From 62dbd7e739a4ee3ab954445352a93a29b2face8c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 16 十二月 2024 15:33:15 +0800
Subject: [PATCH] #
---
/dev/null | 160 ----------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 51 +++-
zy-acs-manager/src/main/resources/agv.py | 126 +++--------
zy-acs-manager/src/main/resources/agv2.py | 208 ++++++++++++++++++++
4 files changed, 283 insertions(+), 262 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index a293cf0..405b339 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
@@ -28,10 +28,9 @@
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.io.BufferedReader;
-import java.io.File;
-import java.io.IOException;
-import java.io.InputStreamReader;
+import java.io.*;
+import java.nio.file.Files;
+import java.nio.file.StandardCopyOption;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -106,19 +105,41 @@
long startTime = System.currentTimeMillis();
Resource resource = new ClassPathResource("agv.py");
- File file = resource.getFile();
- ProcessBuilder processBuilder = new ProcessBuilder(
- "python"
- , file.getAbsolutePath()
- , String.valueOf(avoidDistance)
- , redisProperties.getHost()
- , redisProperties.getPassword()
- , String.valueOf(redisProperties.getPort())
- , String.valueOf(redisProperties.getIndex())
- );
- processBuilder.redirectErrorStream(true);
+
+ File tempScript = null;
try {
+ InputStream is = resource.getInputStream();
+ tempScript = File.createTempFile("agv", ".py");
+ tempScript.deleteOnExit();
+
+ Files.copy(is, tempScript.toPath(), StandardCopyOption.REPLACE_EXISTING);
+ tempScript.setExecutable(true);
+
+ ProcessBuilder processBuilder = new ProcessBuilder(
+ "python" // 鎴栬�� "python3" 鍙栧喅浜庣郴缁熼厤缃�
+ , tempScript.getAbsolutePath()
+ , String.valueOf(avoidDistance)
+ , redisProperties.getHost()
+ , redisProperties.getPassword()
+ , String.valueOf(redisProperties.getPort())
+ , String.valueOf(redisProperties.getIndex())
+ );
+
+ processBuilder.redirectErrorStream(true);
+
+// File file = resource.getFile();
+// ProcessBuilder processBuilder = new ProcessBuilder(
+// "python"
+// , file.getAbsolutePath()
+// , String.valueOf(avoidDistance)
+// , redisProperties.getHost()
+// , redisProperties.getPassword()
+// , String.valueOf(redisProperties.getPort())
+// , String.valueOf(redisProperties.getIndex())
+// );
+// processBuilder.redirectErrorStream(true);
+
Process process = processBuilder.start();
BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index 2425f67..a366634 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -1,14 +1,13 @@
import ast
import sys
+
import numpy as np
import json
import time
import redis
radiusLen = None
-codeMatrix = None # 鍏ㄥ眬鍙橀噺
-cdaMatrix = None # 鍏ㄥ眬鍙橀噺
-waveMatrix = None # 鍏ㄥ眬鍙橀噺
+
# 灏嗗瓧绗︿覆杞崲涓烘诞鐐瑰瀷鏁扮粍
def convert_to_float_array(str_array):
@@ -59,7 +58,6 @@
return list(zip(indices[0], indices[1]))
def initWaveMatrix():
- global codeMatrix, waveMatrix # 澹版槑浣跨敤鍏ㄥ眬鍙橀噺
lev = 1
waveMatrix = np.empty_like(codeMatrix, dtype=object)
@@ -75,10 +73,7 @@
# 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()
+ set_data = set(ast.literal_eval(originWave))
# 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
@@ -95,7 +90,6 @@
# 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
def process_dynamic_matrix(dynamicMatrix, codeMatrix):
- global waveMatrix # 澹版槑浣跨敤鍏ㄥ眬鍙橀噺
# 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
dynamicMatrix = convert_to_structured_array(dynamicMatrix)
@@ -111,98 +105,56 @@
# 閬嶅巻婊¤冻鏉′欢鐨勫潗鏍�
for x, y in zip(x_indices, y_indices):
# print(code)
- vehicle = dynamicMatrix[x][y]['vehicle']
- includeList = getWaveScopeByCode(x, y)
+ data = dynamicMatrix[x][y]
+ vehicle = data['vehicle']
+ includeList = getWaveScopeByCode(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 # 澹版槑浣跨敤鍏ㄥ眬鍙橀噺
+radiusLenStr = sys.argv[1]
