616 lines
24 KiB
Python
616 lines
24 KiB
Python
"""
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路径规划算法插件主文件
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提供多种路径规划算法的实现和可视化工具
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"""
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import time
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import json
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from plugins.plugin_manager import BasePlugin
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from .core.algorithm_manager import AlgorithmManager
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from .visualization.visualization_manager import VisualizationManager
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from .editor.pathfinding_editor import PathfindingEditor
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class Plugin(BasePlugin):
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"""
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路径规划算法插件
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提供多种经典和现代路径规划算法的实现
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"""
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def __init__(self, plugin_manager, name):
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super().__init__(plugin_manager, name)
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self.config = {
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"version": "1.0.0",
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"author": "EG Team",
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"description": "路径规划算法插件，包含多种经典和现代路径规划算法实现"
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}
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# 核心组件
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self.algorithm_manager = None
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self.visualization_manager = None
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self.editor = None
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# GUI元素
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self.gui_elements = []
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# 事件处理器
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self.event_handlers = {}
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# 插件状态
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self.is_initialized = False
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self.is_enabled = False
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# 性能监控
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self.performance_stats = {
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'initialization_time': 0.0,
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'enable_time': 0.0,
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'last_update_time': 0.0,
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'total_updates': 0
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}
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# 当前场景数据
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self.current_grid = None
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self.current_start = (0, 0)
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self.current_goal = (9, 9)
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def initialize(self) -> bool:
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"""
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初始化插件
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"""
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try:
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if self.is_initialized:
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return True
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init_start_time = time.time()
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print(f"初始化路径规划算法插件: {self.name}")
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# 初始化算法管理器
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self.algorithm_manager = AlgorithmManager()
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# 初始化可视化管理器
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self.visualization_manager = VisualizationManager(self.plugin_manager.world)
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# 初始化编辑器
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self.editor = PathfindingEditor(
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self.plugin_manager.world,
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self.algorithm_manager,
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self.visualization_manager
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)
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self.is_initialized = True
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self.performance_stats['initialization_time'] = time.time() - init_start_time
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print("✓ 路径规划算法插件初始化完成")
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return True
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except Exception as e:
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print(f"✗ 路径规划算法插件初始化失败: {e}")
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import traceback
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traceback.print_exc()
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return False
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def enable(self) -> bool:
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"""
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启用插件
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"""
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if not super().enable():
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return False
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if self.is_enabled:
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return True
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try:
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enable_start_time = time.time()
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print(f"启用路径规划算法插件: {self.name}")
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# 启用可视化管理器
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if self.visualization_manager:
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self.visualization_manager.enable()
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# 注册事件处理器
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self._register_event_handlers()
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# 创建GUI界面
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self._create_gui()
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self.is_enabled = True
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self.performance_stats['enable_time'] = time.time() - enable_start_time
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print("✓ 路径规划算法插件启用成功")
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return True
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except Exception as e:
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print(f"✗ 路径规划算法插件启用失败: {e}")
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import traceback
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traceback.print_exc()
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return False
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def disable(self) -> bool:
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"""
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禁用插件
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"""
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if not super().disable():
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return False
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if not self.is_enabled:
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return True
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try:
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print(f"禁用路径规划算法插件: {self.name}")
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# 清理GUI界面
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self._cleanup_gui()
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# 移除事件处理器
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self._unregister_event_handlers()
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# 禁用可视化管理器
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if self.visualization_manager:
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self.visualization_manager.disable()
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self.is_enabled = False
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print("✓ 路径规划算法插件禁用成功")
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return True
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except Exception as e:
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print(f"✗ 路径规划算法插件禁用失败: {e}")
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import traceback
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traceback.print_exc()
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return False
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def finalize(self):
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"""
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清理插件资源
