1

zhang

2025-09-05 1864f916e0359d0814416cf94feda3a3662ed193

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

@@ -1,8 +1,9 @@
package com.zy.acs.manager.core.service;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
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.service.astart.DynamicNodeType;
@@ -13,17 +14,26 @@
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.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.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -35,6 +45,7 @@
 */
@Slf4j
@Component
@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {

    private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -42,6 +53,8 @@
    private static final int LOCK_TIMEOUT = 5;

    private ExecutorService singleThreadExecutor;

    private File pythonFile = null;

    @Autowired
    private MapDataDispatcher mapDataDispatcher;
@@ -55,136 +68,157 @@
    private CodeService codeService;
    @Autowired
    private MapService mapService;
    @Autowired
    private RedisProperties redisProperties;

    @PostConstruct
    @SuppressWarnings("all")
    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 void calcWaveScope() {

    public boolean calcWaveScope() {
        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))) {
                log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
                return;
                return false;
            }

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
            String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);

            // vehicle
//            for (Agv agv : agvService.list(new LambdaQueryWrapper<>())) {
//                AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
//                AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
//                Code code = codeService.getById(agvDetail.getRecentCode());
//
//                Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
//                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
//
//                for (NavigateNode navigateNode : includeList) {
//                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
//                    waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
//                }
//
//            }

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

                        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
                        List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);

                        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 this.calcWaveScopeByPython(lev);
            return this.calcWaveScopeByJava(lev);

        } catch (Exception e) {

            log.error(this.getClass().getSimpleName(), e);
            return false;
        } finally {

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

            stopWatch.stop();
            if (stopWatch.getTime() > 50) {
                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);
            }

        }
    }

    public void syncWaveBySingleVeh(String agvNo, String codeData) {
        if (Cools.isEmpty(agvNo, codeData)) {
            return;
    private boolean calcWaveScopeByPython(Integer lev) throws Exception {
        // 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) {
            pythonFile = loadPythonFile();
        }

        boolean lockAcquired = false;
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        ProcessBuilder processBuilder = new ProcessBuilder(
                "python" // 或者 "python3" 取决于系统配置
                , pythonFile.getAbsolutePath()
                , String.valueOf(avoidDistance)
                , redisProperties.getHost()
                , redisProperties.getPassword()
                , String.valueOf(redisProperties.getPort())
                , String.valueOf(redisProperties.getIndex())
        );

        processBuilder.redirectErrorStream(true);

        Process process = processBuilder.start();

        BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
        String line;
        StringBuilder builder = new StringBuilder();
        while ((line = reader.readLine()) != null) {
            builder.append(line);
        }

        int exitCode = process.waitFor();
        if (exitCode != 0) {
            log.error("Python script exited with error code: {}", exitCode);
            log.error("python error:{}", builder.toString());
            return false;
        }
        reader.close();

        if (builder.length() <= 0) {
            return false;
        }

        String result = builder.toString();

        if (Cools.isEmpty(result)) {
            return false;
        }
        if (!"1".equals(result)) {
            log.error("Failed to call python");
            return false;
        }

        return true;
    }

    private boolean calcWaveScopeByJava(Integer lev) throws Exception {

        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);

        // java
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);

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

                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);

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

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

        return true;
    }

    private File loadPythonFile() {
        File scriptFile = null;
        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
                return;
            }
            Resource resource = new ClassPathResource("agv.py");

            Agv agv = agvService.selectByUuid(agvNo);
            AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
            InputStream is = resource.getInputStream();
            scriptFile = File.createTempFile("agv", ".py");
            scriptFile.deleteOnExit();

            String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
            Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);

            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);

            boolean executable = scriptFile.setExecutable(true);
        } catch (Exception e) {
            log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
        } finally {

            if (lockAcquired) {
                lock.unlock();
            }
            throw new RuntimeException(e);
        }
        return scriptFile;
    }

    public void calcDynamicNodeWhenBoot() {
@@ -204,7 +238,7 @@
        if (null == agvDetail) {
            return;
        }
        if (agvDetail.getPos() == null || agvDetail.getPos() != 1) {
        if (agvDetail.getPos() == null) {
            return;
        }
        Long recentCode = agvDetail.getRecentCode();
@@ -219,7 +253,7 @@
        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());
        }
    }