+radiusLen = float(radiusLenStr)
- if len(sys.argv) != 6:
- print("鐢ㄦ硶: python agv.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
- sys.exit(1)
+redisHost = sys.argv[2]
+redisPwd = sys.argv[3]
+redisPort = sys.argv[4]
+redisIdx = sys.argv[5]
- radiusLenStr = sys.argv[1]
- try:
- radiusLen = float(radiusLenStr)
- except ValueError:
- print("radiusLen 蹇呴』鏄竴涓诞鐐规暟")
- sys.exit(1)
+startTime = time.perf_counter()
- redisHost = sys.argv[2]
- redisPwd = sys.argv[3]
- redisPort = sys.argv[4]
- redisIdx = sys.argv[5]
+# 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)
- startTime = time.perf_counter()
+codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
+codeMatrix = np.array(json.loads(codeMatrixStr))
- # 鍒涘缓涓�涓繛鎺ユ睜
- try:
- pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
- r = redis.Redis(connection_pool=pool, decode_responses=True)
- except Exception as e:
- print(f"鏃犳硶杩炴帴鍒� Redis: {e}")
- sys.exit(1)
+cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
+cdaMatrix = np.array(json.loads(cdaMatrixStr))
- try:
- codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
- if codeMatrixStr is None:
- raise ValueError("Redis 涓湭鎵惧埌閿�: KV.AGV_MAP_ASTAR_CODE_FLAG.1")
- codeMatrix = np.array(json.loads(codeMatrixStr))
- except Exception as e:
- print(f"鑾峰彇 codeMatrix 澶辫触: {e}")
- sys.exit(1)
+dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
+dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
- try:
- cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
- if cdaMatrixStr is None:
- raise ValueError("Redis 涓湭鎵惧埌閿�: KV.AGV_MAP_ASTAR_CDA_FLAG.1")
- cdaMatrix = np.array(json.loads(cdaMatrixStr))
- except Exception as e:
- print(f"鑾峰彇 cdaMatrix 澶辫触: {e}")
- sys.exit(1)
+waveMatrix = initWaveMatrix()
- try:
- dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
- if dynamicMatrixStr is None:
- raise ValueError("Redis 涓湭鎵惧埌閿�: KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1")
- dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
- except Exception as e:
- print(f"鑾峰彇 dynamicMatrix 澶辫触: {e}")
- sys.exit(1)
+# # 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
+process_dynamic_matrix(dynamicMatrix, codeMatrix)
- # 鍒濆鍖� waveMatrix
- try:
- waveMatrix = initWaveMatrix()
- except Exception as e:
- print(f"鍒濆鍖� waveMatrix 澶辫触: {e}")
- sys.exit(1)
+# for x in range(dynamicMatrix.shape[0]):
+# for y in range(dynamicMatrix.shape[1]):
+# data = dynamicMatrix[x, y]
+# vehicle = data['vehicle']
+# if vehicle != '0' and vehicle != '-1':
+# getWaveScopeByCode(x, y)
- # 澶勭悊 dynamicMatrix
- try:
- process_dynamic_matrix(dynamicMatrix, codeMatrix)
- except Exception as e:
- print(f"澶勭悊 dynamicMatrix 澶辫触: {e}")
- sys.exit(1)
+# 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� 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)
+r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1",waveMatrixJsonStr)
- try:
- r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)
- except Exception as e:
- print(f"灏� waveMatrix 鍐欏叆 Redis 澶辫触: {e}")
- sys.exit(1)
+end = time.perf_counter()
+# print('绋嬪簭杩愯鏃堕棿涓�: %s Seconds' % (end - startTime))
+print("1")
- end = time.perf_counter()
- # print('绋嬪簭杩愯鏃堕棿涓�: %s Seconds' % (end - startTime))
- print("1")
- # 濡傛灉闇�瑕侊紝鍙互鎵撳嵃杩愯鏃堕棿
- # print(f"绋嬪簭杩愯鏃堕棿涓�: {end - startTime:.2f} 绉�")
-
-if __name__ == "__main__":
- main()
diff --git a/zy-acs-manager/src/main/resources/agv1.py b/zy-acs-manager/src/main/resources/agv1.py
deleted file mode 100644
index b58567c..0000000
--- a/zy-acs-manager/src/main/resources/agv1.py
+++ /dev/null
@@ -1,160 +0,0 @@
-import ast
-import sys
-
-import numpy as np
-import json
-import time
-import redis
-
-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(x, y):
- code = codeMatrix[x, y]
- includeList = []
- existNodes = set()
- spreadWaveNode({"x": x, "y": y}, {"x": x, "y": y}, existNodes, includeList)
