绂�
+ *
+ * @param distance 瀹為檯绉诲姩璺濈锛堢背锛�
+ * @param startSpeed 璧峰閫熷害锛堢背/绉掞級
+ * @param endSpeed 缁撴潫閫熷害锛堢背/绉掞級
+ * @param targetSpeed 鐩爣宸¤埅閫熷害锛堢背/绉掞級
+ * @return 绉诲姩鏃堕棿锛堢锛�
+ */
+ public double calculatePreciseMovementTime(double distance, double startSpeed, double endSpeed, double targetSpeed) {
+ if (distance <= 0) return 0.0;
+
+ // 濡傛灉璺濈寰堢煭锛岀洿鎺ヨ绠楀钩鍧囬�熷害
+ if (distance < 0.5) { // 灏忎簬0.5绫�
+ double avgSpeed = Math.max(0.1, (startSpeed + endSpeed) / 2.0);
+ return distance / avgSpeed;
+ }
+
+ double totalTime = 0.0;
+ double currentSpeed = startSpeed;
+ double remainingDistance = distance;
+
+ // 闃舵1: 鍔犻�熷埌鐩爣閫熷害
+ if (currentSpeed < targetSpeed) {
+ double accelerationTime = (targetSpeed - currentSpeed) / maxAcceleration;
+ double accelerationDistance = currentSpeed * accelerationTime + 0.5 * maxAcceleration * accelerationTime * accelerationTime;
+
+ if (accelerationDistance < remainingDistance) {
+ totalTime += accelerationTime;
+ remainingDistance -= accelerationDistance;
+ currentSpeed = targetSpeed;
+ } else {
+ // 璺濈涓嶈冻浠ュ畬鍏ㄥ姞閫燂紝鐩存帴璁＄畻
+ return calculateTimeForShortDistance(distance, startSpeed, endSpeed);
+ }
+ }
+
+ // 闃舵2: 鍑忛�熷埌鐩爣缁撴潫閫熷害
+ double decelerationDistance = 0.0;
+ double decelerationTime = 0.0;
+ if (currentSpeed > endSpeed) {
+ decelerationTime = (currentSpeed - endSpeed) / maxDeceleration;
+ decelerationDistance = endSpeed * decelerationTime + 0.5 * maxDeceleration * decelerationTime * decelerationTime;
+ }
+
+ // 闃舵3: 鍖�閫熷贰鑸�
+ if (remainingDistance > decelerationDistance) {
+ double cruisingDistance = remainingDistance - decelerationDistance;
+ double cruisingTime = cruisingDistance / currentSpeed;
+ totalTime += cruisingTime;
+ }
+
+ // 娣诲姞鍑忛�熸椂闂�
+ totalTime += decelerationTime;
+
+ return totalTime;
+ }
+
+ /**
+ * 璁＄畻鐭窛绂荤Щ鍔ㄦ椂闂达紙鏃犳硶瀹屾暣鍔犻�熷噺閫熺殑鎯呭喌锛�
+ */
+ private double calculateTimeForShortDistance(double distance, double startSpeed, double endSpeed) {
+ // 浣跨敤杩愬姩瀛﹀叕寮�: s = v0*t + 0.5*a*t^2
+ // 鍏朵腑 v_f = v0 + a*t锛屾眰瑙� t
+ double avgAcceleration = (endSpeed > startSpeed) ? maxAcceleration : -maxDeceleration;
+
+ // 濡傛灉鍔犻�熷害寰堝皬鎴栦负0锛屼娇鐢ㄥ钩鍧囬�熷害
+ if (Math.abs(avgAcceleration) < 0.01) {
+ return distance / Math.max(0.1, (startSpeed + endSpeed) / 2.0);
+ }
+
+ // 姹傝В浜屾鏂圭▼: 0.5*a*t^2 + v0*t - s = 0
+ double a = 0.5 * avgAcceleration;
+ double b = startSpeed;
+ double c = -distance;
+
+ double discriminant = b * b - 4 * a * c;
+ if (discriminant < 0) {
+ // 鏃犺В锛屼娇鐢ㄥ钩鍧囬�熷害
+ return distance / Math.max(0.1, (startSpeed + endSpeed) / 2.0);
+ }
+
+ double t1 = (-b + Math.sqrt(discriminant)) / (2 * a);
+ double t2 = (-b - Math.sqrt(discriminant)) / (2 * a);
+
+ // 閫夋嫨姝ｇ殑鏃堕棿鍊�
+ double time = (t1 > 0) ? t1 : t2;
+ return Math.max(0.1, time); // 纭繚鏃堕棿涓烘
+ }
+
+ /**
+ * 鍩轰簬瀹為檯鍧愭爣璁＄畻涓ょ偣闂寸殑绮剧‘璺濈锛堢背锛�
+ *
+ * @param coord1 璧风偣鍧愭爣 [x_mm, y_mm]
+ * @param coord2 缁堢偣鍧愭爣 [x_mm, y_mm]
+ * @return 璺濈锛堢背锛�
+ */
+ public static double calculateRealDistance(double[] coord1, double[] coord2) {
+ if (coord1 == null || coord2 == null || coord1.length < 2 || coord2.length < 2) {
+ return 0.0;
+ }
+
+ // 鍧愭爣鍗曚綅涓烘绫筹紝杞崲涓虹背
+ double dx = (coord2[0] - coord1[0]) / 1000.0;
+ double dy = (coord2[1] - coord1[1]) / 1000.0;
+
+ return Math.sqrt(dx * dx + dy * dy);
+ }
+
+ /**
+ * 璁＄畻鏂瑰悜鏀瑰彉瑙掑害
+ *
+ * @param coord1 璧风偣鍧愭爣
+ * @param coord2 涓棿鐐瑰潗鏍�
+ * @param coord3 缁堢偣鍧愭爣
+ * @return 杞悜瑙掑害锛堝害锛�
+ */
+ public static double calculateTurnAngle(double[] coord1, double[] coord2, double[] coord3) {
+ if (coord1 == null || coord2 == null || coord3 == null) {
+ return 0.0;
+ }
+
+ // 璁＄畻涓や釜鍚戦噺
+ double[] vec1 = {coord2[0] - coord1[0], coord2[1] - coord1[1]};
+ double[] vec2 = {coord3[0] - coord2[0], coord3[1] - coord2[1]};
+
+ // 璁＄畻鍚戦噺闀垮害
+ double len1 = Math.sqrt(vec1[0] * vec1[0] + vec1[1] * vec1[1]);
+ double len2 = Math.sqrt(vec2[0] * vec2[0] + vec2[1] * vec2[1]);
+
+ if (len1 < 1e-6 || len2 < 1e-6) {
+ return 0.0;
+ }
+
+ // 璁＄畻澶硅
+ double dot = vec1[0] * vec2[0] + vec1[1] * vec2[1];
+ double cosAngle = dot / (len1 * len2);
+
+ // 闄愬埗cosAngle鍦╗-1, 1]鑼冨洿鍐�
+ cosAngle = Math.max(-1.0, Math.min(1.0, cosAngle));
+
+ double angle = Math.acos(cosAngle);
+ return Math.toDegrees(angle);
+ }
+
@Override
public String toString() {
return "CTUPhysicalConfig{" +
diff --git a/algo-zkd/src/main/java/com/algo/model/PathCode.java b/algo-zkd/src/main/java/com/algo/model/PathCode.java
index 27716dd..72a7c10 100644
--- a/algo-zkd/src/main/java/com/algo/model/PathCode.java
+++ b/algo-zkd/src/main/java/com/algo/model/PathCode.java
@@ -1,6 +1,5 @@
package com.algo.model;
-import com.fasterxml.jackson.annotation.JsonProperty;
/**
* 璺緞浠ｇ爜妯″瀷
@@ -41,8 +40,22 @@
/**
* 鏄惁涓虹洰鏍囩偣
*/
- @JsonProperty("isTargetPoint")
private boolean isTargetPoint;
+
+ /**
+ * 鍒拌揪鏃堕棿锛堟绉掓椂闂存埑锛�
