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] #
---
zy-acs-manager/src/main/resources/agv.py | 126 +++++++++++++-----------------------------
1 files changed, 39 insertions(+), 87 deletions(-)
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()
--
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