- return includeList
-
-def spreadWaveNode(originNode, currNode, existNodes, includeList):
- x, y = currNode['x'], currNode['y']
- neighbors = [(x + 1, y), (x - 1, y), (x, y + 1), (x, y - 1)]
- for neighbor in neighbors:
- extendNeighborNodes(originNode, {"x": neighbor[0], "y": neighbor[1]}, existNodes, includeList)
-
-def extendNeighborNodes(originNode, nextNode, existNodes, includeList):
- x, y = nextNode['x'], nextNode['y']
- if (x < 0 or x >= codeMatrix.shape[0] or y < 0 or y >= codeMatrix.shape[1]):
- return
-
- if (x, y) in existNodes:
- return
-
- existNodes.add((x, y))
-
- nextNodeCodeData = codeMatrix[x, y]
-
- if nextNodeCodeData == 'NONE':
- spreadWaveNode(originNode, nextNode, existNodes, includeList)
- else:
- o1Cda = convert_to_float_array(cdaMatrix[originNode['x'], originNode['y']])
- o2Cda = convert_to_float_array(cdaMatrix[x, y])
-
- num1 = (o1Cda[0] - o2Cda[0]) ** 2
- num2 = (o1Cda[1] - o2Cda[1]) ** 2
- if num1 + num2 <= radiusLen ** 2:
- includeList.append({"x": int(x), "y": int(y), "code": str(codeMatrix[x, y])})
- spreadWaveNode(originNode, nextNode, existNodes, includeList)
-
-# 鎵惧埌鏌愪釜鍊煎搴旂殑 x, y 涓嬫爣
-def find_value_in_matrix(value):
- indices = np.where(codeMatrix == value)
- return list(zip(indices[0], indices[1]))
-
-def initWaveMatrix():
- lev = 1
- 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�
- set_data = set(ast.literal_eval(originWave))
- # 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')]
- # 灏嗗祵濂楃殑鍒楄〃杞崲涓虹粨鏋勫寲鏁扮粍
- structured_array = np.array([tuple(d.values()) for row in dynamicMatrix for d in row], 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):
- # 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):
- # print(code)
- data = dynamicMatrix[x][y]
- vehicle = data['vehicle']
- includeList = getWaveScopeByCode(x,y)
- for include in includeList:
- originWave = waveMatrix[include['x']][include['y']]
- waveMatrix[include['x']][include['y']] = mergeWave(originWave, vehicle)
-
-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()
-
-waveMatrix = initWaveMatrix()
-
-# 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)
-
-codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
-codeMatrix = np.array(json.loads(codeMatrixStr))
-
-cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
-cdaMatrix = np.array(json.loads(cdaMatrixStr))
-
-dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
-dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
-
-# # 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
-process_dynamic_matrix(dynamicMatrix, codeMatrix)
-
-# for x in range(dynamicMatrix.shape[0]):
-# for y in range(dynamicMatrix.shape[1]):
-# data = dynamicMatrix[x, y]
-# vehicle = data['vehicle']
-# if vehicle != '0' and vehicle != '-1':
-# getWaveScopeByCode(x, y)
-
-# 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)
-
-r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1",waveMatrixJsonStr)
-
-end = time.perf_counter()
-# print('绋嬪簭杩愯鏃堕棿涓�: %s Seconds' % (end - startTime))
-print("1")
-
diff --git a/zy-acs-manager/src/main/resources/agv2.py b/zy-acs-manager/src/main/resources/agv2.py
new file mode 100644
index 0000000..2425f67
--- /dev/null
+++ b/zy-acs-manager/src/main/resources/agv2.py
@@ -0,0 +1,208 @@
+import ast
+import sys
+import numpy as np
+import json
+import time
+import redis
+
+radiusLen = None
+codeMatrix = None # 鍏ㄥ眬鍙橀噺
+cdaMatrix = None # 鍏ㄥ眬鍙橀噺
+waveMatrix = None # 鍏ㄥ眬鍙橀噺
+
+# 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(x, y):
+ code = codeMatrix[x, y]
+ includeList = []
+ existNodes = set()
+ spreadWaveNode({"x": x, "y": y}, {"x": x, "y": y}, existNodes, includeList)
+ return includeList
+
+def spreadWaveNode(originNode, currNode, existNodes, includeList):
+ x, y = currNode['x'], currNode['y']
+ neighbors = [(x + 1, y), (x - 1, y), (x, y + 1), (x, y - 1)]
