PathAStar.cs
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using OfficeOpenXml.Drawing.Chart;
using RCS.Model.Comm;
using RCS.Model.Entity;
using RCS.WinClient.Common;
namespace RCS.WinClient.Service
{
public class PathAStar
{
/// <summary>
/// 生成的路径
/// </summary>
List<Base_Point> OpenList = new List<Base_Point>();
/// <summary>
///
/// </summary>
List<Base_Point> CloseList = new List<Base_Point>();
/// <summary>
///
/// </summary>
List<Base_Point> SurPointsList = new List<Base_Point>();
public const int CONER = 25;
public const int LINE = 3;
public const int MUTEX_LINE = 4;
public const int TOEND = 3;
/// <summary>
/// 寻找路径
/// </summary>
/// <param name="listApoint">可用点列表</param>
/// <param name="beginPoint">起点</param>
/// <param name="endPoint">终点</param>
/// <param name="actionType">AGV动作</param>
/// <param name="AgvDirection">车头方向</param>
/// <param name="clear">是否清除</param>
/// <returns></returns>
public Base_Point GetPathPoint(List<Base_Point> listApoint, Base_Point beginPoint, Base_Point endPoint, EnumMsg.ActionType actionType, EnumMsg.Direction AgvDirection, bool clear)
{
if (beginPoint == null || endPoint == null)
{
throw new Exception(" 查找路径失败，起点终点不能为空");
}
OpenList.Add(beginPoint);
if (clear)
{
CloseList.Clear();
}
int x = 0;
while (OpenList.Count != 0)
{
x++;
//按照F值从小到大排序
//将此点从Open表剔除，并加入Close表中
OpenList.Sort();
var currentPoint = OpenList[0];
OpenList.RemoveAt(0);
CloseList.Add(currentPoint);
List<Base_Point> aroundPoints;
//如果是起点，就需要特别处理
aroundPoints = GetAroundPoint(listApoint, currentPoint);
if (aroundPoints.Count == 0 && OpenList.Count == 0)
{
//查找规划失败后距离终点最近的点
var tempList = CloseList.OrderBy(x => x.XLength - endPoint.XLength + x.YLength - endPoint.YLength);
var nearestPoint = tempList.FirstOrDefault();
if (nearestPoint == beginPoint)
{
nearestPoint = tempList.LastOrDefault();
}
App.ExFile.MessageBusinessErr("GetPathPoint", $"起点为{beginPoint.Barcode}的agv，路线规划失败，最接近终点的点为{nearestPoint?.Barcode},此点为预估点请结合实际排查");
return currentPoint;
}
foreach (var judgePoint in aroundPoints)
{
if (OpenList.Contains(judgePoint))
{
var G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint, beginPoint);
if (G <= judgePoint.Value_G)
{
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = G;
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
}
}
else
{
//如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint, beginPoint);
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
OpenList.Add(judgePoint);
if (judgePoint.Barcode == endPoint.Barcode)
{
return judgePoint;
}
}
}
}
return OpenList.Last();
}
/// <summary>
/// 寻找路径
/// </summary>
/// <param name="listApoint">可用点列表</param>
/// <param name="beginPoint">起点</param>
/// <param name="endPoint">终点</param>
/// <param name="actionType">AGV动作</param>
/// <param name="AgvDirection">车头方向</param>
/// <param name="clear">是否清除</param>
/// <returns></returns>
public Base_Point GetPathPoint(List<Base_Point> listApoint, Base_Point beginPoint, Base_Point endPoint, Base_Agv agv, bool isClear)
{
if (beginPoint == null || endPoint == null)
{
throw new Exception(" 查找路径失败，起点终点不能为空");
}
OpenList.Add(beginPoint);
if (isClear)
{
CloseList.Clear();
}
int x = 0;
while (OpenList.Count != 0)
{
x++;
//按照F值从小到大排序
//将此点从Open表剔除，并加入Close表中
OpenList.Sort();
var currentPoint = OpenList[0];
OpenList.RemoveAt(0);
CloseList.Add(currentPoint);
List<Base_Point> aroundPoints;
aroundPoints = GetAroundPoint(listApoint, currentPoint);
if (aroundPoints.Count == 0 && OpenList.Count == 0)
{
//查找规划失败后距离终点最近的点
var tempList = CloseList.OrderBy(x => x.XLength - endPoint.XLength + x.YLength - endPoint.YLength);
var nearestPoint = tempList.FirstOrDefault();
if (nearestPoint == beginPoint)
{
nearestPoint = tempList.LastOrDefault();
