From a8e8760e2b06e28266bee7766a316d70d9030ec9 Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Tue, 7 Oct 2025 15:57:30 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9Gridmap=E7=BC=93=E5=AD=98?=
=?UTF-8?q?=E9=87=8D=E5=BB=BA=E6=9C=BA=E5=88=B6=EF=BC=8C=E8=80=83=E8=99=91?=
=?UTF-8?q?=E6=89=80=E6=9C=89=E7=89=A9=E6=B5=81=E6=9E=84=E4=BB=B6=E5=8F=98?=
=?UTF-8?q?=E5=8C=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
src/PathPlanning/GridMapCacheKey.cs | 45 ++++++++++++++---------------
1 file changed, 22 insertions(+), 23 deletions(-)
diff --git a/src/PathPlanning/GridMapCacheKey.cs b/src/PathPlanning/GridMapCacheKey.cs
index 244a51d..c230a63 100644
--- a/src/PathPlanning/GridMapCacheKey.cs
+++ b/src/PathPlanning/GridMapCacheKey.cs
@@ -9,14 +9,14 @@ namespace NavisworksTransport.PathPlanning
{
///
/// GridMap缓存键，用于标识唯一的GridMap生成配置
- /// 基于通道数据、车辆尺寸、网格尺寸等关键参数
+ /// 基于所有物流属性构件、车辆尺寸、网格尺寸等关键参数
///
public class GridMapCacheKey : IEquatable
{
///
- /// 通道数据哈希值（所有可通行物流构件）
+ /// 物流数据哈希值（所有物流属性构件，包括通道、门、无关项等）
///
- public string ChannelDataHash { get; set; }
+ public string LogisticsDataHash { get; set; }
///
/// 边界范围哈希
@@ -46,10 +46,10 @@ namespace NavisworksTransport.PathPlanning
///
/// 构造函数
///
- public GridMapCacheKey(string channelDataHash, string boundsHash, double cellSize,
+ public GridMapCacheKey(string logisticsDataHash, string boundsHash, double cellSize,
double vehicleRadius, double safetyMargin, double vehicleHeight)
{
- ChannelDataHash = channelDataHash ?? throw new ArgumentNullException(nameof(channelDataHash));
+ LogisticsDataHash = logisticsDataHash ?? throw new ArgumentNullException(nameof(logisticsDataHash));
BoundsHash = boundsHash ?? throw new ArgumentNullException(nameof(boundsHash));
CellSize = cellSize;
VehicleRadius = vehicleRadius;
@@ -65,7 +65,7 @@ namespace NavisworksTransport.PathPlanning
if (other == null) return false;
if (ReferenceEquals(this, other)) return true;
- return ChannelDataHash == other.ChannelDataHash &&
+ return LogisticsDataHash == other.LogisticsDataHash &&
BoundsHash == other.BoundsHash &&
Math.Abs(CellSize - other.CellSize) < 1e-6 &&
Math.Abs(VehicleRadius - other.VehicleRadius) < 1e-6 &&
@@ -89,7 +89,7 @@ namespace NavisworksTransport.PathPlanning
unchecked
{
int hash = 17;
- hash = hash * 23 + (ChannelDataHash?.GetHashCode() ?? 0);
+ hash = hash * 23 + (LogisticsDataHash?.GetHashCode() ?? 0);
hash = hash * 23 + (BoundsHash?.GetHashCode() ?? 0);
hash = hash * 23 + CellSize.GetHashCode();
hash = hash * 23 + VehicleRadius.GetHashCode();
@@ -104,21 +104,20 @@ namespace NavisworksTransport.PathPlanning
///
public override string ToString()
{
- var channelPreview = ChannelDataHash != null ?
- ChannelDataHash.Substring(0, Math.Min(8, ChannelDataHash.Length)) :
+ var logisticsPreview = LogisticsDataHash != null ?
+ LogisticsDataHash.Substring(0, Math.Min(8, LogisticsDataHash.Length)) :
"NULL";
var boundsPreview = BoundsHash != null ?
BoundsHash.Substring(0, Math.Min(8, BoundsHash.Length)) :
"NULL";
- return $"GridMapKey[Ch={channelPreview}, Bounds={boundsPreview}, " +
+ return $"GridMapKey[Logistics={logisticsPreview}, Bounds={boundsPreview}, " +
$"Cell={CellSize:F2}, VR={VehicleRadius:F1}m, SM={SafetyMargin:F1}m, VH={VehicleHeight:F1}m]";
}
///
/// 根据参数生成GridMap缓存键
///
- /// Navisworks文档
/// 边界范围
/// 网格大小
/// 车辆半径（米）
@@ -129,19 +128,19 @@ namespace NavisworksTransport.PathPlanning
double cellSize, double vehicleRadius,
double safetyMargin, double vehicleHeight)
{
- var channelDataHash = ComputeChannelDataHash();
+ var logisticsDataHash = ComputeLogisticsDataHash();
var boundsHash = ComputeBoundsHash(bounds);
- return new GridMapCacheKey(channelDataHash, boundsHash, cellSize,
+ return new GridMapCacheKey(logisticsDataHash, boundsHash, cellSize,
vehicleRadius, safetyMargin, vehicleHeight);
}
///
- /// 计算通道数据哈希值
- /// 基于所有可通行物流构件的ID、属性、几何等信息
+ /// 计算物流数据哈希值
+ /// 基于所有物流属性构件（包括通道、门、无关项等）的ID、属性、几何等信息
///
- /// 通道数据哈希
- private static string ComputeChannelDataHash()
+ /// 物流数据哈希
+ private static string ComputeLogisticsDataHash()
{
try
{
@@ -149,13 +148,13 @@ namespace NavisworksTransport.PathPlanning
{
var hashBuilder = new StringBuilder();
- // 获取所有可通行的物流模型项
- var allChannelItems = CategoryAttributeManager.GetAllTraversableLogisticsItems();
+ // 获取所有有物流属性的模型项（不仅仅是可通行项）
+ var allLogisticsItems = CategoryAttributeManager.GetAllLogisticsItems();
// 按InstanceGuid排序确保一致性
- var sortedItems = allChannelItems.OrderBy(item => item.InstanceGuid.ToString()).ToList();
+ var sortedItems = allLogisticsItems.OrderBy(item => item.InstanceGuid.ToString()).ToList();
- hashBuilder.Append($"ChannelCount:{sortedItems.Count}|");
+ hashBuilder.Append($"LogisticsCount:{sortedItems.Count}|");
foreach (var item in sortedItems)
{
@@ -199,8 +198,8 @@ namespace NavisworksTransport.PathPlanning
}
catch (Exception ex)
{
- LogManager.Warning($"[通道哈希] 计算通道数据哈希失败: {ex.Message}，使用时间戳标识");
- return $"CHANNEL_HASH_FAILED_{DateTime.Now.Ticks}";
+ LogManager.Warning($"[物流哈希] 计算物流数据哈希失败: {ex.Message}，使用时间戳标识");
+ return $"LOGISTICS_HASH_FAILED_{DateTime.Now.Ticks}";
}
}