From 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 21 十二月 2024 11:25:27 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/resources/agv1.py | 203 ++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 203 insertions(+), 0 deletions(-)
diff --git a/zy-acs-manager/src/main/resources/agv1.py b/zy-acs-manager/src/main/resources/agv1.py
new file mode 100644
index 0000000..245bb6e
--- /dev/null
+++ b/zy-acs-manager/src/main/resources/agv1.py
@@ -0,0 +1,203 @@
+import ast
+import sys
+import numpy as np
+import json
+import time
+import redis
+from collections import deque
+
+radiusLen = None
+
+# 灏嗗瓧绗︿覆杞崲涓烘诞鐐瑰瀷鏁扮粍
+def convert_to_float_array(str_array):
+ if isinstance(str_array, str):
+ return np.array(ast.literal_eval(str_array), dtype=float)
+ return str_array
+
+def getWaveScopeByCode_iterative(x, y):
+ """
+ 浣跨敤骞垮害浼樺厛鎼滅储锛圔FS锛夋潵浠ｆ浛閫掑綊锛屼互閬垮厤閫掑綊娣卞害杩囧ぇ鐨勯棶棰樸��
+ """
+ includeList = []
+ existNodes = set()
+ queue = deque()
+
+ originNode = {"x": x, "y": y}
+ currNode = {"x": x, "y": y}
+ queue.append(currNode)
+ existNodes.add((x, y))
+
+ while queue:
+ node = queue.popleft()
+ node_x, node_y = node['x'], node['y']
+ neighbors = [
+ (node_x + 1, node_y),
+ (node_x - 1, node_y),
+ (node_x, node_y + 1),
+ (node_x, node_y - 1)
+ ]
+
+ for neighbor in neighbors:
+ nx, ny = neighbor
+ # 妫�鏌ヨ竟鐣屾潯浠�
+ if (nx < 0 or nx >= codeMatrix.shape[0] or ny < 0 or ny >= codeMatrix.shape[1]):
+ continue
+ if (nx, ny) in existNodes:
+ continue
+
+ existNodes.add((nx, ny))
+ neighbor_code = codeMatrix[nx, ny]
+
+ if neighbor_code == 'NONE':
+ queue.append({"x": nx, "y": ny})
+ else:
+ o1Cda = convert_to_float_array(cdaMatrix[x, y])
+ o2Cda = convert_to_float_array(cdaMatrix[nx, ny])
+
+ num1 = (o1Cda[0] - o2Cda[0]) ** 2
+ num2 = (o1Cda[1] - o2Cda[1]) ** 2
+ if num1 + num2 <= radiusLen ** 2:
+ includeList.append({
+ "x": int(nx),
+ "y": int(ny),
+ "code": str(codeMatrix[nx, ny])
+ })
+ queue.append({"x": nx, "y": ny})
+
+ return includeList
+
+def find_value_in_matrix(value):
+ indices = np.where(codeMatrix == value)
+ return list(zip(indices[0], indices[1]))
+
+def initWaveMatrix():
+ waveMatrix = np.empty_like(codeMatrix, dtype=object)
+
+ for x in range(codeMatrix.shape[0]):
+ for y in range(codeMatrix.shape[1]):
+ if codeMatrix[x][y] == 'NONE':
+ waveMatrix[x][y] = "-"
+ else:
+ waveMatrix[x][y] = '[]'
+
+ return waveMatrix
+
+# 浼樺寲鐗堟湰锛氫娇鐢ㄩ泦鍚堟潵鎻愰珮鎬ц兘
+def mergeWave(originWave, vehicle):
+ # 灏嗗瓧绗︿覆瑙ｆ瀽涓洪泦鍚�
+ try:
+ set_data = set(ast.literal_eval(originWave))
+ except (ValueError, SyntaxError):
+ set_data = set()
+ # 濡傛灉 vehicle 涓嶅湪闆嗗悎涓紝鍒欐坊鍔�
+ set_data.add(vehicle)
+ # 杩斿洖搴忓垪鍖栧悗鐨勫瓧绗︿覆
+ return json.dumps(list(set_data))
+
+# 灏� dynamicMatrix 杞崲涓� numpy 缁撴瀯鍖栨暟缁�
+def convert_to_structured_array(dynamicMatrix):
+ # 瀹氫箟缁撴瀯鍖栨暟缁勭殑 dtype
+ dtype = [('serial', int), ('vehicle', 'U2'), ('time', int)]
+
+ # 纭繚姣忎釜瀛楀吀鍖呭惈鎵�鏈夊瓧娈�
+ structured_list = []
+ for row in dynamicMatrix:
+ for d in row:
+ # 鎻愬彇瀛楁锛岀‘淇� 'time' 瀛樺湪锛屽惁鍒欒缃负榛樿鍊硷紙渚嬪 0.0锛�
+ serial = d.get('serial', 0)
+ vehicle = d.get('vehicle', '0')
