From 93d8a38f9fd0746b9ce6ac7541bf2b8b48f7c63c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 18 十二月 2024 13:11:24 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/resources/agv.py | 181 ++++++++++++++++++++++-----------------------
1 files changed, 88 insertions(+), 93 deletions(-)
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index 2425f67..245bb6e 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -4,11 +4,9 @@
import json
import time
import redis
+from collections import deque
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):
@@ -16,51 +14,63 @@
return np.array(ast.literal_eval(str_array), dtype=float)
return str_array
-def getWaveScopeByCode(x, y):
- code = codeMatrix[x, y]
+def getWaveScopeByCode_iterative(x, y):
+ """
+ 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��
+ """
includeList = []
existNodes = set()
- spreadWaveNode({"x": x, "y": y}, {"x": x, "y": y}, existNodes, includeList)
- return includeList
+ queue = deque()
-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
-
+ originNode = {"x": x, "y": y}
+ currNode = {"x": x, "y": y}
+ queue.append(currNode)
existNodes.add((x, y))
- nextNodeCodeData = codeMatrix[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)
+ ]
- 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])
+ for neighbor in neighbors:
+ nx, ny = neighbor
+ # 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
+ if (nx, ny) in existNodes:
+ continue
- 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)
+ existNodes.add((nx, ny))
+ neighbor_code = codeMatrix[nx, ny]
-# 鎵惧埌鏌愪釜鍊煎搴旂殑 x, y 涓嬫爣
+ if neighbor_code == 'NONE':
+ queue.append({"x": nx, "y": ny})
+ else:
+ o1Cda = convert_to_float_array(cdaMatrix[x, y])
+ o2Cda = convert_to_float_array(cdaMatrix[nx, ny])
+
+ num1 = (o1Cda[0] - o2Cda[0]) ** 2
+ num2 = (o1Cda[1] - o2Cda[1]) ** 2
+ if num1 + num2 <= radiusLen ** 2:
+ includeList.append({
+ "x": int(nx),
+ "y": int(ny),
+ "code": str(codeMatrix[nx, ny])
+ })
+ queue.append({"x": nx, "y": ny})
+
+ return includeList
+
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]):
@@ -87,15 +97,27 @@
# 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')]
+ dtype = [('serial', int), ('vehicle', 'U2'), ('time', int)]
+
+ # 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))
+
# 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)
+ structured_array = np.array(structured_list, 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
+ global waveMatrix # 纭繚 waveMatrix 鏄叏灞�鍙橀噺
+
# 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
dynamicMatrix = convert_to_structured_array(dynamicMatrix)
@@ -110,26 +132,21 @@
# 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)
+ includeList = getWaveScopeByCode_iterative(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
+ global radiusLen, codeMatrix, cdaMatrix, waveMatrix # 澹版槑涓哄叏灞�鍙橀噺
if len(sys.argv) != 6:
- print("鐢ㄦ硶: python agv.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
+ print("Usage: python script.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)
+ radiusLen = float(radiusLenStr)
redisHost = sys.argv[2]
redisPwd = sys.argv[3]
@@ -139,70 +156,48 @@
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)
+ pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
+ r = redis.Redis(connection_pool=pool)
- 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}")
+ # 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))
- 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}")
+ # 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))
- 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}")
+ # 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
- try:
- waveMatrix = initWaveMatrix()
- except Exception as e:
- print(f"鍒濆鍖� waveMatrix 澶辫触: {e}")
- sys.exit(1)
+ waveMatrix = initWaveMatrix()
# 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)
+ 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)
- 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)
+ # 灏嗙粨鏋滀繚瀛樺洖 Redis
+ 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))
+ # 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")
- # 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()
+ main()
\ No newline at end of file
--
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