+ */
+ private Long arrivalTime;
+
+ /**
+ * 绂诲紑鏃堕棿锛堟绉掓椂闂存埑锛�
+ */
+ private Long departureTime;
+
+ /**
+ * 绱鏃堕棿锛堜粠璺緞璧风偣寮�濮嬬殑绱鏃堕棿锛屾绉掞級
+ */
+ private Long cumulativeTime;
// 鏋勯�犲嚱鏁�
public PathCode() {
@@ -121,6 +134,30 @@
isTargetPoint = targetPoint;
}
+ public Long getArrivalTime() {
+ return arrivalTime;
+ }
+
+ public void setArrivalTime(Long arrivalTime) {
+ this.arrivalTime = arrivalTime;
+ }
+
+ public Long getDepartureTime() {
+ return departureTime;
+ }
+
+ public void setDepartureTime(Long departureTime) {
+ this.departureTime = departureTime;
+ }
+
+ public Long getCumulativeTime() {
+ return cumulativeTime;
+ }
+
+ public void setCumulativeTime(Long cumulativeTime) {
+ this.cumulativeTime = cumulativeTime;
+ }
+
@Override
public String toString() {
return "PathCode{" +
@@ -131,6 +168,9 @@
", posType='" + posType + '\'' +
", lev=" + lev +
", isTargetPoint=" + isTargetPoint +
+ ", arrivalTime=" + arrivalTime +
+ ", departureTime=" + departureTime +
+ ", cumulativeTime=" + cumulativeTime +
'}';
}
}
\ 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 4ae0129..5fe5554 100644
--- a/algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java
+++ b/algo-zkd/src/main/java/com/algo/service/AStarPathPlanner.java
@@ -4,12 +4,12 @@
import com.algo.model.PathCode;
import com.algo.model.PlannedPath;
import com.algo.util.JsonUtils;
+import com.algo.util.PathTimeCalculator;
import java.util.*;
/**
* A*璺緞瑙勫垝鍣ㄥ疄鐜�
- * 浣跨敤3D A*绠楁硶杩涜CTU鏃剁┖璺緞瑙勫垝锛屾敮鎸佺墿鐞嗙害鏉�
*/
public class AStarPathPlanner implements PathPlanner {
@@ -22,6 +22,11 @@
* 閭绘帴琛�
*/
private final Map<String, List<Map<String, String>>> adjacencyList;
+
+ /**
+ * 鐜杩為�氭�ф暟鎹�
+ */
+ private final JsonUtils.EnvironmentConnectivity environmentConnectivity;
/**
* 鏃堕棿绮惧害锛堟绉掞級
@@ -39,7 +44,7 @@
private final int maxSearchDepth = 15000;
/**
- * 璺濈缂撳瓨 - 浼樺寲锛氱紦瀛樿窛绂昏绠楃粨鏋�
+ * 璺濈缂撳瓨
*/
private final Map<String, Double> distanceCache = new HashMap<>();
@@ -47,6 +52,16 @@
* 蹇�熻矾寰勭紦瀛�
*/
private final Map<String, List<String>> fastPathCache = new HashMap<>();
+
+ /**
+ * 瀹為檯鍧愭爣鏄犲皠
+ */
+ private Map<String, double[]> realCoordinateMapping;
+
+ /**
+ * 璺緞鏃堕棿璁＄畻鍣�
+ */
+ private PathTimeCalculator timeCalculator;
/**
* 鏋勯�犲嚱鏁�
@@ -57,13 +72,38 @@
this.pathMapping = pathMapping;
this.adjacencyList = new HashMap<>();
- // 鐩存帴鏋勫缓閭绘帴琛�
- buildAdjacencyList();
+ // 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();
+
+ // 鍔犺浇瀹為檯鍧愭爣鏄犲皠
+ loadRealCoordinateMapping();
+
+ // 鍒濆鍖栨椂闂磋绠楀櫒
+ this.timeCalculator = new PathTimeCalculator(pathMapping, realCoordinateMapping);
// 棰勮绠楀父鐢ㄨ窛绂�
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�");
+ }
+
+ /**
+ * 鍔犺浇瀹為檯鍧愭爣鏄犲皠
+ */
+ private void loadRealCoordinateMapping() {
+ try {
+ this.realCoordinateMapping = JsonUtils.loadRealCoordinateMapping("man_code.json");
+ if (realCoordinateMapping == null || realCoordinateMapping.isEmpty()) {
+ System.out.println("鏈兘鍔犺浇瀹為檯鍧愭爣鏄犲皠锛屼娇鐢ㄧ綉鏍煎潗鏍�");
+ this.realCoordinateMapping = new HashMap<>();
+ }
+ } catch (Exception e) {
+ System.err.println("鍔犺浇瀹為檯鍧愭爣鏄犲皠澶辫触: " + e.getMessage());
+ this.realCoordinateMapping = new HashMap<>();
+ }
}
@Override
@@ -278,7 +318,7 @@
}
}
- // 鍑忓皯绛夊緟閫夐」 - 鍙湪蹇呰鏃剁瓑寰咃紙20%姒傜巼锛�
+ // 鍑忓皯绛夊緟閫夐」
if (Math.random() < 0.2) {
long waitTime = timeResolution;
long waitUntilTime = current.timePoint + waitTime;
@@ -308,27 +348,61 @@
/**
* 鏃剁┖鍚彂寮忓嚱鏁�
*
- * @param coord1 褰撳墠鍧愭爣
- * @param coord2 鐩爣鍧愭爣
+ * @param coord1 褰撳墠鍧愭爣锛堢綉鏍硷級
+ * @param coord2 鐩爣鍧愭爣锛堢綉鏍硷級
* @param currentTime 褰撳墠鏃堕棿
* @param physicalConfig 鐗╃悊閰嶇疆
* @return 鍚彂寮忓��
*/
private double spaceTimeHeuristic(int[] coord1, int[] coord2, long currentTime, CTUPhysicalConfig physicalConfig) {
- // 绌洪棿璺濈
+ String pathId1 = findPathIdByCoordinate(coord1);
+ String pathId2 = findPathIdByCoordinate(coord2);
+
+ if (pathId1 != null && pathId2 != null) {
+ double[] realCoord1 = JsonUtils.getRealCoordinate(pathId1, realCoordinateMapping);
+ double[] realCoord2 = JsonUtils.getRealCoordinate(pathId2, realCoordinateMapping);
+
+ if (realCoord1 != null && realCoord2 != null) {
+ // 浣跨敤瀹為檯璺濈璁＄畻
+ double realDistance = CTUPhysicalConfig.calculateRealDistance(realCoord1, realCoord2);
+
+ // 鏃堕棿鎴愭湰浼拌锛堝亣璁惧钩鍧囬�熷害锛�
+ double timeEstimate = realDistance / physicalConfig.getNormalSpeed();
+
+ // 鑰冭檻杞悜鎴愭湰
+ double turnPenalty = realDistance > 0.5 ? physicalConfig.getTurnTime90() / 2.0 : 0;
+
+ return timeEstimate + turnPenalty;
+ }
+ }
+
+ // 鍓嶆柟妗堬細浣跨敤缃戞牸鍧愭爣
double spatialDistance = Math.abs(coord1[0] - coord2[0]) + Math.abs(coord1[1] - coord2[1]);
-
- // 鏃堕棿鎴愭湰浼拌
double timeEstimate = spatialDistance * physicalConfig.getStandardPointDistance() / physicalConfig.getNormalSpeed();
-
- // 鑰冭檻杞悜鎴愭湰
double turnPenalty = spatialDistance > 1 ? physicalConfig.getTurnTime90() : 0;
