From 019a83b893a4d6c6f939f7162b96b188470202bf Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 17 二月 2025 13:49:45 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/jxgtwcs' into jxgtwcs
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java | 127 +++++++++++++++++++++++++++++++-----------
1 files changed, 94 insertions(+), 33 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
index 679502b..0b3cf6a 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateSolution.java
@@ -1,13 +1,18 @@
package com.zy.asrs.wcs.core.utils;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.NavigateNode;
+import com.zy.asrs.wcs.core.model.PythonResult;
import com.zy.asrs.wcs.core.model.enums.MapNodeType;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
import java.util.ArrayList;
import java.util.List;
import java.util.PriorityQueue;
@@ -52,45 +57,101 @@
//Exist琛ㄧ敤鏉ュ瓨鏀惧凡缁忓嚭鐜拌繃鐨勭粨鐐广��
public ArrayList<NavigateNode> Exist = new ArrayList<NavigateNode>();
- public NavigateNode astarSearch(NavigateNode start, NavigateNode end) {
- //鎶婄涓�涓紑濮嬬殑缁撶偣鍔犲叆鍒癘pen琛ㄤ腑
- this.Open.add(start);
- //鎶婂嚭鐜拌繃鐨勭粨鐐瑰姞鍏ュ埌Exist琛ㄤ腑
- this.Exist.add(start);
- //涓诲惊鐜�
- while (Open.size() > 0) {
- //鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎
- NavigateNode current_node = Open.poll();
- //灏嗚繖涓粨鐐瑰姞鍏ュ埌Close琛ㄤ腑
- Close.add(current_node);
- //瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
- ArrayList<NavigateNode> neighbour_node = extend_current_node(current_node);
- //瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇
- for (NavigateNode node : neighbour_node) {
- // G + H + E (瀵瑰惎鍙戝嚱鏁板鍔犲幓鎷愮偣鏂规calcNodeExtraCost)
- int gCost = calcNodeCost(current_node, node) * calcNodeExtraCost(current_node, node, end);
- if (node.getX() == end.getX() && node.getY() == end.getY()) {//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
- //init_node鎿嶄綔鎶婅繖涓偦灞呯粨鐐圭殑鐖惰妭鐐硅缃负褰撳墠缁撶偣
- //骞朵笖璁＄畻鍑篏锛� F锛� H绛夊��
- node.setLastDistance(gCost);
- node.init_node(current_node, end);
- return node;
- }
+ public String astarSearch(NavigateNode start, NavigateNode end, String pythonScriptPath) {
+ String maps = JSON.toJSONString(map);
+ String startStr = start.getX() + "-" + start.getY();
+ String targetStr = end.getX() + "-" + end.getY();
- //杩涜璁＄畻瀵笹, F, H 绛夊��
- node.setLastDistance(gCost);
- node.init_node(current_node, end);
- node.setH(calcNodeCost(node, end));
- node.setF(node.getG() + node.getH());
-
- Open.add(node);
- Exist.add(node);
+ //榛樿鍦板浘姣嶈建鏂瑰悜x
+ String mapDirection = "x";
+ DictService dictService = SpringUtils.getBean(DictService.class);
+ if (dictService != null) {
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "direction_map")
+ .eq(Dict::getStatus, 1));
+ if (dict != null) {
+ mapDirection = dict.getValue();
}
}
- //濡傛灉閬嶅巻瀹屾墍鏈夊嚭鐜扮殑缁撶偣閮芥病鏈夋壘鍒版渶缁堢殑缁撶偣锛岃繑鍥瀗ull
+
+ ProcessBuilder processBuilder = new ProcessBuilder("python", pythonScriptPath, maps, startStr, targetStr, mapDirection);
+ 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 null;
+ }
+ reader.close();
+
+ if (builder.length() <= 0) {
+ return null;
+ }
+
+ PythonResult result = JSON.parseObject(builder.toString(), PythonResult.class);
+ if (result.getCalcResult() != 200) {
+ return null;
+ }
+
+ String path = result.getPath();
+ return path;
+ } catch (IOException | InterruptedException e) {
+ e.printStackTrace();
+ }
return null;
}
+// public NavigateNode astarSearch(NavigateNode start, NavigateNode end) {
+// //鎶婄涓�涓紑濮嬬殑缁撶偣鍔犲叆鍒癘pen琛ㄤ腑
+// this.Open.add(start);
+// //鎶婂嚭鐜拌繃鐨勭粨鐐瑰姞鍏ュ埌Exist琛ㄤ腑
+// this.Exist.add(start);
+// //涓诲惊鐜�
+// while (Open.size() > 0) {
+// //鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎
+// NavigateNode current_node = Open.poll();
+// //灏嗚繖涓粨鐐瑰姞鍏ュ埌Close琛ㄤ腑
+// Close.add(current_node);
+// //瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
+// ArrayList<NavigateNode> neighbour_node = extend_current_node(current_node);
+// //瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇
+// for (NavigateNode node : neighbour_node) {
+// // G + H + E (瀵瑰惎鍙戝嚱鏁板鍔犲幓鎷愮偣鏂规calcNodeExtraCost)
+// int gCost = calcNodeCost(current_node, node) * calcNodeExtraCost(current_node, node, end);
+// if (node.getX() == end.getX() && node.getY() == end.getY()) {//鎵惧埌鐩爣缁撶偣灏辫繑鍥�
+// //init_node鎿嶄綔鎶婅繖涓偦灞呯粨鐐圭殑鐖惰妭鐐硅缃负褰撳墠缁撶偣
+// //骞朵笖璁＄畻鍑篏锛� F锛� H绛夊��
+// node.setLastDistance(gCost);
+// node.init_node(current_node, end);
+// return node;
+// }
+//
+// //杩涜璁＄畻瀵笹, F, H 绛夊��
+// node.setLastDistance(gCost);
+// node.init_node(current_node, end);
+// node.setH(calcNodeCost(node, end));
+// node.setF(node.getG() + node.getH());
+//
+// Open.add(node);
+// Exist.add(node);
+// }
+// }
+// //濡傛灉閬嶅巻瀹屾墍鏈夊嚭鐜扮殑缁撶偣閮芥病鏈夋壘鍒版渶缁堢殑缁撶偣锛岃繑鍥瀗ull
+// return null;
+// }
+
public ArrayList<NavigateNode> extend_current_node(NavigateNode current_node) {
//榛樿鍦板浘姣嶈建鏂瑰悜x
--
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