package com.zy.acs.manager.core.service;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.utils.Utils;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.exception.CoolException;
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import com.zy.acs.manager.common.config.RedisProperties;
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import com.zy.acs.manager.common.utils.MapDataUtils;
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import com.zy.acs.manager.core.constant.MapDataConstant;
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import com.zy.acs.manager.core.domain.VehicleFootprint;
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import com.zy.acs.manager.core.service.astart.CodeNodeType;
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import com.zy.acs.manager.core.service.astart.DynamicNodeType;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.core.service.astart.NavigateNode;
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import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.Code;
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import com.zy.acs.manager.manager.service.AgvDetailService;
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import com.zy.acs.manager.manager.service.AgvModelService;
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import com.zy.acs.manager.manager.service.AgvService;
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import com.zy.acs.manager.manager.service.CodeService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.context.annotation.DependsOn;
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import org.springframework.core.io.ClassPathResource;
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import org.springframework.core.io.Resource;
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import org.springframework.stereotype.Component;
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import javax.annotation.PostConstruct;
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import javax.annotation.PreDestroy;
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import java.io.BufferedReader;
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import java.io.File;
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import java.io.InputStream;
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import java.io.InputStreamReader;
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import java.nio.file.Files;
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import java.nio.file.StandardCopyOption;
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import java.util.*;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.concurrent.TimeUnit;
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import java.util.concurrent.locks.ReentrantLock;
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/**
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* Created by vincent on 8/6/2024
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*/
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@Slf4j
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@Component
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@DependsOn("mapDataDispatcher")
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public class AvoidWaveCalculator {
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private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
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private static final int LOCK_TIMEOUT = 5;
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private ExecutorService singleThreadExecutor;
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private File pythonFile = null;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private MapService mapService;
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@Autowired
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private RedisProperties redisProperties;
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@PostConstruct
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@SuppressWarnings("all")
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public void execute() {
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this.singleThreadExecutor = Executors.newSingleThreadExecutor();
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this.singleThreadExecutor.execute(() -> {
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try { Thread.sleep(500); } catch (InterruptedException ignore) {}
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this.calcDynamicNodeWhenBoot();
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});
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}
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public boolean calcWaveScope(AgvModel agvModel) {
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Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
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boolean lockAcquired = false;
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long startTime = System.currentTimeMillis();
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try {
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if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
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log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
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return false;
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}
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// return this.calcWaveScopeByPython(lev);
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return this.calcWaveScopeByJava(lev, agvModel);
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} catch (Exception e) {
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log.error(this.getClass().getSimpleName(), e);
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return false;
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} finally {
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if (lockAcquired) {
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lock.unlock();
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}
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long during = System.currentTimeMillis() - startTime;
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if (during > 50) {
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log.info("滤波函数花费时间为：{}毫秒......", during);
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}
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}
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}
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private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
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if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
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log.warn("There is no diameter or diameter value was wrong...");
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}
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// python
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Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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if (null == pythonFile) {
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pythonFile = loadPythonFile();
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}
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ProcessBuilder processBuilder = new ProcessBuilder(
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"python" // 或者 "python3" 取决于系统配置
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, pythonFile.getAbsolutePath()
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, String.valueOf(avoidDistance)
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, redisProperties.getHost()
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, redisProperties.getPassword()
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, String.valueOf(redisProperties.getPort())
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, String.valueOf(redisProperties.getIndex())
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);
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processBuilder.redirectErrorStream(true);
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Process process = processBuilder.start();
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BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
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String line;
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StringBuilder builder = new StringBuilder();
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while ((line = reader.readLine()) != null) {
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builder.append(line);
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}
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int exitCode = process.waitFor();
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if (exitCode != 0) {
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log.error("Python script exited with error code: {}", exitCode);
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log.error("python error:{}", builder.toString());
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return false;
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}
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reader.close();
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if (builder.length() <= 0) {
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return false;
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}
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String result = builder.toString();
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if (Cools.isEmpty(result)) {
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return false;
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}
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if (!"1".equals(result)) {
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log.error("Failed to call python");
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return false;
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}
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return true;
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}
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private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) throws Exception {
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String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
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Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
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String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
