#

vincentlu

2 天以前 7ce12b33107fb33941df7e1589bf1a6716539377

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

@@ -2,11 +2,9 @@

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.PathDto;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
@@ -31,10 +29,8 @@

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.HashMap;
@@ -120,72 +116,72 @@
        }
    }

    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
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

        if (null == pythonFile) {
            pythonFile = loadPythonFile();
        }

        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 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
//        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//
//        if (null == pythonFile) {
//            pythonFile = loadPythonFile();
//        }
//
//        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, AgvModel agvModel) {
        assert null != agvModel.getDiameter();
//        assert null != agvModel.getDiameter();
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

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

        Map<String, VehicleFootprint> footprintCache = new HashMap<>();

@@ -203,18 +199,21 @@

                VehicleFootprint footprint = footprintCache.computeIfAbsent(vehicle, this::loadFootprint);

                List<NavigateNode> includeList;
                Double nodeDirection = dynamicNode.getDirection();
                if (dynamicNode.isTurn()) {
                    double radius = footprint.maxExtent() + bufferRadius;
                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
                } else if (nodeDirection != null) {
                    double headingRad = Math.toRadians(90 - nodeDirection);
                    includeList = mapService.getWaveScopeByCode(lev, codeData, footprint, headingRad, bufferRadius);
                } else {
                    double radius = footprint.maxExtent() + bufferRadius;
                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
                }
                double radius = footprint.maxExtent() + bufferRadius;
                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, radius);

//                List<NavigateNode> includeList;
//                Double nodeDirection = dynamicNode.getDirection();
//                if (dynamicNode.isTurn()) {
//                    double radius = footprint.maxExtent() + bufferRadius;
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
//                } else if (nodeDirection != null) {
//                    double headingRad = Math.toRadians(90 - nodeDirection);
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, footprint, headingRad, bufferRadius);
//                } else {
//                    double radius = footprint.maxExtent() + bufferRadius;
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
//                }

                for (NavigateNode navigateNode : includeList) {
                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
@@ -232,42 +231,7 @@
        if (model == null) {
            throw new CoolException(agvNo + " does not have an model.");
        }
        return this.buildFootprint(model);
    }

    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);
        return MapDataUtils.buildFootprint(model);
    }

    private File loadPythonFile() {