From d2aa9473613af8cd99c3a6dea0331765ecb830dc Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 17 十二月 2024 13:57:20 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/resources/agv.py | 174 ++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 103 insertions(+), 71 deletions(-)
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index a366634..2634411 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -1,13 +1,12 @@
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):
@@ -15,50 +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():
- lev = 1
waveMatrix = np.empty_like(codeMatrix, dtype=object)
for x in range(codeMatrix.shape[0]):
@@ -73,7 +85,10 @@
# 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))
+ 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
@@ -90,6 +105,8 @@
# 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
def process_dynamic_matrix(dynamicMatrix, codeMatrix):
+ 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)
@@ -104,57 +121,72 @@
# 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)
+ vehicle = dynamicMatrix[x][y]['vehicle']
+ includeList = getWaveScopeByCode_iterative(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)
+def main():
+ global radiusLen, codeMatrix, cdaMatrix, waveMatrix # 澹版槑涓哄叏灞�鍙橀噺
-redisHost = sys.argv[2]
-redisPwd = sys.argv[3]
-redisPort = sys.argv[4]
-redisIdx = sys.argv[5]
+ if len(sys.argv) != 6:
+ print("Usage: python script.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
+ sys.exit(1)
-startTime = time.perf_counter()
+ radiusLenStr = sys.argv[1]
+ radiusLen = float(radiusLenStr)
-# 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)
+ redisHost = sys.argv[2]
+ redisPwd = sys.argv[3]
+ redisPort = sys.argv[4]
+ redisIdx = sys.argv[5]
-codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
-codeMatrix = np.array(json.loads(codeMatrixStr))
+ startTime = time.perf_counter()
-cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
-cdaMatrix = np.array(json.loads(cdaMatrixStr))
+ # 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)
-dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
-dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
+ # 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))
-waveMatrix = initWaveMatrix()
+ # 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))
-# # 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
-process_dynamic_matrix(dynamicMatrix, codeMatrix)
+ # 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))
-# 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)
+ # 鍒濆鍖� waveMatrix
+ waveMatrix = initWaveMatrix()
-# 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)
+ # 澶勭悊 dynamicMatrix
+ process_dynamic_matrix(dynamicMatrix, codeMatrix)
-r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1",waveMatrixJsonStr)
+ # 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)
-end = time.perf_counter()
-# print('绋嬪簭杩愯鏃堕棿涓�: %s Seconds' % (end - startTime))
-print("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()
+ # 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")
+
+if __name__ == "__main__":
+ main()
\ No newline at end of file
--
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