""" 环境配置模块 - 负责定义加载仓库环境配置 """ import json from enum import Enum, auto import numpy as np from typing import Dict, List, Tuple, Optional, Union class CellType(Enum): """单元格类型枚举""" EMPTY = auto() # 空单元格 STATION = auto() # 站点 PATH = auto() # 路径 STORAGE = auto() # 仓储区域 OBSTACLE = auto() # 障碍物 LOADING = auto() # 装载区 UNLOADING = auto() # 卸载区 class EnvironmentConfig: """环境配置类""" def __init__(self, width: int, height: int): """初始化环境配置""" self.width = width self.height = height # 初始化所有单元格为空 self.grid = np.full((height, width), CellType.EMPTY) # 站点位置及其配置 self.stations = {} # 格式: {(x, y): {"capacity": 4, "load_position": (x-1, y), "unload_position": (x+1, y)}} # 路径点位置 self.paths = set() # 格式: {(x1, y1), (x2, y2), ...} # 仓储区域位置 self.storage_areas = set() # 格式: {(x1, y1), (x2, y2), ...} # 装卸区位置 self.loading_areas = set() # 格式: {(x1, y1), (x2, y2), ...} self.unloading_areas = set() # 格式: {(x1, y1), (x2, y2), ...} # 障碍物位置 self.obstacles = set() # 格式: {(x1, y1), (x2, y2), ...} # 网格点邻接表（用于路径规划） self.adjacency_list = {} # 格式: {(x1, y1): {(x2, y2): distance, ...}, ...} def set_cell_type(self, x: int, y: int, cell_type: CellType) -> bool: """ 设置单元格类型 Args: x: x坐标 y: y坐标 cell_type: 单元格类型 Returns: bool: 设置是否成功 """ if 0 <= x < self.width and 0 <= y < self.height: self.grid[y, x] = cell_type # 根据单元格类型更新相应的集合 pos = (x, y) if cell_type == CellType.PATH: self.paths.add(pos) elif cell_type == CellType.STATION: if pos not in self.stations: self.stations[pos] = { "capacity": 4, # 默认容量 "load_position": (x-1, y), # 默认加载位置 "unload_position": (x+1, y) # 默认卸载位置 } elif cell_type == CellType.STORAGE: self.storage_areas.add(pos) elif cell_type == CellType.LOADING: self.loading_areas.add(pos) elif cell_type == CellType.UNLOADING: self.unloading_areas.add(pos) elif cell_type == CellType.OBSTACLE: self.obstacles.add(pos) return True return False def add_station(self, x: int, y: int, capacity: int = 4, load_position: Tuple[int, int] = None, unload_position: Tuple[int, int] = None) -> bool: """ 添加站点 Args: x: 站点x坐标 y: 站点y坐标 capacity: 站点容量 load_position: 加载位置 unload_position: 卸载位置 Returns: bool: 添加是否成功 """ if 0 <= x < self.width and 0 <= y < self.height: # 设置默认的装卸位置 if load_position is None: load_position = (x-1, y) # 左侧为卸料箱位置 if unload_position is None: unload_position = (x+1, y) # 右侧为取料箱位置 # 更新网格和站点信息 self.grid[y, x] = CellType.STATION self.stations[(x, y)] = { "capacity": capacity, "load_position": load_position, "unload_position": unload_position } # 确保装卸位置也被标记 self.set_cell_type(load_position[0], load_position[1], CellType.LOADING) self.set_cell_type(unload_position[0], unload_position[1], CellType.UNLOADING) return True return False def add_path(self, x: int, y: int) -> bool: """ 添加路径点 Args: x: x坐标 y: y坐标 Returns: bool: 添加是否成功 """ return self.set_cell_type(x, y, CellType.PATH) def add_storage_area(self, x: int, y: int) -> bool: """ 添加仓储区域 Args: x: x坐标 y: y坐标 Returns: bool: 添加是否成功 """ return self.set_cell_type(x, y, CellType.STORAGE) def add_obstacle(self, x: int, y: int) -> bool: """ 添加障碍物 Args: x: x坐标 y: y坐标 Returns: bool: 添加是否成功 """ return self.set_cell_type(x, y, CellType.OBSTACLE) def is_valid_position(self, x: int, y: int) -> bool: """ 检查位置是否合法（在网格内且非障碍物） Args: x: x坐标 y: y坐标 Returns: bool: 位置是否合法 """ return (0 <= x < self.width and 0 <= y < self.height and self.grid[y, x] != CellType.OBSTACLE) def build_adjacency_list(self): """构建网格点邻接表（用于路径规划）""" # 清空现有邻接表 self.adjacency_list = {} # AGV进行四方向移动 directions = [ (0, 1), # 上 (1, 0), # 右 (0, -1), # 下 (-1, 0) # 左 ] # 为每个路径点构建邻接表 for x, y in self.paths: if (x, y) not in self.adjacency_list: self.adjacency_list[(x, y)] = {} # 检查四个方向的邻居 for dx, dy in directions: nx, ny = x + dx, y + dy # 检查相邻点是否为有效路径点 if (nx, ny) in