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"""
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print(f"清理路径规划算法插件资源: {self.name}")
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# 清理所有组件
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if self.editor:
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self.editor.cleanup()
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self.editor = None
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if self.visualization_manager:
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self.visualization_manager.cleanup()
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self.visualization_manager = None
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if self.algorithm_manager:
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self.algorithm_manager = None
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self.is_initialized = False
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self.is_enabled = False
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self.current_grid = None
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def _register_event_handlers(self):
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"""
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注册事件处理器
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"""
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world = self.plugin_manager.world
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# 路径规划系统控制快捷键
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self.event_handlers['f1'] = self.toggle_editor
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self.event_handlers['f2'] = self.toggle_visualization
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self.event_handlers['f3'] = self.run_demo
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self.event_handlers['f4'] = self.clear_visualization
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self.event_handlers['f5'] = self.compare_algorithms
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self.event_handlers['f6'] = self.show_stats
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self.event_handlers['f7'] = self.generate_report
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self.event_handlers['f8'] = self.optimize_paths
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self.event_handlers['f9'] = self.generate_random_scenario
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self.event_handlers['f10'] = self.toggle_animation
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self.event_handlers['f11'] = self.show_algorithm_info
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self.event_handlers['f12'] = self.export_detailed_report
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# 注册事件
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for event, handler in self.event_handlers.items():
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world.accept(event, handler)
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world.accept(event.upper(), handler) # 同时注册大写事件
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def _unregister_event_handlers(self):
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"""
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移除事件处理器
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"""
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world = self.plugin_manager.world
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for event in self.event_handlers.keys():
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world.ignore(event)
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world.ignore(event.upper())
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self.event_handlers.clear()
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def _create_gui(self):
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"""
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创建GUI界面
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"""
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try:
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world = self.plugin_manager.world
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# 检查是否有GUI管理器
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if not hasattr(world, 'gui_manager') or not world.gui_manager:
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print("⚠ GUI管理器不可用，跳过GUI创建")
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return
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gui_manager = world.gui_manager
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# 创建路径规划控制面板
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panel_button = gui_manager.createGUIButton(
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pos=(0.02, 0, 0.75),
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text="路径规划",
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size=0.06
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)
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self.gui_elements.append(panel_button)
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# 创建功能按钮
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functions = [
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("编辑器 [F1]", self.toggle_editor),
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("可视化 [F2]", self.toggle_visualization),
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("运行演示 [F3]", self.run_demo),
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("清除视图 [F4]", self.clear_visualization),
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("算法比较 [F5]", self.compare_algorithms),
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("显示统计 [F6]", self.show_stats),
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("生成报告 [F7]", self.generate_report),
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("优化路径 [F8]", self.optimize_paths),
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("随机场景 [F9]", self.generate_random_scenario),
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("动画切换 [F10]", self.toggle_animation),
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("算法信息 [F11]", self.show_algorithm_info),
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("导出报告 [F12]", self.export_detailed_report)
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]
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for i, (name, callback) in enumerate(functions):
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button = gui_manager.createGUIButton(
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pos=(0.02, 0, 0.68 - i * 0.055),
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text=name,
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size=0.045
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)
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self.gui_elements.append(button)
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world.accept(f"pathfinding_function_{i}", callback)
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except Exception as e:
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print(f"⚠ GUI创建失败: {e}")
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def _cleanup_gui(self):
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"""
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清理GUI界面
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"""
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try:
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world = self.plugin_manager.world
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if hasattr(world, 'gui_manager') and world.gui_manager:
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gui_manager = world.gui_manager
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# 删除所有GUI元素
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for element in self.gui_elements:
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gui_manager.deleteGUIElement(element)
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self.gui_elements.clear()
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except Exception as e:
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print(f"⚠ GUI清理失败: {e}")
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# 事件处理方法
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def toggle_editor(self):
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"""切换编辑器显示"""
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if self.editor:
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self.editor.toggle_visibility()
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print("✓ 编辑器显示已切换")
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def toggle_visualization(self):
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"""切换可视化显示"""
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if self.visualization_manager:
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self.visualization_manager.toggle_visibility()
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print("✓ 可视化显示已切换")
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def run_demo(self):
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"""运行演示"""
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if self.algorithm_manager and self.visualization_manager:
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print("✓ 运行路径规划演示...")
