PathAStar.cs
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using RCS.Model.Comm;
using RCS.Model.Entity;
namespace RCS.WinClient.Service
{
public class PathAStar
{
List<Base_Point> OpenList = new List<Base_Point>();
List<Base_Point> CloseList = new List<Base_Point>();
List<Base_Point> SurPointsList = new List<Base_Point>();
public const int CONER = 25;
public const int LINE = 3;
public const int TOEND = 3;
/// <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 GetPathPoint(List<Base_Point> listApoint, Base_Point beginPoint, Base_Point endPoint, Base_Agv agv, int flag)
{
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 (flag == 1) { 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();
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();
}
/// <summary>
/// 寻找四周点
/// </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)
{
List<Base_Point> 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
Base_Point xPos = currentPoint.XPosPoint;
if (listApoint.Contains(xPos))
if (CanReach(xPos, currentPoint, EnumMsg.AgvOri.X正方向))
listPoint.Add(xPos);
Base_Point xNeg = currentPoint.XNegPoint;
if (listApoint.Contains(xNeg))
if (CanReach(xNeg, currentPoint, EnumMsg.AgvOri.X负方向))
listPoint.Add(xNeg);
Base_Point yPos = currentPoint.YPosPoint;
if (listApoint.Contains(yPos))
if (CanReach(yPos, currentPoint, EnumMsg.AgvOri.Y正方向))
listPoint.Add(yPos);
Base_Point yNeg = currentPoint.YNegPoint;
if (listApoint.Contains(yNeg))
if (CanReach(yNeg, currentPoint, EnumMsg.AgvOri.Y负方向))
listPoint.Add(yNeg);
return listPoint;
}
/// <summary>
/// 能否选择此点
/// </summary>
/// <param name="judgePoint">待判定的点</param>
/// <param name="currentPoint"></param>
/// <param name="flag">待判定点与当前点方向标识</param>
/// <returns></returns>
public bool CanReach(Base_Point judgePoint, Base_Point currentPoint, EnumMsg.AgvOri pathDirection)
{
if (judgePoint == null)
return false;
//关掉的点，排除
if (CloseList.Exists(a => a.Barcode == judgePoint.Barcode))
return false;
switch (pathDirection)
{
case EnumMsg.AgvOri.X正方向:
//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.AgvOri.X负方向))
return false;
//判断当前点的固定方向是否允许X+方向行走
if (!currentPoint.IsXPos)
return false;
break;
case EnumMsg.AgvOri.X负方向:
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.AgvOri.X正方向))
return false;
if (!currentPoint.IsXNeg)
return false;
break;
case EnumMsg.AgvOri.Y正方向:
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.AgvOri.Y负方向))
return false;
if (!currentPoint.IsYPos)
return false;
break;
case EnumMsg.AgvOri.Y负方向:
if (judgePoint.TmpDirectionList.Exists(a => a.PathDirection == EnumMsg.AgvOri.Y正方向))
return false;
if (!currentPoint.IsYNeg)
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
/// </summary>
/// <param name="judgePoint">要判断的点</param>
/// <param name="currentPoint">当前点</param>
/// <returns></returns>
public EnumMsg.AgvOri GetDircition(Base_Point judgePoint, Base_Point currentPoint)
{
if (judgePoint.IntX == currentPoint.IntX)
{
if (currentPoint.YPosPoint != null && judgePoint.IntY == currentPoint.YPosPoint.IntY)
return EnumMsg.AgvOri.Y正方向;
else if (currentPoint.YNegPoint != null && judgePoint.IntY == currentPoint.YNegPoint.IntY)
return EnumMsg.AgvOri.Y负方向;
}
if (judgePoint.IntY == currentPoint.IntY)
{
if (currentPoint.XPosPoint != null && judgePoint.IntX == currentPoint.XPosPoint.IntX)
return EnumMsg.AgvOri.X正方向;
else if (currentPoint.XNegPoint != null && judgePoint.IntX == currentPoint.XNegPoint.IntX)
return EnumMsg.AgvOri.X负方向;
}
if (judgePoint.IntY != currentPoint.IntY && judgePoint.IntX != currentPoint.IntX)
{
return EnumMsg.AgvOri.斜向;
}
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;
Base_Point parentPoint = null;
if (currentPoint.ParentPoint != null)
{
parentPoint = currentPoint.ParentPoint;
//如果是关键路段，则权重加大
if (judgePoint.RegionName.Contains("Mutex"))
value = 4;
//如果三点在一个直线上，则等于4，否则等于8
if (parentPoint.IntX == currentPoint.IntX && judgePoint.IntX == parentPoint.IntX
|| parentPoint.IntY == currentPoint.IntY && judgePoint.IntY == parentPoint.IntY
|| judgePoint.ParentPoint == beginPoint)
value = LINE;
else value = CONER;
}
//返回值加上将要行走的小车数量
return value + judgePoint.TmpDirectionList.Count;
}
/// <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);
return (dtX + dtY) * TOEND;
//return (dtX + dtY) * 0;
}
/// <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();
}
}
}