return timeEstimate + turnPenalty;
}
+
+ /**
+ * 鏍规嵁缃戞牸鍧愭爣鏌ユ壘璺緞ID
+ */
+ private String findPathIdByCoordinate(int[] coord) {
+ if (coord == null) return null;
+
+ for (Map.Entry<String, Map<String, Integer>> entry : pathMapping.entrySet()) {
+ Map<String, Integer> coordMap = entry.getValue();
+ if (coordMap != null &&
+ coord[0] == coordMap.getOrDefault("x", -1) &&
+ coord[1] == coordMap.getOrDefault("y", -1)) {
+ return entry.getKey();
+ }
+ }
+ return null;
+ }
/**
- * 璁＄畻绉诲姩鏃堕棿
+ * 璁＄畻绮剧‘鐨勭Щ鍔ㄦ椂闂达紝鍩轰簬瀹為檯鍧愭爣鍜岀墿鐞嗗弬鏁�
*
* @param fromCode 璧峰浠ｇ爜
* @param toCode 鐩爣浠ｇ爜
@@ -337,14 +411,70 @@
* @return 绉诲姩鏃堕棿锛堟绉掞級
*/
private long calculateTravelTime(String fromCode, String toCode, String direction, CTUPhysicalConfig physicalConfig) {
- // 鍩烘湰绉诲姩鏃堕棿
+ // 鑾峰彇瀹為檯鍧愭爣
+ double[] fromCoord = JsonUtils.getRealCoordinate(fromCode, realCoordinateMapping);
+ double[] toCoord = JsonUtils.getRealCoordinate(toCode, realCoordinateMapping);
+
+ if (fromCoord == null || toCoord == null) {
+ // fallback鍒扮綉鏍煎潗鏍囪绠�
+ return calculateFallbackTravelTime(fromCode, toCode, physicalConfig);
+ }
+
+ // 璁＄畻瀹為檯璺濈锛堢背锛�
+ double realDistance = CTUPhysicalConfig.calculateRealDistance(fromCoord, toCoord);
+
+ if (realDistance == 0.0) {
+ return 100; // 鏈�灏忔椂闂�100ms
+ }
+
+ // 鍋囪璧峰鍜岀粨鏉熼�熷害锛堝彲浠ユ牴鎹笂涓嬫枃杩涗竴姝ヤ紭鍖栵級
+ double startSpeed = 0.0; // 鍋囪浠庨潤姝㈠紑濮�
+ double endSpeed = 0.0; // 鍋囪缁撴潫鏃跺仠姝�
+ double targetSpeed = physicalConfig.getNormalSpeed();
+
+ // 璁＄畻绮剧‘鐨勭Щ鍔ㄦ椂闂�
+ double movementTime = physicalConfig.calculatePreciseMovementTime(
+ realDistance, startSpeed, endSpeed, targetSpeed
+ );
+
+ // 璁＄畻杞悜鏃堕棿
+ double turnTime = calculateTurnTime(fromCode, toCode, physicalConfig);
+
+ return Math.max(100, (long) ((movementTime + turnTime) * 1000));
+ }
+
+ /**
+ * 璁＄畻杞悜鏃堕棿
+ */
+ private double calculateTurnTime(String fromCode, String toCode, CTUPhysicalConfig physicalConfig) {
+
+ double[] fromCoord = JsonUtils.getRealCoordinate(fromCode, realCoordinateMapping);
+ double[] toCoord = JsonUtils.getRealCoordinate(toCode, realCoordinateMapping);
+
+ if (fromCoord == null || toCoord == null) {
+ return physicalConfig.getTurnTime90() / 4.0; // 骞冲潎杞悜鏃堕棿
+ }
+
+ // 璁＄畻鏂瑰悜鍙樺寲
+ double dx = toCoord[0] - fromCoord[0];
+ double dy = toCoord[1] - fromCoord[1];
+
+ // 鐩寸嚎杩愬姩鏃犻渶杞悜
+ if (Math.abs(dx) < 1.0 && Math.abs(dy) < 1.0) {
+ return 0.0;
+ }
+
+ return physicalConfig.getTurnTime90() / 2.0;
+ }
+
+ /**
+ * 澶囩敤鏃堕棿璁＄畻鏂规硶锛堝綋鏃犳硶鑾峰彇瀹為檯鍧愭爣鏃朵娇鐢級
+ */
+ private long calculateFallbackTravelTime(String fromCode, String toCode, CTUPhysicalConfig physicalConfig) {
double distance = physicalConfig.getStandardPointDistance();
double speed = physicalConfig.getNormalSpeed();
long moveTime = (long) ((distance / speed) * 1000);
-
- // 杞悜鏃堕棿
- long turnTime = (long) (physicalConfig.getTurnTime90() * 1000 / 4); // 鍋囪骞冲潎杞悜鏃堕棿
-
+ long turnTime = (long) (physicalConfig.getTurnTime90() * 1000 / 4);
return moveTime + turnTime;
}
@@ -384,14 +514,17 @@
}
PathCode pathCode = new PathCode(node.code, direction);
-
- // 娣诲姞鏃堕棿淇℃伅
- // pathCode.setArrivalTime(node.timePoint);
-
codeList.add(pathCode);
}
- return new PlannedPath("", "", codeList);
+ PlannedPath plannedPath = new PlannedPath("", "", codeList);
+
+ // 浣跨敤缁熶竴鐨勬椂闂磋绠楀櫒璁＄畻绮剧‘鏃堕棿
+ long startTime = pathNodes.get(0).timePoint;
+ CTUPhysicalConfig defaultConfig = createDefaultPhysicalConfig();
+ timeCalculator.calculatePathTiming(plannedPath, startTime, defaultConfig, 0.0);
+
+ return plannedPath;
}
/**
@@ -472,6 +605,15 @@
@Override
public double calculateDistance(String startCode, String endCode) {
+ // 浼樺厛浣跨敤瀹為檯鍧愭爣
+ double[] startRealCoord = JsonUtils.getRealCoordinate(startCode, realCoordinateMapping);
+ double[] endRealCoord = JsonUtils.getRealCoordinate(endCode, realCoordinateMapping);
+
+ if (startRealCoord != null && endRealCoord != null) {
+ return CTUPhysicalConfig.calculateRealDistance(startRealCoord, endRealCoord);
+ }
+
+ // 鍓嶆柟妗堬細浣跨敤缃戞牸鍧愭爣
int[] startCoord = JsonUtils.getCoordinate(startCode, pathMapping);
int[] endCoord = JsonUtils.getCoordinate(endCode, pathMapping);
@@ -493,9 +635,9 @@
}
/**
- * 鏋勫缓閭绘帴琛�
+ * 鏋勫缓鐜鎰熺煡鐨勯偦鎺ヨ〃
*/
- private void buildAdjacencyList() {
+ private void buildEnvironmentAwareAdjacencyList() {
// 鍒涘缓鍧愭爣鍒扮紪鍙风殑涓存椂鏄犲皠
Map<String, String> tempCoordToCode = new HashMap<>();
for (Map.Entry<String, Map<String, Integer>> entry : pathMapping.entrySet()) {
@@ -523,6 +665,12 @@
int x = coordMap.get("x");
int y = coordMap.get("y");
+ // 鐜鎰熺煡锛氭鏌ュ綋鍓嶈妭鐐规槸鍚﹀彲閫氳
+ if (!environmentConnectivity.isTraversable(x, y)) {
+ adjacencyList.put(code, new ArrayList<>()); // 涓嶅彲閫氳鐨勮妭鐐规病鏈夐偦灞�
+ continue;
+ }
+
List<Map<String, String>> neighbors = new ArrayList<>();
// 妫�鏌ュ洓涓柟鍚戠殑閭诲眳
@@ -532,7 +680,9 @@
String coordKey = newX + "," + newY;