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# 运行一个简单的演示
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from .utils.demo_scenarios import create_simple_grid
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self.current_grid = create_simple_grid(10, 10)
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self.current_start = (0, 0)
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self.current_goal = (9, 9)
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# 使用A*算法查找路径
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path, stats = self.algorithm_manager.find_path("astar", self.current_grid, self.current_start, self.current_goal)
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if path:
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print(f"✓ 找到路径，长度: {len(path)}")
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print(f" 访问节点数: {stats.get('nodes_visited', 0)}")
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print(f" 耗时: {stats.get('time_taken', 0):.6f}秒")
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# 可视化路径
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self.visualization_manager.visualize_path(path, self.current_grid)
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self.visualization_manager.visualize_grid(self.current_grid)
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else:
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print("✗ 未找到路径")
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def clear_visualization(self):
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"""清除可视化"""
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if self.visualization_manager:
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self.visualization_manager.clear_visualization()
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print("✓ 可视化已清除")
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def compare_algorithms(self):
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"""比较算法性能"""
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if self.algorithm_manager:
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print("✓ 比较路径规划算法...")
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from .utils.demo_scenarios import create_simple_grid
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self.current_grid = create_simple_grid(20, 20)
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self.current_start = (0, 0)
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self.current_goal = (19, 19)
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algorithms = ["astar", "dijkstra", "bfs", "dfs"]
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results = {}
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for algorithm in algorithms:
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path, stats = self.algorithm_manager.find_path(algorithm, self.current_grid, self.current_start, self.current_goal)
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results[algorithm] = {
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"path_length": len(path) if path else 0,
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"nodes_visited": stats.get("nodes_visited", 0),
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"time_taken": stats.get("time_taken", 0),
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"success": stats.get("success", False)
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}
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print("=== 算法性能比较 ===")
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for algorithm, result in results.items():
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print(f"{algorithm}:")
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print(f" 路径长度: {result['path_length']}")
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print(f" 访问节点数: {result['nodes_visited']}")
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print(f" 耗时: {result['time_taken']:.6f}秒")
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print(f" 成功: {'是' if result['success'] else '否'}")
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def show_stats(self):
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"""显示统计信息"""
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if self.algorithm_manager:
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stats = self.algorithm_manager.get_stats()
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print("=== 路径规划算法统计 ===")
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for key, value in stats.items():
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if key != 'algorithm_usage':
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print(f" {key}: {value}")
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print(" 算法使用统计:")
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for algo, count in stats.get('algorithm_usage', {}).items():
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print(f" {algo}: {count}次")
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def generate_report(self):
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"""生成报告"""
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if self.algorithm_manager:
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print("✓ 生成路径规划算法报告...")
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report = self.algorithm_manager.generate_report()
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# 简化输出报告摘要
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print(f"报告生成时间: {time.ctime(report.get('timestamp', 0))}")
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print(f"总算法数: {len(report.get('algorithms', []))}")
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print(f"总测试数: {report.get('total_tests', 0)}")
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print(f"成功率: {report.get('success_rate', 0):.2%}")
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def optimize_paths(self):
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"""优化路径"""
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print("✓ 路径优化功能...")
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if self.current_grid and self.algorithm_manager:
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# 根据网格特点推荐算法
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rows = len(self.current_grid)
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cols = len(self.current_grid[0]) if rows > 0 else 0
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obstacle_count = sum(sum(row) for row in self.current_grid)
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obstacle_density = obstacle_count / (rows * cols) if rows * cols > 0 else 0
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recommended_algo = self.algorithm_manager.get_algorithm_recommendation(
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(rows, cols), obstacle_density, True)
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print(f" 根据当前场景特点推荐算法: {recommended_algo}")
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def generate_random_scenario(self):
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"""生成随机场景"""
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if self.visualization_manager:
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print("✓ 生成随机路径规划场景...")
