From edd8ab14f72df3404b3a523e788eff2836238f3b Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 16 十二月 2024 14:08:17 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/resources/cdaMatrix.txt | 639 ++++++++++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/common/config/RedisProperties.java | 96 +++
zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java | 3
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 157 +++--
zy-acs-manager/src/main/resources/agv.py | 169 +++++
zy-acs-manager/src/main/resources/codeMatrix.txt | 639 ++++++++++++++++++++++
6 files changed, 1,637 insertions(+), 66 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/config/RedisProperties.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/config/RedisProperties.java
new file mode 100644
index 0000000..7ec860d
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/config/RedisProperties.java
@@ -0,0 +1,96 @@
+package com.zy.acs.manager.common.config;
+
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Configuration;
+
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+
+/**
+ * redis绯荤粺閰嶇疆
+ * Created by vincent on 2018/10/15
+ */
+@Configuration
+@ConfigurationProperties(prefix = "redis")
+public class RedisProperties {
+
+ public static String HOST_NAME;
+
+ static {
+ try {
+ HOST_NAME = InetAddress.getLocalHost().getHostName();
+ } catch (UnknownHostException e) {
+ System.err.println("find hostname err");
+ }
+ }
+
+ private String host;
+
+ private String password;
+
+ private int port;
+
+ private int min;
+
+ private int max;
+
+ private int timeout;
+
+ private int index;
+
+ public String getHost() {
+ return host;
+ }
+
+ public void setHost(String host) {
+ this.host = host;
+ }
+
+ public String getPassword() {
+ return password;
+ }
+
+ public void setPassword(String password) {
+ this.password = password;
+ }
+
+ public int getPort() {
+ return port;
+ }
+
+ public void setPort(int port) {
+ this.port = port;
+ }
+
+ public int getMin() {
+ return min;
+ }
+
+ public void setMin(int min) {
+ this.min = min;
+ }
+
+ public int getMax() {
+ return max;
+ }
+
+ public void setMax(int max) {
+ this.max = max;
+ }
+
+ public int getTimeout() {
+ return timeout;
+ }
+
+ public void setTimeout(int timeout) {
+ this.timeout = timeout;
+ }
+
+ public int getIndex() {
+ return index;
+ }
+
+ public void setIndex(int index) {
+ this.index = index;
+ }
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index ca758b1..243f30f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.common.config.RedisProperties;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
@@ -13,6 +14,7 @@
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
+import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
@@ -20,10 +22,16 @@
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.core.io.ClassPathResource;
+import org.springframework.core.io.Resource;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.IOException;
+import java.io.InputStreamReader;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -55,6 +63,8 @@
private CodeService codeService;
@Autowired
private MapService mapService;
+ @Autowired
+ private RedisProperties redisProperties;
@PostConstruct
@SuppressWarnings("all")
@@ -89,78 +99,95 @@
return;
}
-// AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
-//
-// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-//
-// long startTime = System.currentTimeMillis();
-//
-// ProcessBuilder processBuilder = new ProcessBuilder("python"
-// , "D:\\tmp\\pyagv\\agv4.py"
-// , String.valueOf(avoidDistance)
-// );
-// processBuilder.redirectErrorStream(true);
-//
-// try {
-// Process process = processBuilder.start();
-//
-// // 璇诲彇Python鑴氭湰鐨勮緭鍑�
-// BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
-// String line;
-// StringBuilder builder = new StringBuilder();
-// while ((line = reader.readLine()) != null) {
-// builder.append(line);
-// }
-//
-// // 绛夊緟Python鑴氭湰鎵ц瀹屾垚
-// int exitCode = process.waitFor();
-// if (exitCode != 0) {
-// System.out.println("Python script exited with error code: " + exitCode);
-// return;
-// }
-// reader.close();
-//
-// if (builder.length() <= 0) {
-// return;
-// }
-//
-// String result = builder.toString();
-//
-// if (!Cools.isEmpty(result)) {
-// if (!"1".equals(result)) {
-// log.error("Fail python");
-// }
-// }
-// } catch (IOException | InterruptedException e) {
-// e.printStackTrace();
-// }
-// log.error("python finish {}", System.currentTimeMillis() - startTime);
+ // python
+ AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
- String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
-//
-// // lock path
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
- for (int i = 0; i < dynamicMatrix.length; i++) {
- for (int j = 0; j < dynamicMatrix[i].length; j++) {
- DynamicNode dynamicNode = dynamicMatrix[i][j];
- String vehicle = dynamicNode.getVehicle();
- if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
- AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
+ long startTime = System.currentTimeMillis();
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+ Resource codeMatrixResource = new ClassPathResource("codeMatrix.txt");
+ Resource cdaMatrixResource = new ClassPathResource("cdaMatrix.txt");
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
- }
+ File codeMatrixFile = codeMatrixResource.getFile();
+ File cdaMatrixFile = cdaMatrixResource.getFile();
+
+ String codeMatrixPath = codeMatrixFile.getAbsolutePath();
+ String cdaMatrixPath = cdaMatrixFile.getAbsolutePath();
+