String neighborCode = tempCoordToCode.get(coordKey);
- if (neighborCode != null) {
+
+ // 鐜鎰熺煡锛氬彧鏈夊綋閭诲眳鑺傜偣涔熷彲閫氳鏃舵墠娣诲姞杩炴帴
+ if (neighborCode != null && environmentConnectivity.isTraversable(newX, newY)) {
Map<String, String> neighbor = new HashMap<>();
neighbor.put("code", neighborCode);
neighbor.put("direction", directionAngles[i]);
@@ -542,6 +692,8 @@
adjacencyList.put(code, neighbors);
}
+
+ System.out.println("鐜鎰熺煡閭绘帴琛ㄦ瀯寤哄畬鎴愶紝杩囨护浜嗕笉鍙�氳鐨勮繛鎺�");
}
/**
@@ -673,7 +825,7 @@
}
/**
- * 蹇�熻矾寰勮鍒� - 鍏堝皾璇曠畝鍖栫┖闂磋矾寰勮鍒�
+ * 蹇�熻矾寰勮鍒�
* 瀵逛簬杩戣窛绂昏矾寰勶紝鐩存帴杩斿洖缁撴灉閬垮厤澶嶆潅鐨勬椂绌鸿绠�
*/
private PlannedPath tryFastPathPlanning(String startCode, String endCode, List<double[]> constraints) {
@@ -722,7 +874,7 @@
openSet.offer(startNode);
gScores.put(startCode, 0.0);
- // 绠�鍖栫殑绾︽潫妫�鏌ュ櫒
+ // 绾︽潫妫�鏌ュ櫒
FastConstraintChecker constraintChecker = new FastConstraintChecker(constraints);
int searchDepth = 0;
diff --git a/algo-zkd/src/main/java/com/algo/service/CollisionResolver.java b/algo-zkd/src/main/java/com/algo/service/CollisionResolver.java
index cdf70d7..1c70c81 100644
--- a/algo-zkd/src/main/java/com/algo/service/CollisionResolver.java
+++ b/algo-zkd/src/main/java/com/algo/service/CollisionResolver.java
@@ -4,6 +4,8 @@
import com.algo.model.ExecutingTask;
import com.algo.model.PathCode;
import com.algo.model.PlannedPath;
+import com.algo.model.CTUPhysicalConfig;
+import com.algo.util.PathTimeCalculator;
import java.util.*;
@@ -17,6 +19,11 @@
* 纰版挒妫�娴嬪櫒
*/
private final CollisionDetector collisionDetector;
+
+ /**
+ * 璺緞鏃堕棿璁＄畻鍣�
+ */
+ private PathTimeCalculator timeCalculator;
/**
* 鏋勯�犲嚱鏁�
@@ -25,6 +32,13 @@
*/
public CollisionResolver(CollisionDetector collisionDetector) {
this.collisionDetector = collisionDetector;
+ }
+
+ /**
+ * 璁剧疆鏃堕棿璁＄畻鍣�
+ */
+ public void setTimeCalculator(PathTimeCalculator timeCalculator) {
+ this.timeCalculator = timeCalculator;
}
/**
@@ -243,7 +257,7 @@
}
/**
- * 涓鸿矾寰勬坊鍔犲欢杩�
+ * 涓鸿矾寰勬坊鍔犲欢杩燂紙澧炲己鐗堬紝姝ｇ‘閲嶈绠楁椂闂寸獥锛�
*
* @param path 璺緞
* @param timeStep 寤惰繜寮�濮嬬殑鏃堕棿姝�
@@ -263,6 +277,9 @@
// 鑾峰彇寤惰繜浣嶇疆鐨勮矾寰勪唬鐮�
PathCode delayCode = codeList.get(timeStep);
+
+ // 璁＄畻寤惰繜鏃堕棿锛堟瘡涓欢杩熸楠�1绉掞級
+ long delayDuration = delaySteps * 1000L;
// 鍒涘缓寤惰繜姝ラ
List<PathCode> delaySteps_list = new ArrayList<>();
@@ -273,14 +290,69 @@
waitCode.setPosType(delayCode.getPosType());
waitCode.setLev(delayCode.getLev());
waitCode.setTargetPoint(false); // 绛夊緟姝ラ涓嶆槸鐩爣鐐�
+
+ // 璁剧疆绛夊緟姝ラ鐨勬椂闂翠俊鎭�
+ if (delayCode.getArrivalTime() != null) {
+ long waitStartTime = delayCode.getArrivalTime() + (i * 1000L);
+ waitCode.setArrivalTime(waitStartTime);
+ waitCode.setDepartureTime(waitStartTime + 1000L);
+ }
+
delaySteps_list.add(waitCode);
}
// 鎻掑叆寤惰繜姝ラ
codeList.addAll(timeStep, delaySteps_list);
+ // 鏇存柊鍘熻矾寰勭偣鐨勬椂闂达紙鍚戝悗鎺ㄨ繜锛�
+ if (delayCode.getArrivalTime() != null) {
+ delayCode.setArrivalTime(delayCode.getArrivalTime() + delayDuration);
+ if (delayCode.getDepartureTime() != null) {
+ delayCode.setDepartureTime(delayCode.getDepartureTime() + delayDuration);
+ }
+ }
+
// 鏇存柊璺緞
path.setCodeList(codeList);
+
+ // 馃敡 鍏抽敭淇锛氶噸鏂拌绠楀悗缁矾寰勭偣鐨勬椂闂寸獥
+ if (timeCalculator != null) {
+ CTUPhysicalConfig defaultConfig = createDefaultPhysicalConfig();
+ timeCalculator.recalculatePathTimingFromIndex(path, timeStep + delaySteps, defaultConfig);
+ } else {
+ // 澶囩敤鏂规锛氭墜鍔ㄦ洿鏂板悗缁椂闂�
+ updateSubsequentPathTiming(path, timeStep + delaySteps, delayDuration);
+ }
+ }
+
+ /**
+ * 澶囩敤鏂规锛氭墜鍔ㄦ洿鏂板悗缁矾寰勭偣鐨勬椂闂�
+ */
+ private void updateSubsequentPathTiming(PlannedPath path, int fromIndex, long timeOffset) {
+ List<PathCode> codeList = path.getCodeList();
+
+ for (int i = fromIndex; i < codeList.size(); i++) {
+ PathCode pathCode = codeList.get(i);
+
+ if (pathCode.getArrivalTime() != null) {
+ pathCode.setArrivalTime(pathCode.getArrivalTime() + timeOffset);
+ }
+
+ if (pathCode.getDepartureTime() != null) {
+ pathCode.setDepartureTime(pathCode.getDepartureTime() + timeOffset);
+ }
+
+ if (pathCode.getCumulativeTime() != null) {
+ pathCode.setCumulativeTime(pathCode.getCumulativeTime() + timeOffset);
+ }
+ }
+ }
+
+ /**
+ * 鍒涘缓榛樿鐗╃悊閰嶇疆
+ */
+ private CTUPhysicalConfig createDefaultPhysicalConfig() {
+ return new CTUPhysicalConfig(); // 浣跨敤榛樿鏋勯�犲嚱鏁�
}
/**
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 833510e..eaafc68 100644
--- a/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
+++ b/algo-zkd/src/main/java/com/algo/service/PathPlanningService.java
@@ -3,6 +3,7 @@
import com.algo.config.EnvDataConfig;
import com.algo.model.*;
import com.algo.util.JsonUtils;
+import com.algo.util.PathTimeCalculator;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -43,6 +44,11 @@
* 鍓╀綑璺緞澶勭悊
*/
private RemainingPathProcessor remainingPathProcessor;
+
+ /**
+ * 璺緞鏃堕棿璁＄畻鍣�
+ */
+ private PathTimeCalculator timeCalculator;
