From 418c07bf5bb7e27d124cac00cf867039fad9060e Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 21 十二月 2024 11:25:24 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/resources/agv.py | 174 +++++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 117 insertions(+), 57 deletions(-)
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index 245bb6e..23d4dd6 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -1,10 +1,11 @@
import ast
+import multiprocessing
import sys
import numpy as np
import json
import time
import redis
-from collections import deque
+from collections import deque, defaultdict
radiusLen = None
@@ -12,9 +13,11 @@
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
+ elif isinstance(str_array, list) or isinstance(str_array, np.ndarray):
+ return np.array(str_array, dtype=float)
+ return np.array([], dtype=float)
-def getWaveScopeByCode_iterative(x, y):
+def getWaveScopeByCode_iterative(x, y, codeMatrix, cdaMatrix, radiusLen):
"""
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��
"""
@@ -66,11 +69,11 @@
return includeList
-def find_value_in_matrix(value):
+def find_value_in_matrix(value, codeMatrix):
indices = np.where(codeMatrix == value)
return list(zip(indices[0], indices[1]))
-def initWaveMatrix():
+def initWaveMatrix(codeMatrix):
waveMatrix = np.empty_like(codeMatrix, dtype=object)
for x in range(codeMatrix.shape[0]):
@@ -102,12 +105,12 @@
# 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))
+ 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)
@@ -115,9 +118,7 @@
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
-
+def process_dynamic_matrix(dynamicMatrix, codeMatrix, cdaMatrix, radiusLen, waveMatrix):
# 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
dynamicMatrix = convert_to_structured_array(dynamicMatrix)
@@ -133,10 +134,54 @@
# 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)
+ includeList = getWaveScopeByCode_iterative(x, y, codeMatrix, cdaMatrix, radiusLen)
for include in includeList:
originWave = waveMatrix[include['x']][include['y']]
waveMatrix[include['x']][include['y']] = mergeWave(originWave, vehicle)
+
+ return waveMatrix
+
+def process_chunk(chunk, dynamicMatrix, codeMatrix, cdaMatrix, radiusLen):
+ """澶勭悊鏁版嵁鍧楃殑鍑芥暟锛岃繑鍥為渶瑕佸悎骞剁殑 (x, y, vehicle) 鍒楄〃"""
+ local_wave_updates = []
+ for data in chunk:
+ x, y = data # 鍋囪姣忎釜鏁版嵁椤瑰寘鍚玿鍜寉鍧愭爣
+ vehicle = dynamicMatrix[x][y]['vehicle']
+ includeList = getWaveScopeByCode_iterative(x, y, codeMatrix, cdaMatrix, radiusLen)
+ for include in includeList:
+ local_wave_updates.append((include['x'], include['y'], vehicle))
+ return local_wave_updates
+
+def process_dynamic_matrix_parallel(dynamicMatrix, codeMatrix, cdaMatrix, radiusLen):
+ # 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
+ dynamicMatrix = convert_to_structured_array(dynamicMatrix)
+
+ # 鍒涘缓甯冨皵鎺╃爜
+ mask = (dynamicMatrix['vehicle'] != '0') & (dynamicMatrix['vehicle'] != '-1')
+ x_indices, y_indices = np.where(mask)
+
+ # 灏嗘弧瓒虫潯浠剁殑鍧愭爣缁勫悎鎴愪换鍔★紝姣忎釜浠诲姟鍖呭惈涓�涓暟鎹潡
+ tasks = list(zip(x_indices, y_indices))
+# num_processes = multiprocessing.cpu_count()
+ num_processes = 5
+ chunk_size = max(1, len(tasks) // num_processes)
+ chunks = [tasks[i:i + chunk_size] for i in range(0, len(tasks), chunk_size)]
+
+ all_results = [] # 瀛樺偍鎵�鏈夎繘绋嬬殑缁撴灉
+
+ # 璁剧疆杩涚▼姹�
+ with multiprocessing.Pool(processes=num_processes) as pool:
+ # 浣跨敤map鏂规硶骞惰澶勭悊浠诲姟
+ results = pool.starmap(process_chunk, [(chunk, dynamicMatrix, codeMatrix, cdaMatrix, radiusLen) for chunk in chunks])
+ for result in results:
+ all_results.extend(result)
+
+ # 浣跨敤 defaultdict 鏉ユ敹闆嗘瘡涓� (x, y) 瀵瑰簲鐨勬墍鏈� vehicle
+ wave_updates = defaultdict(set)
+ for x, y, vehicle in all_results:
+ wave_updates[(x, y)].add(vehicle)
+
+ return wave_updates
def main():
global radiusLen, codeMatrix, cdaMatrix, waveMatrix # 澹版槑涓哄叏灞�鍙橀噺
@@ -146,7 +191,11 @@
sys.exit(1)
radiusLenStr = sys.argv[1]
- radiusLen = float(radiusLenStr)
+ try:
+ radiusLen = float(radiusLenStr)
+ except ValueError:
+ print("Error: radiusLen must be a float.")
+ sys.exit(1)
redisHost = sys.argv[2]
redisPwd = sys.argv[3]
@@ -155,49 +204,60 @@
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)
+ try:
+ # 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.")
+ # 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.decode('utf-8')), dtype=str)
+
+ # 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.decode('utf-8')), dtype=object)
+
+ # 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.decode('utf-8')), dtype=object)
+
+ # 鍒濆鍖� waveMatrix
+ waveMatrix = initWaveMatrix(codeMatrix)
+
+ # 璋冪敤骞惰澶勭悊鐨勫嚱鏁�
+ wave_updates = process_dynamic_matrix_parallel(dynamicMatrix, codeMatrix, cdaMatrix, radiusLen)
+
+ # 搴旂敤鎵�鏈夋洿鏂板埌 waveMatrix
+ for (x, y), vehicles in wave_updates.items():
+ originWave = waveMatrix[x][y]
+ for vehicle in vehicles:
+ originWave = mergeWave(originWave, vehicle)
+ waveMatrix[x][y] = originWave
+
+ # 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")
+ except Exception as e:
+ print(f"An error occurred: {e}")
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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