From 2fa19599467263dcf582bb12906e03328e03b4a4 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期三, 02 七月 2025 13:12:26 +0800
Subject: [PATCH] 初版提交
---
config/environment.py | 360 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 360 insertions(+), 0 deletions(-)
diff --git a/config/environment.py b/config/environment.py
new file mode 100644
index 0000000..47f42d0
--- /dev/null
+++ b/config/environment.py
@@ -0,0 +1,360 @@
+"""
+鐜閰嶇疆妯″潡 - 璐熻矗瀹氫箟鍔犺浇浠撳簱鐜閰嶇疆
+"""
+import json
+from enum import Enum, auto
+import numpy as np
+from typing import Dict, List, Tuple, Optional, Union
+
+
+class CellType(Enum):
+ """鍗曞厓鏍肩被鍨嬫灇涓�"""
+ EMPTY = auto() # 绌哄崟鍏冩牸
+ STATION = auto() # 绔欑偣
+ PATH = auto() # 璺緞
+ STORAGE = auto() # 浠撳偍鍖哄煙
+ OBSTACLE = auto() # 闅滅鐗�
+ LOADING = auto() # 瑁呰浇鍖�
+ UNLOADING = auto() # 鍗歌浇鍖�
+
+
+class EnvironmentConfig:
+ """鐜閰嶇疆绫�"""
+
+ def __init__(self, width: int, height: int):
+ """鍒濆鍖栫幆澧冮厤缃�"""
+ self.width = width
+ self.height = height
+ # 鍒濆鍖栨墍鏈夊崟鍏冩牸涓虹┖
+ self.grid = np.full((height, width), CellType.EMPTY)
+ # 绔欑偣浣嶇疆鍙婂叾閰嶇疆
+ self.stations = {} # 鏍煎紡: {(x, y): {"capacity": 4, "load_position": (x-1, y), "unload_position": (x+1, y)}}
+ # 璺緞鐐逛綅缃�
+ self.paths = set() # 鏍煎紡: {(x1, y1), (x2, y2), ...}
+ # 浠撳偍鍖哄煙浣嶇疆
+ self.storage_areas = set() # 鏍煎紡: {(x1, y1), (x2, y2), ...}
+ # 瑁呭嵏鍖轰綅缃�
+ self.loading_areas = set() # 鏍煎紡: {(x1, y1), (x2, y2), ...}
+ self.unloading_areas = set() # 鏍煎紡: {(x1, y1), (x2, y2), ...}
+ # 闅滅鐗╀綅缃�
+ self.obstacles = set() # 鏍煎紡: {(x1, y1), (x2, y2), ...}
+ # 缃戞牸鐐归偦鎺ヨ〃锛堢敤浜庤矾寰勮鍒掞級
+ self.adjacency_list = {} # 鏍煎紡: {(x1, y1): {(x2, y2): distance, ...}, ...}
+
+ def set_cell_type(self, x: int, y: int, cell_type: CellType) -> bool:
+ """
+ 璁剧疆鍗曞厓鏍肩被鍨�
+
+ Args:
+ x: x鍧愭爣
+ y: y鍧愭爣
+ cell_type: 鍗曞厓鏍肩被鍨�
+
+ Returns:
+ bool: 璁剧疆鏄惁鎴愬姛
+ """
+ if 0 <= x < self.width and 0 <= y < self.height:
+ self.grid[y, x] = cell_type
+
+ # 鏍规嵁鍗曞厓鏍肩被鍨嬫洿鏂扮浉搴旂殑闆嗗悎
+ pos = (x, y)
+ if cell_type == CellType.PATH:
+ self.paths.add(pos)
+ elif cell_type == CellType.STATION:
+ if pos not in self.stations:
+ self.stations[pos] = {
+ "capacity": 4, # 榛樿瀹归噺
+ "load_position": (x-1, y), # 榛樿鍔犺浇浣嶇疆
+ "unload_position": (x+1, y) # 榛樿鍗歌浇浣嶇疆
+ }
+ elif cell_type == CellType.STORAGE:
+ self.storage_areas.add(pos)
+ elif cell_type == CellType.LOADING:
+ self.loading_areas.add(pos)
+ elif cell_type == CellType.UNLOADING:
+ self.unloading_areas.add(pos)
+ elif cell_type == CellType.OBSTACLE:
+ self.obstacles.add(pos)
+
+ return True
+ return False
+
+ def add_station(self, x: int, y: int, capacity: int = 4,
+ load_position: Tuple[int, int] = None,
+ unload_position: Tuple[int, int] = None) -> bool:
+ """
+ 娣诲姞绔欑偣
+
+ Args:
+ x: 绔欑偣x鍧愭爣
+ y: 绔欑偣y鍧愭爣
+ capacity: 绔欑偣瀹归噺
+ load_position: 鍔犺浇浣嶇疆
+ unload_position: 鍗歌浇浣嶇疆
+
+ Returns:
+ bool: 娣诲姞鏄惁鎴愬姛
+ """
+ if 0 <= x < self.width and 0 <= y < self.height:
+ # 璁剧疆榛樿鐨勮鍗镐綅缃�
+ if load_position is None:
+ load_position = (x-1, y) # 宸︿晶涓哄嵏鏂欑浣嶇疆