}
App.ExFile.MessageBusinessErr("GetPathPoint", $"起点为{beginPoint.Barcode}的agv{agv.AgvNo}，路线规划失败，最接近终点的点为{nearestPoint?.Barcode},此点为预估点请结合实际排查");
return currentPoint;
}
foreach (var judgePoint in aroundPoints)
{
if (OpenList.Contains(judgePoint))
{
var G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint, beginPoint);
if (G <= judgePoint.Value_G)
{
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = G;
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
}
}
else
{
//如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint, beginPoint);
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
OpenList.Add(judgePoint);
if (judgePoint.Barcode == endPoint.Barcode)
{
return judgePoint;
}
}
}
}
return OpenList.Last();
}
/// <summary>
/// 寻找四周能走的点
/// </summary>
/// <param name="listApoint">可用点集合</param>
/// <param name="currentPoint"></param>
/// <returns></returns>
public List<Base_Point> GetAroundPoint(List<Base_Point> listApoint, Base_Point currentPoint)
{
var listPoint = new List<Base_Point>();
//找到当前点的X+方向点，判断是否在可用点里面，再判断X+的点是否可走
var xPos = currentPoint.XPosPoint;
if (currentPoint.IsXPos && xPos != null && listApoint.Contains(xPos))
{
if (CanReach(xPos, currentPoint, EnumMsg.Direction.X正方向))
{
listPoint.Add(xPos);
}
}
var xNeg = currentPoint.XNegPoint;
if (currentPoint.IsXNeg && xNeg != null && listApoint.Contains(xNeg))
{
if (CanReach(xNeg, currentPoint, EnumMsg.Direction.X负方向))
{
listPoint.Add(xNeg);
}
}
var yPos = currentPoint.YPosPoint;
if (currentPoint.IsYPos && yPos != null && listApoint.Contains(yPos))
{
if (CanReach(yPos, currentPoint, EnumMsg.Direction.Y正方向))
{
listPoint.Add(yPos);
}
}
var yNeg = currentPoint.YNegPoint;
if (currentPoint.IsYNeg && yNeg != null && listApoint.Contains(yNeg))
{
if (CanReach(yNeg, currentPoint, EnumMsg.Direction.Y负方向))
{
listPoint.Add(yNeg);
}
}
return listPoint;
}
/// <summary>
/// 获取起点能去的点位，普通行走只能往车头行走，倒退行走只能往车尾行走
/// </summary>
/// <param name="currentPoint"></param>
/// <returns></returns>
public List<Base_Point> GetBeginAroundPoint(List<Base_Point> listApoint, Base_Point beginPoint, Base_Point endPoint, EnumMsg.ActionType actionType, EnumMsg.Direction AgvDirection)
{
var listPoint = new List<Base_Point>();
//站台倒车会撞站台，充电桩倒车会撞墙
if (actionType == EnumMsg.ActionType.倒车行走 && beginPoint.PointType == EnumMsg.PointType.站台点)
{
return listPoint;
}
var nextPoint = GetDirectionPoint(beginPoint, actionType, AgvDirection);
if (nextPoint != null && listApoint.Contains(nextPoint))
{
//如果是去【站台附属点、充点电】就不管 方向是否通行，是否有方向锁。其他的就需要判断。因为金利隆项目，是环形单向，去站台附属点、充点电的倒退，是没有方向的，所以强行加上。
var pointTypes = new EnumMsg.PointType[] { EnumMsg.PointType.站台附属点, EnumMsg.PointType.充电点 };
//获取从起点到下个点的方向（不用车头方向，是因为倒退行走的方向不是车头方向）
var flag = App.Config_KeyValueDic.TryGetValue(beginPoint.Barcode, out var res);
var pointDircition = GetDircition(nextPoint, beginPoint);
if (pointTypes.Contains(endPoint.PointType)
|| nextPoint.Barcode.In("3510", "4656")
|| flag && res!.DoubleValue == int.Parse(endPoint.Barcode)
|| CanReach(nextPoint, beginPoint, pointDircition))
{
listPoint.Add(nextPoint);
}
}
return listPoint;
}
/// <summary>
/// 能否选择此点
/// </summary>
/// <param name="judgePoint">目标点</param>
/// <param name="currentPoint">当前点</param>
/// <param name="flag">从当前点到目标点的方向</param>
/// <returns></returns>
public bool CanReach(Base_Point judgePoint, Base_Point currentPoint, EnumMsg.Direction pathDirection)
{
if (judgePoint == null)
{
return false;
}
//关掉的点，排除
if (CloseList.Exists(a => a.Barcode == judgePoint.Barcode))
{
return false;
}
if (App.AgvList.Count == 0)
{
return false;
}
//面对面行驶路径生成的安全距离：4个车头距离 + 300的雷达距离
var safeDistance = App.AgvList[0].HeadLength * 4 + 300;
switch (pathDirection)
{
case EnumMsg.Direction.X正方向:
