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/agv1.py | 159 +++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 159 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..b7b8006
--- /dev/null
+++ b/zy-acs-manager/src/main/resources/agv1.py
@@ -0,0 +1,159 @@
+import ast
+import sys
+import numpy as np
+import json
+import time
+import redis
+from collections import deque
+
+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()
+
+# 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))
+
+waveMatrix = initWaveMatrix()
+
+# # 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")
+
--
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