self.paths: # 移动距离统一为1.0 distance = 1.0 self.adjacency_list[(x, y)][(nx, ny)] = distance # 添加站点的装卸点到邻接表 for station_pos, station_info in self.stations.items(): load_pos = station_info["load_position"] unload_pos = station_info["unload_position"] # 确保装卸点已添加到邻接表 if load_pos not in self.adjacency_list: self.adjacency_list[load_pos] = {} if unload_pos not in self.adjacency_list: self.adjacency_list[unload_pos] = {} # 连接装卸点到最近的路径点 for pos in [load_pos, unload_pos]: # 找到最近的路径点并连接 min_dist = float('inf') nearest_path = None for path_pos in self.paths: dist = ((pos[0] - path_pos[0]) ** 2 + (pos[1] - path_pos[1]) ** 2) ** 0.5 if dist < min_dist: min_dist = dist nearest_path = path_pos if nearest_path: self.adjacency_list[pos][nearest_path] = min_dist self.adjacency_list[nearest_path][pos] = min_dist def save_to_file(self, filepath: str): """ 将环境配置保存到文件 Args: filepath: 文件路径 """ config_data = { "width": self.width, "height": self.height, "stations": {f"{x},{y}": info for (x, y), info in self.stations.items()}, "paths": [{"x": x, "y": y} for x, y in self.paths], "storage_areas": [{"x": x, "y": y} for x, y in self.storage_areas], "loading_areas": [{"x": x, "y": y} for x, y in self.loading_areas], "unloading_areas": [{"x": x, "y": y} for x, y in self.unloading_areas], "obstacles": [{"x": x, "y": y} for x, y in self.obstacles] } with open(filepath, 'w') as f: json.dump(config_data, f, indent=2) @classmethod def load_from_file(cls, filepath: str) -> 'EnvironmentConfig': """ 从文件加载环境配置 Args: filepath: 文件路径 Returns: EnvironmentConfig: 环境配置对象 """ with open(filepath, 'r') as f: config_data = json.load(f) env_config = cls(config_data["width"], config_data["height"]) # 加载站点 for pos_str, info in config_data["stations"].items(): x, y = map(int, pos_str.split(',')) load_x, load_y = info["load_position"] unload_x, unload_y = info["unload_position"] env_config.add_station(x, y, info["capacity"], (load_x, load_y), (unload_x, unload_y)) # 加载路径 for path in config_data["paths"]: env_config.add_path(path["x"], path["y"]) # 加载仓储区域 for area in config_data["storage_areas"]: env_config.add_storage_area(area["x"], area["y"]) # 加载障碍物 for obstacle in config_data["obstacles"]: env_config.add_obstacle(obstacle["x"], obstacle["y"]) # 构建邻接表 env_config.build_adjacency_list() return env_config def create_default_environment(self) -> 'EnvironmentConfig': """ 创建默认环境配置（按照需求描述配置站点和路径） Returns: EnvironmentConfig: 环境配置对象 """ # 清空当前配置 self.grid = np.full((self.height, self.width), CellType.EMPTY) self.stations = {} self.paths = set() self.storage_areas = set() self.loading_areas = set() self.unloading_areas = set() self.obstacles = set() # 配置20个站点 station_y = self.height - 5 station_spacing = self.width // 25 # 站点间距 for i in range(20): station_x = (i + 1) * station_spacing self.add_station(station_x, station_y) # 仓储区域 storage_start_y = 5 storage_end_y = station_y - 10 for col in range(5): col_x = (col + 1) * (self.width // 6) for row_y in range(storage_start_y, storage_end_y, 5): for dx in range(-1, 2): for dy in range(-1, 2): self.add_storage_area(col_x + dx, row_y + dy) # 配置路径 # 水平主路径 for x in range(5, self.width - 5): # 站点前水平路径 self.add_path(x, station_y - 5) # 货架区域水平路径 for path_y in range(10, storage_end_y, 10): self.add_path(x, path_y) # 垂直连接路径 for col in range(7): path_x = col * (self.width // 7) for y in range(5, station_y): self.add_path(path_x, y) # 构建邻接表 self.build_adjacency_list() return self # 创建和初始化默认环境的辅助函数 def create_default_environment(width=100, height=100) -> EnvironmentConfig: """ 创建默认环境配置 Args: width: 环境宽度 height: 环境高度 Returns: EnvironmentConfig: 默认环境配置 """ env_config = EnvironmentConfig(width, height) return env_config.create_default_environment()