From 6542142bebf5246e9097fafc75e69227e9fdadbf Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 24 十二月 2024 15:44:22 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/resources/agv1.py |  242 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 files changed, 242 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..47af53d
--- /dev/null
+++ b/zy-acs-manager/src/main/resources/agv1.py
@@ -0,0 +1,242 @@
+import ast
+import sys
+import numpy as np
+import json
+import time
+import redis
+from collections import deque, defaultdict
+
+##########################
+# 宸ュ叿鍑芥暟
+##########################
+def convert_to_float_array(str_array):
+    """
+    灏嗗瓧绗︿覆鎴栧彲杩唬瀵硅薄杞崲涓烘诞鐐瑰瀷鏁扮粍銆�
+    """
+    if str_array == "-":
+        return np.array([], dtype=float)
+    if isinstance(str_array, str):
+        return np.array(ast.literal_eval(str_array), dtype=float)
+    elif isinstance(str_array, list) or isinstance(str_array, np.ndarray):
+        return np.array(str_array, dtype=float)
+    return np.array([], dtype=float)
+
+def initWaveMatrix(codeMatrix):
+    """
+    鏍规嵁 codeMatrix 鍒濆鍖� waveMatrix銆�
+    鑻ユ牸瀛愪负 'NONE'锛屽垯 waveMatrix[x][y] = "-"
+    鍚﹀垯涓� "[]"
+    """
+    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
+
+def mergeWave(originWave, vehicle):
+    """
+    originWave 鏄� waveMatrix[x][y] 涓瓨鍌ㄧ殑瀛楃涓诧紙鍐呴儴鏄竴涓� JSON 鏁扮粍锛夛紝
+    灏嗘柊杞﹁締 vehicle 鍚堝苟杩涘幓锛堢敤 set 鍘婚噸锛夛紝
+    骞惰繑鍥炴洿鏂板悗鐨� JSON 瀛楃涓层��
+    """
+    try:
+        set_data = set(ast.literal_eval(originWave))
+    except (ValueError, SyntaxError):
+        set_data = set()
+    set_data.add(vehicle)
+    return json.dumps(list(set_data))
+
+def convert_to_structured_array(dynamicMatrix):
+    """
+    灏� dynamicMatrix锛堝祵濂楀垪琛紝閲岃竟鏄� dict锛夎浆鎹负 numpy 缁撴瀯鍖栨暟缁勶紝鏂逛究涔嬪悗杩涜鎺╃爜绛涢�夈��
+    """
+    # 瀹氫箟缁撴瀯鍖栨暟缁勭殑 dtype
+    dtype = [('serial', int), ('vehicle', 'U2'), ('time', int)]
+    structured_list = []
+    for row in dynamicMatrix:
+        for d in row:
+            serial = d.get('serial', 0)
+            vehicle = d.get('vehicle', '0')
+            time_val = d.get('time', 0)
+            structured_list.append((serial, vehicle, time_val))
+    # 杞崲涓虹粨鏋勫寲鏁扮粍锛屽苟閲嶅涓哄師濮嬩簩缁村舰鐘�
+    structured_array = np.array(structured_list, dtype=dtype)
+    return structured_array.reshape(len(dynamicMatrix), -1)
+
+
+##########################
+# 澶氭簮 BFS 鏍稿績鍑芥暟
+##########################
+def process_dynamic_matrix_multi_source_bfs(dynamicMatrix, codeMatrix, cdaMatrix, radiusLen):
+    """
+    浣跨敤澶氭簮 BFS锛屼竴娆℃�у皢鎵�鏈夊惈鏈夎溅杈嗙殑鏍煎瓙浣滀负璧风偣鍚屾椂杩涘叆闃熷垪銆�
+    - 濡傛灉鏍煎瓙涓� 'NONE'锛屽垯娌垮悓涓�鏂瑰悜缁х画鐩寸嚎鎵╂暎锛�
+    - 鑻ラ亣鍒伴潪 'NONE' 鐨勬牸瀛愶紝鍒欒繘琛屾鍑犻噷寰楄窛绂诲垽瀹� <= radiusLen 鏃跺彲鍒拌揪锛屽苟涓斾粠姝ゅ鍐嶆鏈濆洓鏂瑰悜鎵╂暎锛堟柟鍚戦噸缃负 None锛夈��
+    """
+    # 1. 杞崲 dynamicMatrix 涓虹粨鏋勫寲鏁扮粍
+    dynamicMatrix = convert_to_structured_array(dynamicMatrix)
+    rows, cols = dynamicMatrix.shape
+
+    # 2. 鍒濆鍖� waveMatrix锛堟渶缁堣瀛樺偍鍥� Redis 鐨勭煩闃碉級
+    waveMatrix = initWaveMatrix(codeMatrix)
+
+    # 3. 寤虹珛涓�涓笌 waveMatrix 绛夊ぇ灏忕殑 2D 鏁扮粍 waveSets锛岀敤浜庝繚瀛樿溅杈嗛泦鍚堬紙鐢� set 瀛樺偍锛�
+    waveSets = np.empty((rows, cols), dtype=object)
+    for i in range(rows):
+        for j in range(cols):
+            waveSets[i, j] = set()
+
+    # 4. 鍑嗗 BFS 闃熷垪锛岄槦鍒楀厓绱犳牸寮�: (x, y, direction, vehicle)
+    queue = deque()
+
+    # 5. 鎵惧埌鎵�鏈夋湁杞﹁締鐨勬牸瀛愶紝缁熶竴鍏ラ槦鍒�
+    mask = (dynamicMatrix['vehicle'] != '0') & (dynamicMatrix['vehicle'] != '-1')
+    x_indices, y_indices = np.where(mask)
+    for x, y in zip(x_indices, y_indices):
+        v = dynamicMatrix[x][y]['vehicle']
+        waveSets[x, y].add(v)
+        queue.append((x, y, None, v))  # 璧峰鏃� direction=None
+
+    # 6. 寤虹珛 visited 鏉ラ伩鍏嶉噸澶嶈闂�
+    #    鍥犱负涓�涓綅缃� (x, y) 鍙兘琚涓溅杈嗙敤澶氱鏂瑰悜璁块棶锛岄渶瑕佽褰� (x, y, direction, vehicle)
+    visited = set()
+
+    # 7. BFS 涓诲惊鐜�
+    while queue:
+        x, y, direction, vehicle = queue.popleft()
