#

luxiaotao1123

2024-12-16 bc5fa0165da2b3e41b9c27bee5394ff6d47f096f

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

@@ -1,8 +1,8 @@
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.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
@@ -57,20 +57,21 @@
    private MapService mapService;

    @PostConstruct
    @SuppressWarnings("all")
    public void execute() {
        this.singleThreadExecutor = Executors.newSingleThreadExecutor();
        this.singleThreadExecutor.execute(() -> {

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

            this.calcDynamicNodeWhenBoot();

            while (!Thread.currentThread().isInterrupted()) {

                this.calcWaveScope();

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

        });
    }
@@ -88,39 +89,70 @@
                return;
            }

            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());
//            AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString());    // can be optimized
//
//                Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
//                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
//            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//
//                for (NavigateNode navigateNode : includeList) {
//                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
//                    waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
//            long startTime = System.currentTimeMillis();
//
//            ProcessBuilder processBuilder = new ProcessBuilder("python"
//                    , "D:\\tmp\\pyagv\\agv4.py"
//                    , String.valueOf(avoidDistance)
//            );
//            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();
//                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();
//            }
//            log.error("python finish {}", System.currentTimeMillis() - startTime);

            // lock path
            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)) {
                        AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());
                        AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized

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

                        for (NavigateNode navigateNode : includeList) {
                            String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                            String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
                            waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                        }
                    }
@@ -140,7 +172,7 @@
            }

            stopWatch.stop();
            if (stopWatch.getTime() > 50) {
            if (stopWatch.getTime() > 100) {
                log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
            }

@@ -163,7 +195,7 @@

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

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

@@ -203,7 +235,7 @@
        if (null == agvDetail) {
            return;
        }
        if (agvDetail.getPos() == null || agvDetail.getPos() != 1) {
        if (agvDetail.getPos() == null) {
            return;
        }
        Long recentCode = agvDetail.getRecentCode();