+ if unload_position is None:
+ unload_position = (x+1, y) # 鍙充晶涓哄彇鏂欑浣嶇疆
+
+ # 鏇存柊缃戞牸鍜岀珯鐐逛俊鎭�
+ self.grid[y, x] = CellType.STATION
+ self.stations[(x, y)] = {
+ "capacity": capacity,
+ "load_position": load_position,
+ "unload_position": unload_position
+ }
+
+ # 纭繚瑁呭嵏浣嶇疆涔熻鏍囪
+ self.set_cell_type(load_position[0], load_position[1], CellType.LOADING)
+ self.set_cell_type(unload_position[0], unload_position[1], CellType.UNLOADING)
+
+ return True
+ return False
+
+ def add_path(self, x: int, y: int) -> bool:
+ """
+ 娣诲姞璺緞鐐�
+
+ Args:
+ x: x鍧愭爣
+ y: y鍧愭爣
+
+ Returns:
+ bool: 娣诲姞鏄惁鎴愬姛
+ """
+ return self.set_cell_type(x, y, CellType.PATH)
+
+ def add_storage_area(self, x: int, y: int) -> bool:
+ """
+ 娣诲姞浠撳偍鍖哄煙
+
+ Args:
+ x: x鍧愭爣
+ y: y鍧愭爣
+
+ Returns:
+ bool: 娣诲姞鏄惁鎴愬姛
+ """
+ return self.set_cell_type(x, y, CellType.STORAGE)
+
+ def add_obstacle(self, x: int, y: int) -> bool:
+ """
+ 娣诲姞闅滅鐗�
+
+ Args:
+ x: x鍧愭爣
+ y: y鍧愭爣
+
+ Returns:
+ bool: 娣诲姞鏄惁鎴愬姛
+ """
+ return self.set_cell_type(x, y, CellType.OBSTACLE)
+
+ def is_valid_position(self, x: int, y: int) -> bool:
+ """
+ 妫�鏌ヤ綅缃槸鍚﹀悎娉曪紙鍦ㄧ綉鏍煎唴涓旈潪闅滅鐗╋級
+
+ Args:
+ x: x鍧愭爣
+ y: y鍧愭爣
+
+ Returns:
+ bool: 浣嶇疆鏄惁鍚堟硶
+ """
+ return (0 <= x < self.width and
+ 0 <= y < self.height and
+ self.grid[y, x] != CellType.OBSTACLE)
+
+ def build_adjacency_list(self):
+ """鏋勫缓缃戞牸鐐归偦鎺ヨ〃锛堢敤浜庤矾寰勮鍒掞級"""
+ # 娓呯┖鐜版湁閭绘帴琛�
+ self.adjacency_list = {}
+
+ # AGV杩涜鍥涙柟鍚戠Щ鍔�
+ directions = [
+ (0, 1), # 涓�
+ (1, 0), # 鍙�
+ (0, -1), # 涓�
+ (-1, 0) # 宸�
+ ]
+
+ # 涓烘瘡涓矾寰勭偣鏋勫缓閭绘帴琛�
+ for x, y in self.paths:
+ if (x, y) not in self.adjacency_list:
+ self.adjacency_list[(x, y)] = {}
+
+ # 妫�鏌ュ洓涓柟鍚戠殑閭诲眳
+ for dx, dy in directions:
+ nx, ny = x + dx, y + dy
+ # 妫�鏌ョ浉閭荤偣鏄惁涓烘湁鏁堣矾寰勭偣
+ if (nx, ny) in self.paths:
+ # 绉诲姩璺濈缁熶竴涓�1.0
+ distance = 1.0
+ self.adjacency_list[(x, y)][(nx, ny)] = distance
+
+ # 娣诲姞绔欑偣鐨勮鍗哥偣鍒伴偦鎺ヨ〃
+ for station_pos, station_info in self.stations.items():
+ load_pos = station_info["load_position"]
+ unload_pos = station_info["unload_position"]
+
+ # 纭繚瑁呭嵏鐐瑰凡娣诲姞鍒伴偦鎺ヨ〃
+ if load_pos not in self.adjacency_list:
+ self.adjacency_list[load_pos] = {}
+ if unload_pos not in self.adjacency_list:
+ self.adjacency_list[unload_pos] = {}
+
+ # 杩炴帴瑁呭嵏鐐瑰埌鏈�杩戠殑璺緞鐐�
+ for pos in [load_pos, unload_pos]:
+ # 鎵惧埌鏈�杩戠殑璺緞鐐瑰苟杩炴帴
+ min_dist = float('inf')
+ nearest_path = None
+
+ for path_pos in self.paths:
+ dist = ((pos[0] - path_pos[0]) ** 2 + (pos[1] - path_pos[1]) ** 2) ** 0.5
+ if dist < min_dist:
+ min_dist = dist
+ nearest_path = path_pos
+
+ if nearest_path:
+ self.adjacency_list[pos][nearest_path] = min_dist
+ self.adjacency_list[nearest_path][pos] = min_dist
+
+ def save_to_file(self, filepath: str):
+ """
+ 灏嗙幆澧冮厤缃繚瀛樺埌鏂囦欢
+
+ Args:
+ filepath: 鏂囦欢璺緞
+ """
+ config_data = {
+ "width": self.width,
+ "height": self.height,
+ "stations": {f"{x},{y}": info for (x, y), info in self.stations.items()},
+ "paths": [{"x": x, "y": y} for x, y in self.paths],
+ "storage_areas": [{"x": x, "y": y} for x, y in self.storage_areas],