+
+        if (x, y, direction, vehicle) in visited:
+            continue
+        visited.add((x, y, direction, vehicle))
+
+        # 鍒ゆ柇涓嬩竴涓鎵╁睍鐨勬柟鍚�
+        if direction is None:
+            # 鏃犳柟鍚戞椂锛屽洓涓柟鍚戝悓鏃舵墿鏁�
+            neighbors_info = [
+                (x + 1, y, 'right'),
+                (x - 1, y, 'left'),
+                (x, y + 1, 'down'),
+                (x, y - 1, 'up')
+            ]
+        else:
+            # 鏈夋柟鍚戞椂锛屽彧寰�鍚屼竴涓柟鍚戞墿灞�
+            if direction == 'right':
+                neighbors_info = [(x + 1, y, 'right')]
+            elif direction == 'left':
+                neighbors_info = [(x - 1, y, 'left')]
+            elif direction == 'down':
+                neighbors_info = [(x, y + 1, 'down')]
+            elif direction == 'up':
+                neighbors_info = [(x, y - 1, 'up')]
+            else:
+                neighbors_info = []
+
+        # 閬嶅巻閭诲眳
+        for nx, ny, ndir in neighbors_info:
+            # 杈圭晫妫�鏌�
+            if nx < 0 or nx >= rows or ny < 0 or ny >= cols:
+                continue
+            
+            neighbor_code = codeMatrix[nx, ny]
+
+            if neighbor_code == 'NONE':
+                # 濡傛灉鏄� 'NONE'锛屽垯娌垮綋鍓嶆柟鍚戠户缁墿鏁�
+                if vehicle not in waveSets[nx, ny]:
+                    waveSets[nx, ny].add(vehicle)
+                    queue.append((nx, ny, ndir, vehicle))
+            else:
+                # 闈� 'NONE'锛岄渶瑕佺敤娆у嚑閲屽緱璺濈鍒ゅ畾
+                c1 = convert_to_float_array(cdaMatrix[x, y])   # 褰撳墠鍧愭爣
+                c2 = convert_to_float_array(cdaMatrix[nx, ny]) # 閭诲眳鍧愭爣
+                if c1.size < 2 or c2.size < 2:
+                    continue
+                dist_sqr = (c1[0] - c2[0])**2 + (c1[1] - c2[1])**2
+                if dist_sqr <= radiusLen**2:
+                    # 鍙互鍒拌揪锛屽垯鎶婅溅杈嗗姞鍏� waveSets
+                    if vehicle not in waveSets[nx, ny]:
+                        waveSets[nx, ny].add(vehicle)
+                        # 鏂瑰悜閲嶇疆涓� None锛岃〃绀哄洓鍚戞墿鏁�
+                        queue.append((nx, ny, None, vehicle))
+
+    # 8. BFS 瀹屾垚鍚庯紝灏� waveSets 鐨勪俊鎭啓鍏� waveMatrix锛堝瓧绗︿覆褰㈠紡锛�
+    for i in range(rows):
+        for j in range(cols):
+            if waveSets[i, j]:
+                origin_str = waveMatrix[i][j]
+                for v in waveSets[i, j]:
+                    origin_str = mergeWave(origin_str, v)
+                waveMatrix[i][j] = origin_str
+
+    return waveMatrix
+
+
+##########################
+# 涓诲嚱鏁板叆鍙�
+##########################
+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]
+    try:
+        radiusLen = float(radiusLenStr)
+    except ValueError:
+        print("Error: radiusLen must be a float.")
+        sys.exit(1)
+
+    redisHost = sys.argv[2]
+    redisPwd = sys.argv[3]
+    redisPort = sys.argv[4]
+    redisIdx = sys.argv[5]
+
+    startTime = time.perf_counter()
+
+    try:
+        # 1) 杩炴帴 Redis
+        pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
+        r = redis.Redis(connection_pool=pool)
+
+        # 2) 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)
+
+        # 3) 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)
+
+        # 4) 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)
+
+        # 5) 浣跨敤澶氭簮 BFS 璁$畻 waveMatrix
+        waveMatrix = process_dynamic_matrix_multi_source_bfs(dynamicMatrix, codeMatrix, cdaMatrix, radiusLen)
+
+        # 6) 灏� waveMatrix 杞负 JSON 骞跺啓鍥� Redis
+        waveMatrixList = waveMatrix.tolist()
+        waveMatrixJsonStr = json.dumps(waveMatrixList)
+        r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)
+
+        end = time.perf_counter()
+        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)
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file

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