#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

 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;
@@ -13,6 +14,7 @@
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;
@@ -20,10 +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.*;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -55,22 +62,25 @@
    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) {}

            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) {}
//            }

        });
    }
@@ -88,47 +98,107 @@
                return;
            }

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

            // 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());
//                }
//
//            }
            long startTime = System.currentTimeMillis();

            // 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());
            Resource resource = new ClassPathResource("agv.py");

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

                        for (NavigateNode navigateNode : includeList) {
                            String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                            waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                        }
            try {
                InputStream is = resource.getInputStream();
                tempScript = File.createTempFile("agv", ".py");
                tempScript.deleteOnExit();

                Files.copy(is, tempScript.toPath(), StandardCopyOption.REPLACE_EXISTING);
                tempScript.setExecutable(true);

                ProcessBuilder processBuilder = new ProcessBuilder(
                        "python" // 或者 "python3" 取决于系统配置
                        , tempScript.getAbsolutePath()
                        , String.valueOf(avoidDistance)
                        , redisProperties.getHost()
                        , redisProperties.getPassword()
                        , String.valueOf(redisProperties.getPort())
                        , String.valueOf(redisProperties.getIndex())
                );

                processBuilder.redirectErrorStream(true);

//            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);

                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;
                }
                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);

//            mapDataDispatcher.printMatrix(waveMatrix);
            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
            // 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)) {
//                        AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel());    // can be optimized
//
//                        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()]; // overlay
//                            waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
//                        }
//                    }
//                }
//            }
//
////            mapDataDispatcher.printMatrix(waveMatrix);
//            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        } catch (Exception e) {

@@ -140,7 +210,7 @@
            }

            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 +233,7 @@

            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 +273,7 @@
        if (null == agvDetail) {
            return;
        }
        if (agvDetail.getPos() == null || agvDetail.getPos() != 1) {
        if (agvDetail.getPos() == null) {
            return;
        }
        Long recentCode = agvDetail.getRecentCode();