+ "loading_areas": [{"x": x, "y": y} for x, y in self.loading_areas],
+ "unloading_areas": [{"x": x, "y": y} for x, y in self.unloading_areas],
+ "obstacles": [{"x": x, "y": y} for x, y in self.obstacles]
+ }
+
+ with open(filepath, 'w') as f:
+ json.dump(config_data, f, indent=2)
+
+ @classmethod
+ def load_from_file(cls, filepath: str) -> 'EnvironmentConfig':
+ """
+ 浠庢枃浠跺姞杞界幆澧冮厤缃�
+
+ Args:
+ filepath: 鏂囦欢璺緞
+
+ Returns:
+ EnvironmentConfig: 鐜閰嶇疆瀵硅薄
+ """
+ with open(filepath, 'r') as f:
+ config_data = json.load(f)
+
+ env_config = cls(config_data["width"], config_data["height"])
+
+ # 鍔犺浇绔欑偣
+ for pos_str, info in config_data["stations"].items():
+ x, y = map(int, pos_str.split(','))
+ load_x, load_y = info["load_position"]
+ unload_x, unload_y = info["unload_position"]
+ env_config.add_station(x, y, info["capacity"],
+ (load_x, load_y), (unload_x, unload_y))
+
+ # 鍔犺浇璺緞
+ for path in config_data["paths"]:
+ env_config.add_path(path["x"], path["y"])
+
+ # 鍔犺浇浠撳偍鍖哄煙
+ for area in config_data["storage_areas"]:
+ env_config.add_storage_area(area["x"], area["y"])
+
+ # 鍔犺浇闅滅鐗�
+ for obstacle in config_data["obstacles"]:
+ env_config.add_obstacle(obstacle["x"], obstacle["y"])
+
+ # 鏋勫缓閭绘帴琛�
+ env_config.build_adjacency_list()
+
+ return env_config
+
+ def create_default_environment(self) -> 'EnvironmentConfig':
+ """
+ 鍒涘缓榛樿鐜閰嶇疆锛堟寜鐓ч渶姹傛弿杩伴厤缃珯鐐瑰拰璺緞锛�
+
+ Returns:
+ EnvironmentConfig: 鐜閰嶇疆瀵硅薄
+ """
+ # 娓呯┖褰撳墠閰嶇疆
+ self.grid = np.full((self.height, self.width), CellType.EMPTY)
+ self.stations = {}
+ self.paths = set()
+ self.storage_areas = set()
+ self.loading_areas = set()
+ self.unloading_areas = set()
+ self.obstacles = set()
+
+ # 閰嶇疆20涓珯鐐�
+ station_y = self.height - 5
+ station_spacing = self.width // 25 # 绔欑偣闂磋窛
+
+ for i in range(20):
+ station_x = (i + 1) * station_spacing
+ self.add_station(station_x, station_y)
+
+ # 浠撳偍鍖哄煙
+ storage_start_y = 5
+ storage_end_y = station_y - 10
+
+ for col in range(5):
+ col_x = (col + 1) * (self.width // 6)
+
+ for row_y in range(storage_start_y, storage_end_y, 5):
+ for dx in range(-1, 2):
+ for dy in range(-1, 2):
+ self.add_storage_area(col_x + dx, row_y + dy)
+
+ # 閰嶇疆璺緞
+ # 姘村钩涓昏矾寰�
+ for x in range(5, self.width - 5):
+ # 绔欑偣鍓嶆按骞宠矾寰�
+ self.add_path(x, station_y - 5)
+ # 璐ф灦鍖哄煙姘村钩璺緞
+ for path_y in range(10, storage_end_y, 10):
+ self.add_path(x, path_y)
+
+ # 鍨傜洿杩炴帴璺緞
+ for col in range(7):
+ path_x = col * (self.width // 7)
+ for y in range(5, station_y):
+ self.add_path(path_x, y)
+
+ # 鏋勫缓閭绘帴琛�
+ self.build_adjacency_list()
+
+ return self
+
+
+# 鍒涘缓鍜屽垵濮嬪寲榛樿鐜鐨勮緟鍔╁嚱鏁�
+def create_default_environment(width=100, height=100) -> EnvironmentConfig:
+ """
+ 鍒涘缓榛樿鐜閰嶇疆
+
+ Args:
+ width: 鐜瀹藉害
+ height: 鐜楂樺害
+
+ Returns:
+ EnvironmentConfig: 榛樿鐜閰嶇疆
+ """
+ env_config = EnvironmentConfig(width, height)
+ return env_config.create_default_environment()
\ No newline at end of file
--
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