#

luxiaotao1123

2024-12-16 8f6146d47a181f9353a5c06a65ac92baf4625e4a

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

@@ -3,6 +3,7 @@
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.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;
@@ -21,11 +22,14 @@
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
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.IOException;
import java.io.InputStreamReader;
import java.util.List;
@@ -59,6 +63,8 @@
    private CodeService codeService;
    @Autowired
    private MapService mapService;
    @Autowired
    private RedisProperties redisProperties;

    @PostConstruct
    @SuppressWarnings("all")
@@ -93,22 +99,28 @@
                return;
            }

            // 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);

            long startTime = System.currentTimeMillis();

            ProcessBuilder processBuilder = new ProcessBuilder("python"
                    , "D:\\tmp\\pyagv\\agv4.py"
            Resource resource = new ClassPathResource("agv.py");
            File file = resource.getFile();
            ProcessBuilder processBuilder = new ProcessBuilder(
                    "python"
                    , file.getAbsolutePath()
                    , String.valueOf(avoidDistance)
                    , redisProperties.getHost()
                    , redisProperties.getPassword()
                    , String.valueOf(redisProperties.getPort())
                    , String.valueOf(redisProperties.getIndex())
            );
            processBuilder.redirectErrorStream(true);

            try {
                Process process = processBuilder.start();

                // 读取Python脚本的输出
                BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
                String line;
                StringBuilder builder = new StringBuilder();
@@ -116,7 +128,6 @@
                    builder.append(line);
                }

                // 等待Python脚本执行完成
                int exitCode = process.waitFor();
                if (exitCode != 0) {
                    System.out.println("Python script exited with error code: " + exitCode);
@@ -140,6 +151,7 @@
            }
            log.error("python finish {}", System.currentTimeMillis() - startTime);

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