#

vincentlu

1 天以前 0b6213a1d96221669173f43b7a604bc37017472a

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java

@@ -3,9 +3,13 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.config.RedisProperties;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.domain.VehicleRuntime;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
@@ -14,24 +18,28 @@
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.DependsOn;
import org.springframework.core.io.ClassPathResource;
import org.springframework.core.io.Resource;
import org.springframework.stereotype.Component;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.io.*;
import java.io.BufferedReader;
import java.io.File;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -42,6 +50,7 @@
 */
@Slf4j
@Component
@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {

    private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -72,28 +81,18 @@
    public void execute() {
        this.singleThreadExecutor = Executors.newSingleThreadExecutor();
        this.singleThreadExecutor.execute(() -> {

            try { Thread.sleep(200); } catch (InterruptedException ignore) {}
            try { Thread.sleep(500); } catch (InterruptedException ignore) {}

            this.calcDynamicNodeWhenBoot();

//            while (!Thread.currentThread().isInterrupted()) {
//
//                this.calcWaveScope();
//
//                try { Thread.sleep(500); } catch (InterruptedException ignore) {}
//            }

        });
    }


    public boolean calcWaveScope() {
    public boolean calcWaveScope(AgvModel agvModel) {
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        boolean lockAcquired = false;

        StopWatch stopWatch = new StopWatch();
        stopWatch.start();
        long startTime = System.currentTimeMillis();

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
@@ -101,8 +100,8 @@
                return false;
            }

            return this.calcWaveScopeByPython(lev);
//            return this.calcWaveScopeByJava(lev);
//            return this.calcWaveScopeByPython(lev);
            return this.calcWaveScopeByJava(lev, agvModel);

        } catch (Exception e) {

@@ -114,16 +113,19 @@
                lock.unlock();
            }

            stopWatch.stop();
            if (stopWatch.getTime() > 100) {
                log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
            long during = System.currentTimeMillis() - startTime;
            if (during > 50) {
                log.info("滤波函数花费时间为：{}毫秒......", during);
            }
        }
    }

    private boolean calcWaveScopeByPython(Integer lev) throws Exception {
    private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
            log.warn("There is no diameter or diameter value was wrong...");
        }

        // python
        AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString());    // can be optimized
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

        if (null == pythonFile) {
@@ -176,35 +178,94 @@
        return true;
    }

    private boolean calcWaveScopeByJava(Integer lev) throws Exception {
        // java
    private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) {
        assert null != agvModel.getDiameter();
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);

        // lock path
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        // 当前调度车型的最大旋转半径
        double bufferRadius = buildFootprint(agvModel).maxExtent();

        Map<String, VehicleRuntime> runtimeCache = new HashMap<>();
        for (int i = 0; i < dynamicMatrix.length; i++) {
            for (int j = 0; j < dynamicMatrix[i].length; j++) {
                DynamicNode dynamicNode = dynamicMatrix[i][j];
                String vehicle = dynamicNode.getVehicle();
                if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
                    AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized
                if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
                    continue;
                }
                String codeData = codeMatrix[i][j];
                if (CodeNodeType.NONE.val.equals(codeData)) {
                    continue;
                }

                    Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
                // cache
                VehicleRuntime runtime = runtimeCache.computeIfAbsent(vehicle, this::loadRuntime);
                assert null != runtime; assert null != runtime.getFootprint();

                    for (NavigateNode navigateNode : includeList) {
                        String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
                        waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                    }
                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, runtime.getFootprint(), runtime.getHeadingRad(), bufferRadius);

                for (NavigateNode navigateNode : includeList) {
                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                    waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                }
            }
        }

//            mapDataDispatcher.printMatrix(waveMatrix);
        mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        return true;
    }

    private VehicleRuntime loadRuntime(String agvNo) {
        AgvModel model = agvModelService.getByAgvNo(agvNo);
        if (model == null) {
            return null;
        }
        VehicleFootprint footprint = this.buildFootprint(model);

        AgvDetail detail = agvDetailService.selectByAgvNo(agvNo);
        if (detail == null || null == detail.getAgvAngle()) {
            throw new CoolException(agvNo + " does not have an agv angle");
        }
        double headingDeg = detail.getAgvAngle();

        return new VehicleRuntime(footprint, Math.toRadians(90 - headingDeg));
    }

    private double toMapLength(Integer mm) {
        if (mm == null || mm <= 0) {
            throw new IllegalArgumentException("Invalid map length: " + mm);
        }
        return MapDataUtils.getVehicleWaveSafeDistance(mm, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
    }

    private double resolveAvoidDistance(AgvModel agvModel) {
        if (agvModel == null || agvModel.getDiameter() == null || agvModel.getDiameter() <= 0) {
            return 0D;
        }
        return MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
    }

    private VehicleFootprint buildFootprint(AgvModel agvModel) {
        if (null == agvModel) {
            throw new IllegalArgumentException("AgvModel is null");
        }
        if (agvModel.getHeadOffset() == null || agvModel.getHeadOffset() <= 0) {
            throw new IllegalArgumentException("Invalid head offset: " + agvModel.getHeadOffset());
        }
        if (agvModel.getTailOffset() == null || agvModel.getTailOffset() <= 0) {
            throw new IllegalArgumentException("Invalid tail offset: " + agvModel.getTailOffset());
        }
        if (agvModel.getWidth() == null || agvModel.getWidth() <= 0) {
            throw new IllegalArgumentException("Invalid width: " + agvModel.getWidth());
        }

        double head = toMapLength(agvModel.getHeadOffset());
        double tail = toMapLength(agvModel.getTailOffset());
        double halfWidth = toMapLength(agvModel.getWidth()) / 2;

        return new VehicleFootprint(head, tail, halfWidth);
    }

    private File loadPythonFile() {
@@ -223,45 +284,6 @@
            throw new RuntimeException(e);
        }
        return scriptFile;
    }

    public void syncWaveBySingleVeh(String agvNo, String codeData) {
        if (Cools.isEmpty(agvNo, codeData)) {
            return;
        }

        boolean lockAcquired = false;
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
                return;
            }

            Agv agv = agvService.selectByUuid(agvNo);
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

            String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);

            List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);

            for (NavigateNode navigateNode : includeList) {
                String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
            }

            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        } catch (Exception e) {
            log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
        } finally {

            if (lockAcquired) {
                lock.unlock();
            }
        }
    }

    public void calcDynamicNodeWhenBoot() {
@@ -296,7 +318,7 @@
        DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
        String vehicle = dynamicNode.getVehicle();
        if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
            mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(code.getData()), agv.getUuid());
            mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid());
        }
    }