+ time_val = d.get('time', 0)
+ structured_list.append((serial, vehicle, time_val))
+
+ # 灏嗗祵濂楃殑鍒楄〃杞崲涓虹粨鏋勫寲鏁扮粍
+ structured_array = np.array(structured_list, dtype=dtype)
+ # 閲嶅涓哄師濮嬬殑浜岀淮褰㈢姸
+ return structured_array.reshape(len(dynamicMatrix), -1)
+
+# 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
+def process_dynamic_matrix(dynamicMatrix, codeMatrix):
+ global waveMatrix # 纭繚 waveMatrix 鏄叏灞�鍙橀噺
+
+ # 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
+ dynamicMatrix = convert_to_structured_array(dynamicMatrix)
+
+ # 鑾峰彇 dynamicMatrix 鐨勫舰鐘�
+ rows, cols = dynamicMatrix.shape
+
+ # 鍒涘缓涓�涓竷灏旀帺鐮侊紝鐢ㄤ簬绛涢�夊嚭 vehicle 涓嶄负 '0' 鍜� '-1' 鐨勫厓绱�
+ mask = (dynamicMatrix['vehicle'] != '0') & (dynamicMatrix['vehicle'] != '-1')
+
+ # 鑾峰彇婊¤冻鏉′欢鐨� x 鍜� y 鍧愭爣
+ x_indices, y_indices = np.where(mask)
+
+ # 閬嶅巻婊¤冻鏉′欢鐨勫潗鏍�
+ for x, y in zip(x_indices, y_indices):
+ vehicle = dynamicMatrix[x][y]['vehicle']
+ includeList = getWaveScopeByCode_iterative(x, y)
+ for include in includeList:
+ originWave = waveMatrix[include['x']][include['y']]
+ waveMatrix[include['x']][include['y']] = mergeWave(originWave, vehicle)
+
+def main():
+ global radiusLen, codeMatrix, cdaMatrix, waveMatrix # 澹版槑涓哄叏灞�鍙橀噺
+
+ if len(sys.argv) != 6:
+ print("Usage: python script.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
+ sys.exit(1)
+
+ radiusLenStr = sys.argv[1]
+ radiusLen = float(radiusLenStr)
+
+ redisHost = sys.argv[2]
+ redisPwd = sys.argv[3]
+ redisPort = sys.argv[4]
+ redisIdx = sys.argv[5]
+
+ startTime = time.perf_counter()
+
+ # 鍒涘缓涓�涓繛鎺ユ睜
+ pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
+ r = redis.Redis(connection_pool=pool)
+
+ # 鑾峰彇骞跺姞杞� codeMatrix
+ codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
+ if codeMatrixStr is None:
+ print("Error: 'KV.AGV_MAP_ASTAR_CODE_FLAG.1' not found in Redis.")
+ sys.exit(1)
+ codeMatrix = np.array(json.loads(codeMatrixStr))
+
+ # 鑾峰彇骞跺姞杞� cdaMatrix
+ cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
+ if cdaMatrixStr is None:
+ print("Error: 'KV.AGV_MAP_ASTAR_CDA_FLAG.1' not found in Redis.")
+ sys.exit(1)
+ cdaMatrix = np.array(json.loads(cdaMatrixStr))
+
+ # 鑾峰彇骞跺姞杞� dynamicMatrix
+ dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
+ if dynamicMatrixStr is None:
+ print("Error: 'KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1' not found in Redis.")
+ sys.exit(1)
+ dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
+
+ # 鍒濆鍖� waveMatrix
+ waveMatrix = initWaveMatrix()
+
+ # 澶勭悊 dynamicMatrix
+ process_dynamic_matrix(dynamicMatrix, codeMatrix)
+
+ # 灏� numpy.ndarray 杞崲涓哄祵濂楀垪琛�
+ waveMatrixList = waveMatrix.tolist()
+ # 灏嗗祵濂楀垪琛ㄨ浆鎹负 JSON 瀛楃涓�
+ waveMatrixJsonStr = json.dumps(waveMatrixList)
+
+ # 灏嗙粨鏋滀繚瀛樺洖 Redis
+ r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)
+
+ end = time.perf_counter()
+ # 鎵撳嵃绋嬪簭杩愯鏃堕棿
+# print(f"绋嬪簭杩愯鏃堕棿涓�: {end - startTime} Seconds")
+ print("1")
+
+if __name__ == "__main__":
+ main()
\ No newline at end of file
--
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