//判断当前点的固定方向是否允许X+方向行走
if (!currentPoint.IsXPos)
{
return false;
}
//对于起点的X正方向的安全距离内，若临时方向存在X -，则不能选择此点
if (App.PointList.Any(x => x.IntY == currentPoint.IntY && x.IntX > currentPoint.IntX && x.XLength <= currentPoint.XLength + safeDistance
&& x.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.X负方向)))
{
return false;
}
//对于X+的四周点，若临时方向存在X-，则不能选择此点
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.X负方向))
{
return false;
}
break;
case EnumMsg.Direction.X负方向:
if (!currentPoint.IsXNeg)
{
return false;
}
if (App.PointList.Any(x => x.IntY == currentPoint.IntY && x.IntX < currentPoint.IntX && x.XLength >= currentPoint.XLength - safeDistance
&& x.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.X正方向)))
{
return false;
}
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.X正方向))
{
return false;
}
break;
case EnumMsg.Direction.Y正方向:
if (!currentPoint.IsYPos)
{
return false;
}
if (App.PointList.Any(x => x.IntX == currentPoint.IntX
&& x.IntY > currentPoint.IntY
&& x.XLength <= currentPoint.YLength + safeDistance
&& x.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.Y负方向)))
{
return false;
}
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.Y负方向))
{
return false;
}
break;
case EnumMsg.Direction.Y负方向:
if (!currentPoint.IsYNeg)
{
return false;
}
if (App.PointList.Any(x => x.IntX == currentPoint.IntX && x.IntY < currentPoint.IntY && x.XLength >= currentPoint.YLength - safeDistance
&& x.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.Y正方向)))
{
return false;
}
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.Direction.Y正方向))
{
return false;
}
break;
default:
throw new Exception("创建路径失败：找不到此点的方向。");
}
return true;
}
/// <summary>
/// 获取从【当前点】到【要判断的点】的行走方向（必须是相邻的两个点）
/// </summary>
/// <param name="judgePoint">要判断的点</param>
/// <param name="currentPoint">当前点</param>
/// <returns></returns>
public EnumMsg.Direction GetDircition(Base_Point judgePoint, Base_Point currentPoint)
{
if (judgePoint.IntX == currentPoint.IntX)
{
if (currentPoint.YPosPoint != null && judgePoint.IntY == currentPoint.YPosPoint.IntY)
{
return EnumMsg.Direction.Y正方向;
}
else if (currentPoint.YNegPoint != null && judgePoint.IntY == currentPoint.YNegPoint.IntY)
{
return EnumMsg.Direction.Y负方向;
}
}
if (judgePoint.IntY == currentPoint.IntY)
{
if (currentPoint.XPosPoint != null && judgePoint.IntX == currentPoint.XPosPoint.IntX)
{
return EnumMsg.Direction.X正方向;
}
else if (currentPoint.XNegPoint != null && judgePoint.IntX == currentPoint.XNegPoint.IntX)
{
return EnumMsg.Direction.X负方向;
}
}
throw new Exception("无法找到此两点的路径方向：" + judgePoint.Barcode + "-" + currentPoint.Barcode);
}
/// <summary>
/// G值权重的计算
/// </summary>
/// <param name="judgePoint"></param>
/// <param name="currentPoint"></param>
/// <returns></returns>
public double ConditionG(Base_Point judgePoint, Base_Point currentPoint, Base_Point beginPoint)
{
double value = LINE;
if (currentPoint.ParentPoint != null)
{
Base_Point parentPoint = currentPoint.ParentPoint;
//如果三点在一个直线上，则等于4，否则等于8
var isXLine = parentPoint.IntX == currentPoint.IntX && judgePoint.IntX == parentPoint.IntX;
var isYLine = parentPoint.IntY == currentPoint.IntY && judgePoint.IntY == parentPoint.IntY;
if (isXLine || isYLine || judgePoint.ParentPoint == beginPoint)
{
value = LINE;
//如果是关键路段，则权重加大
if (judgePoint.RegionName.Contains("Mutex"))
{
value = MUTEX_LINE;
}
}
else
{
value = CONER;
}
}
//返回值加上将要行走的小车数量
return value + judgePoint.TmpDirectionList.Count + judgePoint.XPosGValue;
}
public double ConditionG(Base_Point judgePoint, Base_Point currentPoint, Base_Point beginPoint, bool flag)
{
double value = LINE;
Base_Point parentPoint;
//获取判断点基于当前点的行进方向
string direction;
if (judgePoint.IntX == currentPoint.ParentPoint.IntX)