/**
@@ -73,6 +79,13 @@
// 鍒濆鍖栧墿浣欒矾寰勫鐞嗗櫒
this.remainingPathProcessor = new RemainingPathProcessor(envDataConfig.getPathMapping());
+
+ // 鍒濆鍖栨椂闂磋绠楀櫒
+ Map<String, double[]> realCoordinateMapping = JsonUtils.loadRealCoordinateMapping("man_code.json");
+ this.timeCalculator = new PathTimeCalculator(envDataConfig.getPathMapping(), realCoordinateMapping);
+
+ // 涓虹鎾炶В鍐冲櫒璁剧疆鏃堕棿璁＄畻鍣�
+ this.collisionResolver.setTimeCalculator(timeCalculator);
}
/**
@@ -320,7 +333,7 @@
List<double[]> constraints,
Map<String, String> occupancyMap,
AGVStatus agvStatus) {
- // 棣栧厛灏濊瘯鍩烘湰璺緞瑙勫垝
+ // 灏濊瘯鍩烘湰璺緞瑙勫垝
PlannedPath basicPath = pathPlanner.planPath(startPos, endPos, constraints);
if (basicPath == null) {
return null;
@@ -331,8 +344,8 @@
basicPath, occupancyMap, agvStatus.getPhysicalConfig()
);
- // 璁剧疆璺緞鐨勬椂闂翠俊鎭�
- enhancePathWithTimeInfo(basicPath, safeStartTime, agvStatus.getPhysicalConfig());
+ // 浣跨敤缁熶竴鐨勬椂闂磋绠楀櫒璁剧疆绮剧‘鐨勬椂闂翠俊鎭�
+ timeCalculator.calculatePathTiming(basicPath, safeStartTime, agvStatus.getPhysicalConfig(), 0.0);
return basicPath;
}
diff --git a/algo-zkd/src/main/java/com/algo/util/JsonUtils.java b/algo-zkd/src/main/java/com/algo/util/JsonUtils.java
index 8ec1aff..7a858e5 100644
--- a/algo-zkd/src/main/java/com/algo/util/JsonUtils.java
+++ b/algo-zkd/src/main/java/com/algo/util/JsonUtils.java
@@ -5,18 +5,17 @@
import java.io.*;
import java.util.ArrayList;
import java.util.HashMap;
+import java.util.HashSet;
import java.util.List;
import java.util.Map;
+import java.util.Set;
/**
- * JSON鏂囦欢璇诲彇宸ュ叿绫�
- * 鐢ㄤ簬璇诲彇鐜閰嶇疆鍜岃矾寰勬槧灏勬枃浠�
+ * JSON鏂囦欢璇诲彇
*/
public class JsonUtils {
/**
- * 璇诲彇JSON鏂囦欢鍐呭
- *
* @param filePath 鏂囦欢璺緞
* @return JSON瀛楃涓插唴瀹�
* @throws IOException 鏂囦欢璇诲彇寮傚父
@@ -33,8 +32,7 @@
}
/**
- * 瑙ｆ瀽璺緞鏄犲皠JSON鍐呭
- * 姝ｇ‘瑙ｆ瀽path_mapping.json鐨勫疄闄呮牸寮忥細{"path_id_to_coordinates": {...}}
+ * 瑙ｆ瀽璺緞鏄犲皠JSON
*
* @param jsonContent JSON鍐呭
* @return 璺緞鏄犲皠Map锛宬ey涓鸿矾寰勭紪鍙凤紝value涓哄潗鏍囦俊鎭�
@@ -43,7 +41,6 @@
Map<String, Map<String, Integer>> pathMapping = new HashMap<>();
try {
- // 鎵惧埌path_id_to_coordinates閮ㄥ垎
String pathIdSection = extractJsonSection(jsonContent, "path_id_to_coordinates");
if (pathIdSection == null) {
System.err.println("鏈壘鍒皃ath_id_to_coordinates閮ㄥ垎");
@@ -101,8 +98,7 @@
}
/**
- * 鍔犺浇鍜岃В鏋愯矾寰勬槧灏勬枃浠�
- * 姝ｇ‘瑙ｆ瀽path_mapping.json鐨勫疄闄呮牸寮忥細{"path_id_to_coordinates": {...}}
+ * 璺緞鏄犲皠
*
* @param filePath 鏂囦欢鍦板潃
* @return 璺緞鏄犲皠Map锛宬ey涓鸿矾寰勭紪鍙凤紝value涓哄潗鏍囦俊鎭�
@@ -112,7 +108,6 @@
Map<String, Map<String, Integer>> pathMapping = new HashMap<>();
ObjectMapper objectMapper = new ObjectMapper();
try {
- // 鍏堣В鏋愪负椤跺眰Map<String, Object>
Map<String, Object> topLevelMap = objectMapper.readValue(
new File(filePath),
Map.class
@@ -123,10 +118,9 @@
return pathMapping;
}
- // 澶勭悊 path_id_to_coordinates锛堝皢鍧愭爣鍒楄〃杞崲涓虹涓�涓潗鏍囩殑path_id鏄犲皠锛�
+ // 澶勭悊 path_id_to_coordinates
Map<String, Object> pathIdCoords = (Map<String, Object>) topLevelMap.get("path_id_to_coordinates");
for (Map.Entry<String, Object> entry : pathIdCoords.entrySet()) {
- // 淇濆瓨鏂瑰紡: 璺緞ID:{"x": , "y":}
String pathId = entry.getKey();
Object coordsObj = entry.getValue();
if (coordsObj instanceof List) {
@@ -155,8 +149,7 @@
}
/**
- * 瑙ｆ瀽鐜閰嶇疆JSON鍐呭
- * 瑙ｆ瀽environment.json涓殑stations淇℃伅
+ * 鐜閰嶇疆JSON
*
* @param jsonContent JSON鍐呭
* @return 鐜閰嶇疆Map
@@ -165,7 +158,6 @@
Map<String, Object> config = new HashMap<>();
try {
- // 瑙ｆ瀽width
if (jsonContent.contains("\"width\":")) {
String widthStr = jsonContent.substring(jsonContent.indexOf("\"width\":") + 8);
widthStr = widthStr.substring(0, widthStr.indexOf(",")).trim();
@@ -176,7 +168,6 @@
}
}
- // 瑙ｆ瀽height
if (jsonContent.contains("\"height\":")) {
String heightStr = jsonContent.substring(jsonContent.indexOf("\"height\":") + 9);
heightStr = heightStr.substring(0, heightStr.indexOf(",")).trim();
@@ -187,7 +178,6 @@
}
}
- // 瑙ｆ瀽stations淇℃伅
Map<String, Map<String, Object>> stations = parseStations(jsonContent);
config.put("stations", stations);
config.put("stationCount", stations.size());
@@ -202,7 +192,6 @@
}
/**
- * 鍔犺浇鍜岃В鏋愮幆澧冮厤缃枃浠�
* 瑙ｆ瀽environment.json涓殑stations淇℃伅
*
* @param filePath 鏂囦欢鍦板潃
@@ -219,21 +208,18 @@
Map.class
);
- // 瑙ｆ瀽width
if (topLevelMap.containsKey("width")) {
environmentMap.put("width", Integer.parseInt(topLevelMap.get("width").toString()));
} else {
environmentMap.put("width", 78);
}
- // 瑙ｆ瀽height
if (topLevelMap.containsKey("width")) {
environmentMap.put("height", Integer.parseInt(topLevelMap.get("height").toString()));
} else {
environmentMap.put("height", 50);
}
- // 瑙ｆ瀽stations淇℃伅
if (topLevelMap.containsKey("stations")) {
Map<String, Map<String, Object>> stations = new HashMap<>();
Map<String, Object> stationMap = (Map<String, Object>) topLevelMap.get("stations");
@@ -292,14 +278,12 @@
for (String line : lines) {
line = line.trim();