+ Resource resource = new ClassPathResource("agv.py");
+ File file = resource.getFile();
+ ProcessBuilder processBuilder = new ProcessBuilder(
+ "python"
+ , file.getAbsolutePath()
+ , String.valueOf(avoidDistance)
+ , codeMatrixPath
+ , cdaMatrixPath
+ , redisProperties.getHost()
+ , redisProperties.getPassword()
+ , String.valueOf(redisProperties.getPort())
+ , String.valueOf(redisProperties.getIndex())
+ );
+ processBuilder.redirectErrorStream(true);
+
+ try {
+ Process process = processBuilder.start();
+
+ BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
+ String line;
+ StringBuilder builder = new StringBuilder();
+ while ((line = reader.readLine()) != null) {
+ builder.append(line);
+ }
+
+ int exitCode = process.waitFor();
+ if (exitCode != 0) {
+ System.out.println("Python script exited with error code: " + exitCode);
+ return;
+ }
+ reader.close();
+
+ if (builder.length() <= 0) {
+ return;
+ }
+
+ String result = builder.toString();
+
+ if (!Cools.isEmpty(result)) {
+ if (!"1".equals(result)) {
+ log.error("Fail python");
}
}
+ } catch (IOException | InterruptedException e) {
+ e.printStackTrace();
}
+ log.error("python finish {}", System.currentTimeMillis() - startTime);
-// mapDataDispatcher.printMatrix(waveMatrix);
- mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
+ // java
+// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+// String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
+//
+// // lock path
+// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+// for (int i = 0; i < dynamicMatrix.length; i++) {
+// for (int j = 0; j < dynamicMatrix[i].length; j++) {
+// DynamicNode dynamicNode = dynamicMatrix[i][j];
+// String vehicle = dynamicNode.getVehicle();
+// if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
+// AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
+//
+// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+// List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+//
+// for (NavigateNode navigateNode : includeList) {
+// String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
+// waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
+// }
+// }
+// }
+// }
+//
+//// mapDataDispatcher.printMatrix(waveMatrix);
+// mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
} catch (Exception e) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
index 7b3937e..5eeab25 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/fake/FakeProcessor.java
@@ -16,6 +16,7 @@
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import java.util.List;
@@ -59,7 +60,7 @@
* 4.AgvServiceImpl.judgeOnline
* 5.
*/
-// @Scheduled(cron = "0/1 * * * * ? ")
+ @Scheduled(cron = "0/1 * * * * ? ")
public void process() {
Boolean fakeSign = configService.getVal("fakeSign", Boolean.class);
if (null == fakeSign || !fakeSign) {
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
new file mode 100644
index 0000000..1b2669a
--- /dev/null
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -0,0 +1,169 @@
+import ast
+import sys
+
+import numpy as np
+import json
+import time
+import redis
+
+radiusLen = None
+
+#with open("./codeMatrix.txt", "r") as file:
+# codeMatrix = np.array(json.loads(file.read()))
+
+#with open("./cdaMatrix.txt", "r") as file:
+# data = json.loads(file.read())
+# cdaMatrix = np.array(data)
+
+# 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)
+
+codeMatrixPath = sys.argv[2]
+cdaMatrixPath = sys.argv[3]
+
+redisHost = sys.argv[4]
+redisPwd = sys.argv[5]
+redisPort = sys.argv[6]
+redisIdx = sys.argv[7]
+
+with open(codeMatrixPath, "r") as file:
+ codeMatrix = np.array(json.loads(file.read()))
+
+with open(cdaMatrixPath, "r") as file:
+ data = json.loads(file.read())
+ cdaMatrix = np.array(data)
+
+startTime = time.perf_counter()
+
+waveMatrix = initWaveMatrix()
+
+# 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))
+# # 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")
+
diff --git a/zy-acs-manager/src/main/resources/cdaMatrix.txt b/zy-acs-manager/src/main/resources/cdaMatrix.txt
new file mode 100644
index 0000000..6aafc6e
--- /dev/null
+++ b/zy-acs-manager/src/main/resources/cdaMatrix.txt
@@ -0,0 +1,639 @@
+[
+ [
+ "-",
+ "-",
+ "[0.0,0.0]",
+ "[1235.0,0.0]",
+ "[2470.0,0.0]",
+ "[3705.0,0.0]",
+ "[4940.0,0.0]",
+ "[6175.0,0.0]",
+ "[7183.0,0.0]",
+ "[8191.0,0.0]",
+ "[9199.0,0.0]"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,918.0]",
+ "-",
+ "[2470.0,918.0]",
+ "-",
+ "[4940.0,918.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "[7183.0,1008.0]",
+ "-",
+ "[9199.0,1008.0]"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,1423.0]",
+ "-",
+ "[2470.0,1423.0]",
+ "-",
+ "[4940.0,1423.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,1928.0]",
+ "-",
+ "[2470.0,1928.0]",
+ "-",
+ "[4940.0,1928.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "-",
+ "[7183.0,2016.0]",
+ "[8191.0,2016.0]",
+ "[9199.0,2016.0]"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,2433.0]",
+ "-",
+ "[2470.0,2433.0]",
+ "-",
+ "[4940.0,2433.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,3098.0]",
+ "-",
+ "[2470.0,3098.0]",
+ "-",
+ "[4940.0,3098.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,3603.0]",
+ "-",
+ "[2470.0,3603.0]",
+ "-",
+ "[4940.0,3603.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,4108.0]",
+ "-",
+ "[2470.0,4108.0]",
+ "-",
+ "[4940.0,4108.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
+ "[0.0,4613.0]",
+ "-",
+ "[2470.0,4613.0]",
+ "-",
+ "[4940.0,4613.0]",
+ "-",
+ "-",
+ "-",
+ "-"
+ ],
+ [
+ "-",
+ "-",
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