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DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
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// 记录每台车的安全半径，顺带标记已按矩形方式绘制的地码
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Map<String, Double> vehicleAvoidDistance = new HashMap<>();
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Set<String> preciseNodes = new HashSet<>();
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// 先根据实时位置+角度绘制实际矩形占位
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
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for (Agv agv : agvList) {
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// 每次按调度列表刷新车辆当前地码与角度
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) { continue; }
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Long recentCodeId = agvDetail.getRecentCode();
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if (null == recentCodeId) { continue; }
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Code centerCode = codeService.getCacheById(recentCodeId);
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if (null == centerCode) { continue; }
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AgvModel model = agvModelService.getByAgvId(agv.getId());
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if (null == model) {
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model = agvModel;
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}
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double avoidDistance = resolveAvoidDistance(model, agvModel);
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vehicleAvoidDistance.put(agv.getUuid(), avoidDistance);
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// 将旋转矩形映射到网格，得到需要占用的节点集合
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List<NavigateNode> footprintNodes = calcFootprintNodes(lev, centerCode, agvDetail, model, codeMatrix, cdaMatrix);
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if (Cools.isEmpty(footprintNodes)) {
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continue;
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}
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preciseNodes.add(centerCode.getData());
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for (NavigateNode navigateNode : footprintNodes) {
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String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
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waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
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}
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}
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// 再用原来的圆形波纹补上剩余的路径锁定节点
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for (int i = 0; i < dynamicMatrix.length; i++) {
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for (int j = 0; j < dynamicMatrix[i].length; j++) {
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DynamicNode dynamicNode = dynamicMatrix[i][j];
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String vehicle = dynamicNode.getVehicle();
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if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
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String codeData = codeMatrix[i][j];
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if (preciseNodes.contains(codeData)) {
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// 已经按真实矩形写过一次，避免重复占用
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continue;
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}
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double avoidDistance = vehicleAvoidDistance.getOrDefault(vehicle, resolveAvoidDistance(null, agvModel));
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if (avoidDistance <= 0) {
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continue;
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}
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List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);
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for (NavigateNode navigateNode : includeList) {
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String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
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waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
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}
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}
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}
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}
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// 所有车辆同步完成后再统一写回 redis，减少频繁刷新
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mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
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return true;
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}
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// 不同车型可能直径不同，缺失时退回调用方传入的默认模型，最后再退回 0
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private double resolveAvoidDistance(AgvModel agvModel, AgvModel fallback) {
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Integer diameter = null;
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if (null != agvModel && null != agvModel.getDiameter() && agvModel.getDiameter() > 0) {
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diameter = agvModel.getDiameter();
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} else if (null != fallback) {
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diameter = fallback.getDiameter();
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}
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return MapDataUtils.getVehicleWaveSafeDistance(diameter, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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}
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/**
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* 计算给定车辆在当前角度下真实覆盖的网格节点
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*/
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private List<NavigateNode> calcFootprintNodes(Integer lev, Code centerCode, AgvDetail agvDetail, AgvModel agvModel
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, String[][] codeMatrix, Double[][][] cdaMatrix) {
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if (null == centerCode || null == agvDetail || null == agvModel) {
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return new ArrayList<>();
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}
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int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, centerCode.getData());
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if (null == codeMatrixIdx) {
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return new ArrayList<>();
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}
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Double centerX = cdaMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]][0];
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Double centerY = cdaMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]][1];
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if (centerX == null || centerY == null) {
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return new ArrayList<>();
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}
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VehicleFootprint footprint = this.buildFootprint(agvModel);
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if (null == footprint) {
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return new ArrayList<>();
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}
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double direction = Optional.ofNullable(agvDetail.getAgvAngle()).orElse(0D);
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// 现场角度是以正北为 0， 统一转换成弧度方便三角函数
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double headingRad = Math.toRadians(90 - direction);
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// 旋转矩形先求出世界坐标包围盒，减少遍历
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double[][] corners = this.buildRectangleCorners(centerX, centerY, footprint, headingRad);
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double minX = Arrays.stream(corners).mapToDouble(point -> point[0]).min().orElse(centerX);
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double maxX = Arrays.stream(corners).mapToDouble(point -> point[0]).max().orElse(centerX);
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double minY = Arrays.stream(corners).mapToDouble(point -> point[1]).min().orElse(centerY);
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double maxY = Arrays.stream(corners).mapToDouble(point -> point[1]).max().orElse(centerY);
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List<NavigateNode> nodeList = new ArrayList<>();
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for (int i = 0; i < codeMatrix.length; i++) {
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for (int j = 0; j < codeMatrix[i].length; j++) {
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String codeData = codeMatrix[i][j];
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if (CodeNodeType.NONE.val.equals(codeData)) {
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continue;
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}
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Double px = cdaMatrix[i][j][0];
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Double py = cdaMatrix[i][j][1];
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if (px == null || py == null) {
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continue;
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}
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// 先利用 AABB 做一次粗滤，再做精确的点内检测
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if (px < minX || px > maxX || py < minY || py > maxY) {
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continue;
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}
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// 是否命中 形状矩阵范围
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if (this.isInsideFootprint(px, py, centerX, centerY, footprint, headingRad)) {
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nodeList.add(new NavigateNode(i, j, codeData));
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}
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}
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}
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return nodeList;
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}