- // 鏌ユ壘宸ヤ綔绔橧D
if (line.startsWith("\"") && line.contains("\":{")) {
int endIndex = line.indexOf("\":{");
currentStation = line.substring(1, endIndex);
stations.put(currentStation, new HashMap<>());
}
- // 瑙ｆ瀽capacity
if (currentStation != null && line.contains("\"capacity\":")) {
String capacityStr = line.substring(line.indexOf("\"capacity\":") + 11);
capacityStr = capacityStr.substring(0, capacityStr.indexOf(",")).trim();
@@ -311,7 +295,6 @@
}
}
- // 瑙ｆ瀽load_position鍜寀nload_position
if (currentStation != null && line.contains("\"load_position\":")) {
List<Integer> loadPos = parsePosition(stationsSection, currentStation, "load_position");
if (loadPos != null) {
@@ -372,7 +355,7 @@
}
/**
- * 鎻愬彇JSON涓殑鐗瑰畾閮ㄥ垎
+ * 鎻愬彇JSON涓壒瀹氶儴鍒�
*
* @param jsonContent JSON鍐呭
* @param sectionName 閮ㄥ垎鍚嶇О
@@ -421,6 +404,64 @@
return new int[]{coordMap.get("x"), coordMap.get("y")};
}
return null;
+ }
+
+ /**
+ * 鍔犺浇瀹為檯鐗╃悊鍧愭爣鏄犲皠
+ *
+ * @param filePath 鏂囦欢璺緞
+ * @return 瀹為檯鍧愭爣鏄犲皠 Map<pathId, double[]{x_mm, y_mm}>
+ */
+ public static Map<String, double[]> loadRealCoordinateMapping(String filePath) {
+ Map<String, double[]> coordinateMapping = new HashMap<>();
+ ObjectMapper objectMapper = new ObjectMapper();
+
+ try {
+ Map<String, Object> topLevelMap = objectMapper.readValue(new File(filePath), Map.class);
+
+ if (!topLevelMap.containsKey("path_id_to_coordinates")) {
+ System.err.println("鏈壘鍒皃ath_id_to_coordinates閮ㄥ垎");
+ return coordinateMapping;
+ }
+
+ Map<String, Object> pathIdCoords = (Map<String, Object>) topLevelMap.get("path_id_to_coordinates");
+ for (Map.Entry<String, Object> entry : pathIdCoords.entrySet()) {
+ String pathId = entry.getKey();
+ Object coordsObj = entry.getValue();
+
+ if (coordsObj instanceof List) {
+ List<?> coordsList = (List<?>) coordsObj;
+ if (!coordsList.isEmpty()) {
+ Map<?, ?> coordMap = (Map<?, ?>) coordsList.get(0);
+ double x = ((Number) coordMap.get("x")).doubleValue();
+ double y = ((Number) coordMap.get("y")).doubleValue();
+ coordinateMapping.put(pathId, new double[]{x, y});
+ }
+ }
+ }
+
+ System.out.println("鎴愬姛鍔犺浇瀹為檯鍧愭爣鏄犲皠锛屽寘鍚� " + coordinateMapping.size() + " 涓矾寰勭偣");
+
+ } catch (FileNotFoundException e) {
+ System.err.println("瀹為檯鍧愭爣鏂囦欢涓嶅瓨鍦�: " + e.getMessage());
+ } catch (IOException e) {
+ System.err.println("瀹為檯鍧愭爣鏂囦欢璇诲彇閿欒: " + e.getMessage());
+ } catch (Exception e) {
+ System.err.println("鍔犺浇瀹為檯鍧愭爣鏂囦欢澶辫触: " + e.getMessage());
+ }
+
+ return coordinateMapping;
+ }
+
+ /**
+ * 鑾峰彇璺緞鐐圭殑瀹為檯鍧愭爣
+ *
+ * @param pathId 璺緞鐐笽D
+ * @param realCoordinateMap 瀹為檯鍧愭爣鏄犲皠
+ * @return 鍧愭爣鏁扮粍 [x_mm, y_mm]锛屽鏋滄湭鎵惧埌杩斿洖null
+ */
+ public static double[] getRealCoordinate(String pathId, Map<String, double[]> realCoordinateMap) {
+ return realCoordinateMap.get(pathId);
}
/**
@@ -483,4 +524,111 @@
int dy = coord1[1] - coord2[1];
return Math.sqrt(dx * dx + dy * dy);
}
+
+ /**
+ * 鍔犺浇鐜璺緞杩為�氭�ф暟鎹紙environment.json涓殑paths鍜宱bstacles锛�
+ *
+ * @param filePath 鐜鏂囦欢璺緞
+ * @return 鐜杩為�氭�ф暟鎹�
+ */
+ public static EnvironmentConnectivity loadEnvironmentConnectivity(String filePath) {
+ EnvironmentConnectivity connectivity = new EnvironmentConnectivity();
+ ObjectMapper objectMapper = new ObjectMapper();
+
+ try {
+ Map<String, Object> topLevelMap = objectMapper.readValue(new File(filePath), Map.class);
+
+ // 鍔犺浇鍙�氳璺緞
+ if (topLevelMap.containsKey("paths")) {
+ List<Map<String, Object>> pathsList = (List<Map<String, Object>>) topLevelMap.get("paths");
+ for (Map<String, Object> pathPoint : pathsList) {
+ Integer x = (Integer) pathPoint.get("x");
+ Integer y = (Integer) pathPoint.get("y");
+ if (x != null && y != null) {
+ connectivity.addValidPath(x, y);
+ }
+ }
+ }
+
+ // 鍔犺浇闅滅鐗�
+ if (topLevelMap.containsKey("obstacles")) {
+ List<Map<String, Object>> obstaclesList = (List<Map<String, Object>>) topLevelMap.get("obstacles");
+ for (Map<String, Object> obstacle : obstaclesList) {
+ Integer x = (Integer) obstacle.get("x");
+ Integer y = (Integer) obstacle.get("y");
+ if (x != null && y != null) {
+ connectivity.addObstacle(x, y);
+ }
+ }
+ }
+
+ System.out.println("鎴愬姛鍔犺浇鐜杩為�氭�ф暟鎹細" +
+ connectivity.getValidPathsCount() + " 涓彲閫氳鐐癸紝" +
+ connectivity.getObstaclesCount() + " 涓殰纰嶇墿鐐�");
+
+ } catch (FileNotFoundException e) {
+ System.err.println("鐜鏂囦欢涓嶅瓨鍦�: " + e.getMessage());
+ } catch (IOException e) {
+ System.err.println("鐜鏂囦欢璇诲彇閿欒: " + e.getMessage());
+ } catch (Exception e) {
+ System.err.println("鍔犺浇鐜杩為�氭�ф暟鎹け璐�: " + e.getMessage());
+ }
+
+ return connectivity;
+ }
+
+ /**
+ * 鐜杩為�氭�ф暟鎹被
+ */
+ public static class EnvironmentConnectivity {
+ private final Set<String> validPaths = new HashSet<>();
+ private final Set<String> obstacles = new HashSet<>();
+
+ public void addValidPath(int x, int y) {
+ validPaths.add(x + "," + y);
+ }
+