{
direction = "Y";
}
else
{
direction = "X";
}
if (currentPoint.ParentPoint != null)
{
parentPoint = currentPoint.ParentPoint;
//如果三点在一个直线上，则等于4，否则等于8
var isXLine = parentPoint.IntX == currentPoint.IntX && judgePoint.IntX == parentPoint.IntX;
var isYLine = parentPoint.IntY == currentPoint.IntY && judgePoint.IntY == parentPoint.IntY;
if (isXLine || isYLine || judgePoint.ParentPoint == beginPoint)
{
value = LINE;
//如果是关键路段，则权重加大
if (judgePoint.RegionName.Contains("Mutex"))
{
value = MUTEX_LINE;
}
}
else
{
value = CONER;
}
}
if (App.StationList.Any(x => x.PreBarcode == judgePoint.Barcode))
{
value += 10000;
}
//优先走同向车道，避免道路占用
var sameDirectionCount = currentPoint.TmpDirectionList.Count(x => x.PathDirection.ToString().StartsWith(direction));
//返回值加上将要行走的小车数量
return value + judgePoint.TmpDirectionList.Count - sameDirectionCount;
}
/// <summary>
/// H值权重的计算
/// </summary>
/// <param name="judgePoint"></param>
/// <param name="endPoint"></param>
/// <returns></returns>
public double CalcH(Base_Point judgePoint, Base_Point endPoint)
{
//查找距离目标点的距离（X+Y）*4
//int dtX = Math.Abs(judgePoint.IntX - endPoint.IntX);
//int dtY = Math.Abs(judgePoint.IntY - endPoint.IntY);
int dtX = Math.Abs(judgePoint.XLength - endPoint.XLength);
int dtY = Math.Abs(judgePoint.YLength - endPoint.YLength);
return (dtX + dtY) * TOEND;
//return (dtX + dtY) * 0;
}
/// <summary>
/// 根据动作和和车头方向，获取下一个点位
/// </summary>
/// <param name="currentPoint">当前点</param>
/// <param name="actionType">动作</param>
/// <param name="AgvDirection">车头方向</param>
/// <returns></returns>
public Base_Point? GetDirectionPoint(Base_Point currentPoint, EnumMsg.ActionType actionType, EnumMsg.Direction AgvDirection)
{
Base_Point? directionPoint = null;
switch (AgvDirection)
{
case EnumMsg.Direction.X正方向:
directionPoint = actionType == EnumMsg.ActionType.倒车行走 ? currentPoint.XNegPoint : currentPoint.XPosPoint;
break;
case EnumMsg.Direction.Y正方向:
directionPoint = actionType == EnumMsg.ActionType.倒车行走 ? currentPoint.YNegPoint : currentPoint.YPosPoint;
break;
case EnumMsg.Direction.X负方向:
directionPoint = actionType == EnumMsg.ActionType.倒车行走 ? currentPoint.XPosPoint : currentPoint.XNegPoint;
break;
case EnumMsg.Direction.Y负方向:
directionPoint = actionType == EnumMsg.ActionType.倒车行走 ? currentPoint.YPosPoint : currentPoint.YNegPoint;
break;
}
return directionPoint;
}
/// <summary>
/// 寻找路径
/// </summary>
/// <param name="listApoint">可用的点</param>
/// <param name="beginPoint">起点</param>
/// <param name="endPoint">终点</param>
/// <param name="agv"></param>
/// <returns></returns>
public Base_Point DemoGetPathPoint(List<Base_Point> listApoint, Base_Point beginPoint, Base_Point endPoint, Base_Agv agv)
{
if (beginPoint == null || endPoint == null)
throw new Exception(" 查找路径失败，起点终点不能为空");
OpenList.Add(beginPoint);
int x = 0;
while (OpenList.Count != 0)
{
x++;
//按照F值从小到大排序
//将此点从Open表剔除，并加入Close表中
OpenList.Sort();
Base_Point currentPoint = OpenList[0];
OpenList.RemoveAt(0);
CloseList.Add(currentPoint);
//找出它相邻的点
List<Base_Point> aroundPoints = GetAroundPoint(listApoint, currentPoint);
if (aroundPoints.Count == 0 && OpenList.Count == 0) return currentPoint;
foreach (Base_Point judgePoint in aroundPoints)
{
if (OpenList.Contains(judgePoint))
{
var G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint, beginPoint);
if (G <= judgePoint.Value_G)
{
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = G;
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
}
}
else
{
//如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint, beginPoint);
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
OpenList.Add(judgePoint);
if (judgePoint.Barcode == endPoint.Barcode)
return judgePoint;
}
}
}
return OpenList.Last();
}
}
}