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from .utils.demo_scenarios import create_random_grid
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self.current_grid = create_random_grid(15, 15, 0.25) # 25%障碍物
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self.current_start = (0, 0)
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self.current_goal = (14, 14)
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self.visualization_manager.visualize_grid(self.current_grid)
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print("✓ 随机场景已生成")
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def toggle_animation(self):
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"""切换动画"""
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if self.visualization_manager:
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# 这里可以实现动画切换逻辑
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print("✓ 动画切换功能待实现...")
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def show_algorithm_info(self):
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"""显示算法信息"""
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if self.algorithm_manager:
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algorithms = self.algorithm_manager.get_available_algorithms()
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print("=== 可用算法信息 ===")
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for algo in algorithms:
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description = self.algorithm_manager.get_algorithm_description(algo)
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complexity = self.algorithm_manager.get_algorithm_complexity(algo)
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print(f"{algo}:")
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print(f" 描述: {description}")
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print(f" 复杂度: {complexity}")
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print()
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def export_detailed_report(self):
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"""导出详细报告"""
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if self.algorithm_manager:
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print("✓ 导出详细报告...")
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timestamp = int(time.time())
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filename = f"pathfinding_report_{timestamp}.json"
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success = self.algorithm_manager.export_report(filename)
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if success:
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print(f"✓ 详细报告已导出到: {filename}")
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else:
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print("✗ 导出详细报告失败")
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def get_info(self) -> dict:
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"""
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获取插件信息
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"""
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info = super().get_info()
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info.update({
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"version": self.config.get("version", "1.0.0"),
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"author": self.config.get("author", "EG Team"),
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"description": self.config.get("description", "路径规划算法插件"),
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"is_enabled": self.is_enabled,
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"is_initialized": self.is_initialized,
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"available_algorithms": self.algorithm_manager.get_available_algorithms() if self.algorithm_manager else []
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})
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return info
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# 公共接口方法
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def find_path(self, algorithm, grid, start, goal):
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"""查找路径"""
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if self.algorithm_manager:
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return self.algorithm_manager.find_path(algorithm, grid, start, goal)
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return None, {}
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def add_algorithm(self, name, algorithm_class, description=""):
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"""添加新算法"""
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if self.algorithm_manager:
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self.algorithm_manager.add_algorithm(name, algorithm_class, description)
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def remove_algorithm(self, name):
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"""移除算法"""
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if self.algorithm_manager:
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self.algorithm_manager.remove_algorithm(name)
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def get_available_algorithms(self):