+ public void addObstacle(int x, int y) {
+ obstacles.add(x + "," + y);
+ }
+
+ public boolean isValidPath(int x, int y) {
+ return validPaths.contains(x + "," + y);
+ }
+
+ public boolean isObstacle(int x, int y) {
+ return obstacles.contains(x + "," + y);
+ }
+
+ public boolean isTraversable(int x, int y) {
+ return isValidPath(x, y) && !isObstacle(x, y);
+ }
+
+ public int getValidPathsCount() {
+ return validPaths.size();
+ }
+
+ public int getObstaclesCount() {
+ return obstacles.size();
+ }
+
+ /**
+ * 鑾峰彇鏈夋晥鐨勭浉閭昏妭鐐�
+ */
+ public List<int[]> getValidNeighbors(int x, int y) {
+ List<int[]> neighbors = new ArrayList<>();
+ int[][] directions = {{0, 1}, {1, 0}, {0, -1}, {-1, 0}}; // 涓婁笅宸﹀彸
+
+ for (int[] dir : directions) {
+ int newX = x + dir[0];
+ int newY = y + dir[1];
+
+ if (isTraversable(newX, newY)) {
+ neighbors.add(new int[]{newX, newY});
+ }
+ }
+
+ return neighbors;
+ }
+ }
}
\ No newline at end of file
diff --git a/algo-zkd/src/main/java/com/algo/util/PathTimeCalculator.java b/algo-zkd/src/main/java/com/algo/util/PathTimeCalculator.java
new file mode 100644
index 0000000..3f9ddcf
--- /dev/null
+++ b/algo-zkd/src/main/java/com/algo/util/PathTimeCalculator.java
@@ -0,0 +1,318 @@
+package com.algo.util;
+
+import com.algo.model.CTUPhysicalConfig;
+import com.algo.model.PathCode;
+import com.algo.model.PlannedPath;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 璺緞鏃堕棿璁＄畻鍣�
+ * 缁熶竴澶勭悊璺緞涓瘡涓偣鐨勬椂闂磋绠楋紝纭繚鍦ㄥ悇涓ā鍧椾腑璁＄畻鐨勪竴鑷存��
+ * 鑰冭檻鍔犲噺閫熴�佽浆鍚戙�佸仠鐣欑瓑鎵�鏈夋椂闂村洜绱�
+ */
+public class PathTimeCalculator {
+
+ /**
+ * 璺緞鏄犲皠琛紙缃戞牸鍧愭爣锛�
+ */
+ private final Map<String, Map<String, Integer>> pathMapping;
+
+ /**
+ * 瀹為檯鍧愭爣鏄犲皠琛紙鐗╃悊鍧愭爣锛屾绫筹級
+ */
+ private final Map<String, double[]> realCoordinateMapping;
+
+ public PathTimeCalculator(Map<String, Map<String, Integer>> pathMapping,
+ Map<String, double[]> realCoordinateMapping) {
+ this.pathMapping = pathMapping;
+ this.realCoordinateMapping = realCoordinateMapping;
+ }
+
+ /**
+ * 涓鸿矾寰勮绠楁椂闂翠俊鎭�
+ *
+ * @param path 瑙勫垝璺緞
+ * @param startTime 璧峰鏃堕棿锛堟绉掓椂闂存埑锛�
+ * @param config CTU鐗╃悊閰嶇疆
+ * @param initialSpeed 鍒濆閫熷害锛堢背/绉掞級
+ */
+ public void calculatePathTiming(PlannedPath path, long startTime,
+ CTUPhysicalConfig config, double initialSpeed) {
+ List<PathCode> codeList = path.getCodeList();
+ if (codeList == null || codeList.isEmpty()) {
+ return;
+ }
+
+ long currentTime = startTime;
+ double currentSpeed = initialSpeed;
+
+ for (int i = 0; i < codeList.size(); i++) {
+ PathCode currentCode = codeList.get(i);
+
+ // 璁剧疆鍒拌揪鏃堕棿
+ currentCode.setArrivalTime(currentTime);
+
+ // 璁＄畻鍦ㄥ綋鍓嶄綅缃殑鍋滅暀鏃堕棿
+ double stayDuration = calculateStayDuration(currentCode, config);
+
+ // 濡傛灉涓嶆槸鏈�鍚庝竴涓偣锛岃绠楄浆鍚戞椂闂�
+ if (i < codeList.size() - 1) {
+ PathCode nextCode = codeList.get(i + 1);
+ double turnTime = calculateTurnTime(currentCode, nextCode, config);
+ stayDuration += turnTime;
+ }
+
+ // 璁剧疆绂诲紑鏃堕棿
+ long departureTime = currentTime + (long)(stayDuration * 1000);
+ currentCode.setDepartureTime(departureTime);
+
+ // 璁＄畻绱鏃堕棿
+ currentCode.setCumulativeTime(departureTime - startTime);
+
+ // 濡傛灉鏈変笅涓�涓偣锛岃绠楃Щ鍔ㄦ椂闂村拰閫熷害鍙樺寲
+ if (i < codeList.size() - 1) {
+ PathCode nextCode = codeList.get(i + 1);
+
+ // 璁＄畻绮剧‘鐨勭Щ鍔ㄦ椂闂达紙鑰冭檻鍔犲噺閫燂級
+ MovementTimeResult movement = calculatePreciseMovementTime(
+ currentCode, nextCode, currentSpeed, config
+ );
+
+ currentTime = departureTime + movement.travelTime;
+ currentSpeed = movement.endSpeed;
+ }
+ }
+ }
+
+ /**
+ * 璁＄畻涓ょ偣闂寸Щ鍔ㄦ椂闂�
+ */
+ private MovementTimeResult calculatePreciseMovementTime(PathCode fromCode, PathCode toCode,
+ double startSpeed, CTUPhysicalConfig config) {
+ // 鑾峰彇瀹為檯璺濈
+ double realDistance = getRealDistance(fromCode.getCode(), toCode.getCode());
+
+ if (realDistance <= 0) {
+ // 澶囩敤锛氫娇鐢ㄧ綉鏍艰窛绂�
+ realDistance = getGridDistance(fromCode.getCode(), toCode.getCode())
+ * config.getStandardPointDistance();
+ }
+
+ // 纭畾鐩爣閫熷害锛堣�冭檻鏄惁涓虹洰鏍囩偣锛�
+ double targetSpeed = toCode.isTargetPoint() ? 0.0 : config.getNormalSpeed();
+
+ // 浣跨敤鐗╃悊閰嶇疆鐨勭簿纭绠楁柟娉�
+ double movementTime = config.calculatePreciseMovementTime(
+ realDistance, startSpeed, targetSpeed, config.getNormalSpeed()
+ );
+
+ return new MovementTimeResult((long)(movementTime * 1000), targetSpeed);
+ }
+
+ /**
+ * 璁＄畻鍦ㄨ矾寰勭偣鐨勫仠鐣欐椂闂�
+ */
+ private double calculateStayDuration(PathCode pathCode, CTUPhysicalConfig config) {
+ double stayTime = 0.1; // 鍩虹鍋滅暀鏃堕棿100ms
+
+ // 鏍规嵁鍔ㄤ綔绫诲瀷澧炲姞鍋滅暀鏃堕棿
+ if (pathCode.getActionType() != null) {
+ switch (pathCode.getActionType()) {
+ case "1": // 鍙栬揣
+ stayTime += 10.0;
+ break;
+ case "2": // 鏀捐揣
+ stayTime += 10.0;
+ break;
+ case "3": // 鍏呯數
+ stayTime += 600.0;
+ break;
+ default:
+ stayTime += 0.5;
+ break;
+ }
+ } else if (pathCode.isTargetPoint()) {
+ // 鐩爣鐐瑰仠鐣欐椂闂�
