#

luxiaotao1123

2024-12-18 93d8a38f9fd0746b9ce6ac7541bf2b8b48f7c63c

 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;
@@ -21,13 +22,15 @@
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.IOException;
import java.io.InputStreamReader;
import java.io.*;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -59,6 +62,8 @@
    private CodeService codeService;
    @Autowired
    private MapService mapService;
    @Autowired
    private RedisProperties redisProperties;

    @PostConstruct
    @SuppressWarnings("all")
@@ -80,6 +85,26 @@
        });
    }

    private File pythonFile = null;

    private File loadPythonFile() {
        File scriptFile = null;
        try {
            Resource resource = new ClassPathResource("agv.py");

            InputStream is = resource.getInputStream();
            scriptFile = File.createTempFile("agv", ".py");
            scriptFile.deleteOnExit();

            Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);

            scriptFile.setExecutable(true);
        } catch (Exception e) {
            throw new RuntimeException(e);
        }
        return scriptFile;
    }

    public void calcWaveScope() {
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        boolean lockAcquired = false;
@@ -93,53 +118,57 @@
                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();
            if (null == pythonFile) {
                pythonFile = loadPythonFile();
            }

            ProcessBuilder processBuilder = new ProcessBuilder("python"
                    , "D:\\tmp\\pyagv\\agv4.py"
            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);

            try {
                Process process = processBuilder.start();
            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();
                while ((line = reader.readLine()) != null) {
                    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);
                    return;
                }
                reader.close();

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

                String result = builder.toString();

                if (!Cools.isEmpty(result)) {
                    if (!"1".equals(result)) {
                        log.error("Fail python");
                    }
                }
            } catch (IOException | InterruptedException e) {
                e.printStackTrace();
            BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
            String line;
            StringBuilder builder = new StringBuilder();
            while ((line = reader.readLine()) != null) {
                builder.append(line);
            }
            log.error("python finish {}", System.currentTimeMillis() - startTime);

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

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

            String result = builder.toString();

            if (!Cools.isEmpty(result)) {
                if (!"1".equals(result)) {
                    log.error("Failed to call python");
                }
            }
//            log.error("python finish {}", System.currentTimeMillis() - startTime);

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