+ for neighbor in neighbors:
+ extendNeighborNodes(originNode, {"x": neighbor[0], "y": neighbor[1]}, existNodes, includeList)
+
+def extendNeighborNodes(originNode, nextNode, existNodes, includeList):
+ x, y = nextNode['x'], nextNode['y']
+ if (x < 0 or x >= codeMatrix.shape[0] or y < 0 or y >= codeMatrix.shape[1]):
+ return
+
+ if (x, y) in existNodes:
+ return
+
+ existNodes.add((x, y))
+
+ nextNodeCodeData = codeMatrix[x, y]
+
+ if nextNodeCodeData == 'NONE':
+ spreadWaveNode(originNode, nextNode, existNodes, includeList)
+ else:
+ o1Cda = convert_to_float_array(cdaMatrix[originNode['x'], originNode['y']])
+ o2Cda = convert_to_float_array(cdaMatrix[x, y])
+
+ num1 = (o1Cda[0] - o2Cda[0]) ** 2
+ num2 = (o1Cda[1] - o2Cda[1]) ** 2
+ if num1 + num2 <= radiusLen ** 2:
+ includeList.append({"x": int(x), "y": int(y), "code": str(codeMatrix[x, y])})
+ spreadWaveNode(originNode, nextNode, existNodes, includeList)
+
+# 鎵惧埌鏌愪釜鍊煎搴旂殑 x, y 涓嬫爣
+def find_value_in_matrix(value):
+ indices = np.where(codeMatrix == value)
+ return list(zip(indices[0], indices[1]))
+
+def initWaveMatrix():
+ global codeMatrix, waveMatrix # 澹版槑浣跨敤鍏ㄥ眬鍙橀噺
+ lev = 1
+ 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')]
+ # 灏嗗祵濂楃殑鍒楄〃杞崲涓虹粨鏋勫寲鏁扮粍
+ structured_array = np.array([tuple(d.values()) for row in dynamicMatrix for d in row], 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 # 澹版槑浣跨敤鍏ㄥ眬鍙橀噺
+ # 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):
+ # print(code)
+ vehicle = dynamicMatrix[x][y]['vehicle']
+ includeList = getWaveScopeByCode(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 # 澹版槑浣跨敤鍏ㄥ眬鍙橀噺
+
+ if len(sys.argv) != 6:
+ print("鐢ㄦ硶: python agv.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
+ sys.exit(1)
+
+ radiusLenStr = sys.argv[1]
+ try:
+ radiusLen = float(radiusLenStr)
+ except ValueError:
+ print("radiusLen 蹇呴』鏄竴涓诞鐐规暟")
+ sys.exit(1)
+
+ 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
+ try:
+ pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
+ r = redis.Redis(connection_pool=pool, decode_responses=True)
+ except Exception as e:
+ print(f"鏃犳硶杩炴帴鍒� Redis: {e}")
+ sys.exit(1)
+
+ try:
+ codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
+ if codeMatrixStr is None:
+ raise ValueError("Redis 涓湭鎵惧埌閿�: KV.AGV_MAP_ASTAR_CODE_FLAG.1")
+ codeMatrix = np.array(json.loads(codeMatrixStr))
+ except Exception as e:
+ print(f"鑾峰彇 codeMatrix 澶辫触: {e}")
+ sys.exit(1)
+
+ try:
+ cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
+ if cdaMatrixStr is None:
+ raise ValueError("Redis 涓湭鎵惧埌閿�: KV.AGV_MAP_ASTAR_CDA_FLAG.1")
+ cdaMatrix = np.array(json.loads(cdaMatrixStr))
+ except Exception as e:
+ print(f"鑾峰彇 cdaMatrix 澶辫触: {e}")
+ sys.exit(1)
+
+ try:
+ dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
+ if dynamicMatrixStr is None:
+ raise ValueError("Redis 涓湭鎵惧埌閿�: KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1")
+ dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
+ except Exception as e:
+ print(f"鑾峰彇 dynamicMatrix 澶辫触: {e}")
+ sys.exit(1)
+
+ # 鍒濆鍖� waveMatrix
+ try:
+ waveMatrix = initWaveMatrix()
+ except Exception as e:
+ print(f"鍒濆鍖� waveMatrix 澶辫触: {e}")
+ sys.exit(1)
+
+ # 澶勭悊 dynamicMatrix
+ try:
+ process_dynamic_matrix(dynamicMatrix, codeMatrix)
+ except Exception as e:
+ print(f"澶勭悊 dynamicMatrix 澶辫触: {e}")
+ sys.exit(1)
+
+ # 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)
+
+ try:
+ r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)
+ except Exception as e:
+ print(f"灏� waveMatrix 鍐欏叆 Redis 澶辫触: {e}")
+ sys.exit(1)
+
+ end = time.perf_counter()
+ # print('绋嬪簭杩愯鏃堕棿涓�: %s Seconds' % (end - startTime))
+ print("1")
+ # 濡傛灉闇�瑕侊紝鍙互鎵撳嵃杩愯鏃堕棿
+ # print(f"绋嬪簭杩愯鏃堕棿涓�: {end - startTime:.2f} 绉�")
+
+if __name__ == "__main__":
+ main()
--
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