+ if ("1".equals(pathCode.getPosType())) {
+ stayTime += 10.0; // 鍙栬揣
+ } else if ("2".equals(pathCode.getPosType())) {
+ stayTime += 10.0; // 鏀捐揣
+ } else {
+ stayTime += 10.0; // 鍏朵粬鐩爣鐐�
+ }
+ }
+
+ return stayTime;
+ }
+
+ /**
+ * 璁＄畻杞悜鏃堕棿
+ */
+ private double calculateTurnTime(PathCode fromCode, PathCode toCode, CTUPhysicalConfig config) {
+ if (fromCode.getDirection().equals(toCode.getDirection())) {
+ return 0.0;
+ }
+
+ // 浣跨敤閰嶇疆鐨勮浆鍚戞椂闂磋绠楁柟娉�
+ return config.getTurnTime(fromCode.getDirection(), toCode.getDirection());
+ }
+
+ /**
+ * 鑾峰彇瀹為檯鐗╃悊璺濈
+ */
+ private double getRealDistance(String fromCode, String toCode) {
+ if (realCoordinateMapping == null) {
+ return 0.0;
+ }
+
+ double[] fromCoord = realCoordinateMapping.get(fromCode);
+ double[] toCoord = realCoordinateMapping.get(toCode);
+
+ if (fromCoord != null && toCoord != null) {
+ return CTUPhysicalConfig.calculateRealDistance(fromCoord, toCoord);
+ }
+
+ return 0.0;
+ }
+
+ /**
+ * 鑾峰彇缃戞牸璺濈
+ */
+ private double getGridDistance(String fromCode, String toCode) {
+ int[] fromCoord = JsonUtils.getCoordinate(fromCode, pathMapping);
+ int[] toCoord = JsonUtils.getCoordinate(toCode, pathMapping);
+
+ if (fromCoord != null && toCoord != null) {
+ return JsonUtils.calculateEuclideanDistance(fromCoord, toCoord);
+ }
+
+ return 1.0; // 榛樿璺濈
+ }
+
+ /**
+ * 璁＄畻璺緞涓寚瀹氫綅缃箣鍚庣殑鏃堕棿锛堢敤浜庡啿绐佽В鍐筹級
+ *
+ * @param path 璺緞
+ * @param fromIndex 寮�濮嬮噸鏂拌绠楃殑绱㈠紩
+ * @param config 鐗╃悊閰嶇疆
+ */
+ public void recalculatePathTimingFromIndex(PlannedPath path, int fromIndex, CTUPhysicalConfig config) {
+ List<PathCode> codeList = path.getCodeList();
+ if (codeList == null || fromIndex >= codeList.size()) {
+ return;
+ }
+
+ // 鑾峰彇閲嶆柊璁＄畻璧风偣鐨勬椂闂村拰閫熷害
+ PathCode startCode = codeList.get(fromIndex);
+ long startTime = startCode.getDepartureTime() != null ?
+ startCode.getDepartureTime() : startCode.getArrivalTime();
+
+ // 浼扮畻褰撳墠閫熷害
+ double currentSpeed = config.getNormalSpeed();
+
+ // 浠庢寚瀹氫綅缃紑濮嬮噸鏂拌绠�
+ long currentTime = startTime;
+
+ for (int i = fromIndex + 1; i < codeList.size(); i++) {
+ PathCode currentCode = codeList.get(i);
+ PathCode previousCode = codeList.get(i - 1);
+
+ // 璁＄畻绉诲姩鏃堕棿
+ MovementTimeResult movement = calculatePreciseMovementTime(
+ previousCode, currentCode, currentSpeed, config
+ );
+
+ currentTime += movement.travelTime;
+ currentSpeed = movement.endSpeed;
+
+ // 璁剧疆鍒拌揪鏃堕棿
+ currentCode.setArrivalTime(currentTime);
+
+ // 璁＄畻鍋滅暀鏃堕棿
+ double stayDuration = calculateStayDuration(currentCode, config);
+
+ // 濡傛灉涓嶆槸鏈�鍚庝竴涓偣锛屽鍔犺浆鍚戞椂闂�
+ if (i < codeList.size() - 1) {
+ PathCode nextCode = codeList.get(i + 1);
+ double turnTime = calculateTurnTime(currentCode, nextCode, config);
+ stayDuration += turnTime;
+ }
+
+ // 璁剧疆绂诲紑鏃堕棿
+ long departureTime = currentTime + (long)(stayDuration * 1000);
+ currentCode.setDepartureTime(departureTime);
+
+ // 鏇存柊绱鏃堕棿
+ long pathStartTime = codeList.get(0).getArrivalTime();
+ currentCode.setCumulativeTime(departureTime - pathStartTime);
+
+ currentTime = departureTime;
+ }
+ }
+
+ /**
+ * 璁＄畻璺緞鐨勬�绘墽琛屾椂闂�
+ */
+ public long calculateTotalPathTime(PlannedPath path) {
+ List<PathCode> codeList = path.getCodeList();
+ if (codeList == null || codeList.isEmpty()) {
+ return 0;
+ }
+
+ PathCode firstCode = codeList.get(0);
+ PathCode lastCode = codeList.get(codeList.size() - 1);
+
+ if (firstCode.getArrivalTime() != null && lastCode.getDepartureTime() != null) {
+ return lastCode.getDepartureTime() - firstCode.getArrivalTime();
+ }
+
+ return 0;
+ }
+
+ /**
+ * 妫�鏌ヨ矾寰勫湪鎸囧畾鏃堕棿绐楀彛鏄惁涓庡崰鐢ㄨ〃鍐茬獊
+ */
+ public boolean isPathTimeConflictFree(PlannedPath path, Map<String, String> occupancyMap) {
+ List<PathCode> codeList = path.getCodeList();
+ if (codeList == null || codeList.isEmpty()) {
+ return true;
+ }
+
+ for (PathCode pathCode : codeList) {
+ if (pathCode.getArrivalTime() == null || pathCode.getDepartureTime() == null) {
+ continue;
+ }
+
+ int[] coord = JsonUtils.getCoordinate(pathCode.getCode(), pathMapping);
+ if (coord == null) continue;
+
+ // 妫�鏌ユ暣涓仠鐣欐椂闂存
+ long startTimeSlot = pathCode.getArrivalTime() / 1000;
+ long endTimeSlot = pathCode.getDepartureTime() / 1000;
+
+ for (long timeSlot = startTimeSlot; timeSlot <= endTimeSlot; timeSlot++) {
+ String spaceTimeKey = coord[0] + "," + coord[1] + "," + timeSlot;
+ if (occupancyMap.containsKey(spaceTimeKey)) {
+ return false;
+ }
+ }
+ }
+
+ return true;
+ }
+
+ /**
+ * 绉诲姩鏃堕棿璁＄畻缁撴灉
+ */
+ private static class MovementTimeResult {
+ final long travelTime; // 绉诲姩鏃堕棿锛堟绉掞級
+ final double endSpeed; // 缁撴潫閫熷害锛堢背/绉掞級
+
+ public MovementTimeResult(long travelTime, double endSpeed) {
+ this.travelTime = travelTime;
+ this.endSpeed = endSpeed;
+ }
+ }
+}
--
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