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"""获取可用算法列表"""
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if self.algorithm_manager:
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return self.algorithm_manager.get_available_algorithms()
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return []
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def get_algorithm_description(self, algorithm):
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"""获取算法描述"""
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if self.algorithm_manager:
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return self.algorithm_manager.get_algorithm_description(algorithm)
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return ""
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def set_algorithm_parameter(self, algorithm, parameter, value):
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"""设置算法参数"""
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if self.algorithm_manager:
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self.algorithm_manager.set_algorithm_parameter(algorithm, parameter, value)
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def get_algorithm_parameters(self, algorithm):
|
||
"""获取算法参数"""
|
||
if self.algorithm_manager:
|
||
return self.algorithm_manager.get_algorithm_parameters(algorithm)
|
||
return {}
|
||
|
||
def visualize_path(self, path, grid=None):
|
||
"""可视化路径"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.visualize_path(path, grid)
|
||
|
||
def visualize_grid(self, grid):
|
||
"""可视化网格"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.visualize_grid(grid)
|
||
|
||
def visualize_visited_nodes(self, visited_nodes):
|
||
"""可视化已访问节点"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.visualize_visited_nodes(visited_nodes)
|
||
|
||
def visualize_open_list(self, open_list):
|
||
"""可视化开放列表"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.visualize_open_list(open_list)
|
||
|
||
def clear_path_visualization(self):
|
||
"""清除路径可视化"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.clear_path_visualization()
|
||
|
||
def set_visualization_settings(self, settings):
|
||
"""设置可视化参数"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.set_settings(settings)
|
||
|
||
def get_visualization_settings(self):
|
||
"""获取可视化参数"""
|
||
if self.visualization_manager:
|
||
return self.visualization_manager.get_settings()
|
||
return {}
|
||
|
||
def enable_visualization_animation(self, enable=True):
|
||
"""启用可视化动画"""
|
||
if self.visualization_manager:
|
||
self.visualization_manager.enable_animation(enable)
|
||
|
||
def update(self, dt: float):
|
||
"""更新插件状态"""
|
||
self.performance_stats['total_updates'] += 1
|
||
self.performance_stats['last_update_time'] = time.time()
|
||
|
||
# 更新编辑器
|
||
if self.editor:
|
||
self.editor.update(dt)
|
||
|
||
# 更新可视化动画
|
||
if self.visualization_manager:
|
||
self.visualization_manager.update_animation(dt)
|
||
|
||
def batch_test_algorithms(self, algorithms, test_cases):
|
||
"""批量测试算法"""
|
||
if self.algorithm_manager:
|
||
return self.algorithm_manager.batch_test(algorithms, test_cases)
|
||
return {}
|
||
|
||
def compare_algorithms_detailed(self, algorithms, grid, start, goal):
|
||
"""详细比较算法"""
|
||
if self.algorithm_manager:
|
||
return self.algorithm_manager.compare_algorithms(algorithms, grid, start, goal)
|
||
return {}
|
||
|
||
def get_cached_performance_data(self, algorithm):
|
||
"""获取缓存的性能数据"""
|
||
if self.algorithm_manager:
|
||
return self.algorithm_manager.get_cached_performance_data(algorithm)
|
||
return []
|
||
|
||
def clear_performance_cache(self):
|
||
"""清除性能缓存"""
|
||
if self.algorithm_manager:
|
||
self.algorithm_manager.clear_performance_cache()
|
||
|
||
def reset_statistics(self):
|
||
"""重置统计信息"""
|
||
if self.algorithm_manager:
|
||
self.algorithm_manager.reset_stats()
|
||
print("✓ 统计信息已重置")
|
||
|
||
def validate_grid_data(self, grid):
|
||
"""验证网格数据"""
|
||
if self.algorithm_manager:
|
||
return self.algorithm_manager.validate_grid(grid)
|
||
return {'valid': False, 'error': '算法管理器未初始化'}
|
||
|
||
def get_algorithm_complexity(self, algorithm):
|
||
"""获取算法复杂度信息"""
|
||
if self.algorithm_manager:
|
||
return self.algorithm_manager.get_algorithm_complexity(algorithm)
|
||
return "未知"
|
||
|
||
def benchmark_algorithm(self, algorithm, grid, start, goal, iterations=100):
|
||
"""对算法进行基准测试"""
|
||
if self.algorithm_manager and algorithm in self.algorithm_manager.algorithms:
|
||
# 创建算法实例
|
||
algo_class = self.algorithm_manager.algorithms[algorithm]
|
||
algo_instance = algo_class()
|
||
|
||
# 设置参数
|
||
if algorithm in self.algorithm_manager.algorithm_parameters:
|
||
for param, value in self.algorithm_manager.algorithm_parameters[algorithm].items():
|
||
if hasattr(algo_instance, param):
|
||
setattr(algo_instance, param, value)
|
||
|
||
# 执行基准测试
|
||
if hasattr(algo_instance, 'benchmark'):
|
||
return algo_instance.benchmark(grid, start, goal, iterations)
|
||
else:
|
||
print(f"算法 {algorithm} 不支持基准测试")
|
||
return {}
|
||
return {}
|
||
|
||
def optimize_algorithm_for_grid(self, algorithm, grid):
|
||
"""为特定网格优化算法"""
|
||
if algorithm == 'jps' and self.algorithm_manager:
|
||
from .algorithms.jps import JPS
|
||
jps_instance = JPS()
|
||
jps_instance.optimize_for_map(grid)
|
||
print(f"✓ JPS算法已为当前网格优化")
|
||
else:
|
||
print(f"算法 {algorithm} 不支持自动优化") |