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/**
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* 根据车型参数（含 head/tail/width）构建投影用的矩形，必要时降级使用 length
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*/
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private VehicleFootprint buildFootprint(AgvModel agvModel) {
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if (null == agvModel) {
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return null;
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}
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// double baseLength = Optional.ofNullable(agvModel.getLength()).filter(len -> len > 0).map(Double::valueOf).orElse(0D);
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// double defaultHalfLength = baseLength > 0 ? baseLength / 2.0 : 0;
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if (null == agvModel.getHeadOffset() || agvModel.getHeadOffset() <= 0) {
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throw new CoolException(agvModel.getName() + "未设置 车头长度。");
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}
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if (null == agvModel.getTailOffset() || agvModel.getTailOffset() <= 0) {
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throw new CoolException(agvModel.getName() + "未设置 车尾长度。");
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}
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if (null == agvModel.getWidth() || agvModel.getWidth() <= 0) {
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throw new CoolException(agvModel.getName() + "未设置 车身宽度。");
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}
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double head = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getHeadOffset(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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double tail = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getTailOffset(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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double halfWidth = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getWidth() / 2, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
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// padding 直接沿四个方向等比例外扩，等价于给车身预留安全距离
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// double padding = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR) / 2.0;
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// if (padding > 0) {
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// head += padding;
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// tail += padding;
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// halfWidth += padding;
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// }
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// head = head <= 0 ? Math.max(tail, halfWidth) : head;
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// tail = tail <= 0 ? head : tail;
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// halfWidth = halfWidth <= 0 ? Math.max(head, tail) / 2.0 : halfWidth;
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//
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// if (head <= 0 || tail <= 0 || halfWidth <= 0) {
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// return null;
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// }
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return new VehicleFootprint(head, tail, halfWidth);
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}
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/**
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* 旋转矩形的四个角坐标，用来快速生成包围盒
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*/
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private double[][] buildRectangleCorners(double centerX, double centerY, VehicleFootprint footprint, double headingRad) {
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double cos = Math.cos(headingRad);
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double sin = Math.sin(headingRad);
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double[][] localPoints = new double[][]{
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{footprint.head, footprint.halfWidth},
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{footprint.head, -footprint.halfWidth},
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{-footprint.tail, footprint.halfWidth},
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{-footprint.tail, -footprint.halfWidth}
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};
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double[][] corners = new double[4][2];
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for (int idx = 0; idx < localPoints.length; idx++) {
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double lx = localPoints[idx][0];
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double ly = localPoints[idx][1];
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double gx = centerX + lx * cos - ly * sin;
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double gy = centerY + lx * sin + ly * cos;
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corners[idx][0] = gx;
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corners[idx][1] = gy;
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}
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return corners;
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}
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private boolean isInsideFootprint(double px, double py, double centerX, double centerY, VehicleFootprint footprint, double headingRad) {
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double dx = px - centerX;
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double dy = py - centerY;
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// 把点绕回车辆本体的局部坐标，再做简单矩形判断
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double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
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double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);
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return localX >= -footprint.tail && localX <= footprint.head
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&& localY >= -footprint.halfWidth && localY <= footprint.halfWidth;
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}
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private File loadPythonFile() {
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File scriptFile = null;
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try {
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Resource resource = new ClassPathResource("agv.py");
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InputStream is = resource.getInputStream();
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scriptFile = File.createTempFile("agv", ".py");
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scriptFile.deleteOnExit();
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Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
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boolean executable = scriptFile.setExecutable(true);
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} catch (Exception e) {
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throw new RuntimeException(e);
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}
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return scriptFile;
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}
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public void calcDynamicNodeWhenBoot() {
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List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
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DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
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for (Agv agv : agvList) {
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calcDynamicNodeByVehicle(agv, dynamicMatrix);
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}
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}
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public void calcDynamicNodeByVehicle(Agv agv, DynamicNode[][] dynamicMatrix) {
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if (null == dynamicMatrix) {
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dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
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}
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AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
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if (null == agvDetail) {
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return;
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}
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if (agvDetail.getPos() == null) {
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return;
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}
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Long recentCode = agvDetail.getRecentCode();
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if (null == recentCode) {
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return;
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}
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Code code = codeService.getById(recentCode);
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if (null == code) {
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return;
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}
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int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(null, code.getData());
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DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
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String vehicle = dynamicNode.getVehicle();
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if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
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mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid());
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}
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}
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@PreDestroy
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public void destroy() {
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this.singleThreadExecutor.shutdownNow();
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}
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}
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