From 4c9169967a879b54c04b0754ab9830a5a6baa708 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 18 三月 2025 14:30:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/resources/agv.py | 51 ++++++++++++++++++++++++++++++++++++---------------
1 files changed, 36 insertions(+), 15 deletions(-)
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index 23d4dd6..ad188ed 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -1,3 +1,5 @@
+# -*- coding: utf-8 -*-
+
import ast
import multiprocessing
import sys
@@ -19,29 +21,45 @@
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��
+ 浣跨敤骞垮害浼樺厛鎼滅储锛圔FS锛夊苟璺熻釜鎵╁睍鏂瑰悜锛屼互閬垮厤閫掑綊娣卞害杩囧ぇ鍜屼笉蹇呰鐨勮祫婧愭氮璐广��
+ 褰撻亣鍒� 'NONE' 鑺傜偣鏃讹紝浠呭湪褰撳墠鏂瑰悜涓婄户缁墿灞曘��
"""
includeList = []
existNodes = set()
queue = deque()
- originNode = {"x": x, "y": y}
- currNode = {"x": x, "y": y}
- queue.append(currNode)
+ # 鍒濆鑺傜偣锛屾病鏈夋柟鍚�
+ originNode = {"x": x, "y": y, "dir": None}
+ queue.append(originNode)
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)
- ]
+ node_x, node_y, current_dir = node['x'], node['y'], node['dir']
- for neighbor in neighbors:
- nx, ny = neighbor
+ # 鏍规嵁褰撳墠鏂瑰悜鍐冲畾鎵╁睍鐨勬柟鍚�
+ if current_dir is None:
+ # 濡傛灉娌℃湁鏂瑰悜锛屽悜鍥涗釜鏂瑰悜鎵╁睍
+ neighbors = [
+ (node_x + 1, node_y, 'right'),
+ (node_x - 1, node_y, 'left'),
+ (node_x, node_y + 1, 'down'),
+ (node_x, node_y - 1, 'up')
+ ]
+ else:
+ # 濡傛灉鏈夋柟鍚戯紝浠呭湪璇ユ柟鍚戜笂鎵╁睍
+ if current_dir == 'right':
+ neighbors = [(node_x + 1, node_y, 'right')]
+ elif current_dir == 'left':
+ neighbors = [(node_x - 1, node_y, 'left')]
+ elif current_dir == 'down':
+ neighbors = [(node_x, node_y + 1, 'down')]
+ elif current_dir == 'up':
+ neighbors = [(node_x, node_y - 1, 'up')]
+ else:
+ neighbors = []
+
+ for nx, ny, direction in neighbors:
# 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
@@ -52,8 +70,10 @@
neighbor_code = codeMatrix[nx, ny]
if neighbor_code == 'NONE':
- queue.append({"x": nx, "y": ny})
+ # 閬囧埌 'NONE' 鑺傜偣锛岀户缁湪褰撳墠鏂瑰悜涓婃墿灞�
+ queue.append({"x": nx, "y": ny, "dir": direction})
else:
+ # 妫�鏌ヨ窛绂绘潯浠�
o1Cda = convert_to_float_array(cdaMatrix[x, y])
o2Cda = convert_to_float_array(cdaMatrix[nx, ny])
@@ -65,7 +85,8 @@
"y": int(ny),
"code": str(codeMatrix[nx, ny])
})
- queue.append({"x": nx, "y": ny})
+ # 闈� 'NONE' 鑺傜偣锛岄噸缃柟鍚�
+ queue.append({"x": nx, "y": ny, "dir": None})
return includeList
--
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