新增充电桩

zhang

2025-05-20 1313906bb1eb983d3beece810035e7fc28d6a92f

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

@@ -12,6 +12,7 @@
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -123,6 +124,18 @@
        }).collect(Collectors.toList());
    }

    public static Double mapToNearest(Double angle) {
        if (null == angle) {
            return null;
        }
        angle = (angle + 360) % 360;
        double remainder = angle % 45;
        if (remainder < 22.5) {
            return angle - remainder;
        } else {
            return angle + (45 - remainder);
        }
    }

    // 角度计算
    public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
@@ -134,7 +147,7 @@

        double deltaX = x1 - x0;
        double deltaY = y1 - y0;
        double angle = -Math.atan2(deltaX, deltaY);
        double angle = Math.atan2(deltaX, deltaY);
        angle = Math.toDegrees(angle) + angleOffsetVal;
        angle = (angle + 360) % 360; // 将角度转换为正值

@@ -142,7 +155,7 @@
    }

    // 坐标货架阈值 todo:luxiaotao
    public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
    public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
        Integer compDirect = loc.getCompDirect();
        AgvDirectionType agvDirectionType = null;
        if (compDirect == 0) {
@@ -154,6 +167,19 @@
        return agvDirectionType;
    }

    public Double getStaAngle(Sta sta, Double workDirection) {
        if (null == sta) {
            return null;
        }
        if (Cools.isEmpty(sta.getAngle())) {
            return workDirection;
        }
        return Double.parseDouble(sta.getAngle());
    }

    public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
        return Math.abs(staWorkDirection - lastDirection) + 90.0D;
    }

    public double calculateDistance(double x1, double y1, double x2, double y2) {
        double deltaX = x2 - x1;
@@ -183,8 +209,46 @@
    }

    public void unlockPath(String agvNo, String codeData) {
        if (Cools.isEmpty(agvNo, codeData)) {
            return;
        }
        try {
            unlockTaskQueue.offer(new UnlockPathTask(agvNo, codeData), 5, TimeUnit.SECONDS);

//            Integer lev = null;
//
//            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
//            int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);
//
//
//            DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
//
//            DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
//
//
//            int serial = dynamicNode.getSerial();
//
//            List<int[]> resetCodeIdxList = new ArrayList<>();
//
//            for (int i = 0; i < dynamicMatrix.length; i++) {
//                for (int j = 0; j < dynamicMatrix[i].length; j++) {
//
////                    if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
//
//                    DynamicNode node = dynamicMatrix[i][j];
//                    if (node.getVehicle().equals(agvNo)) {
//                        if (node.getSerial() < serial) {
//                            resetCodeIdxList.add(new int[] {i, j});
//                        }
//                    }
//                }
//            }
//
//            if (!Cools.isEmpty(resetCodeIdxList)) {
//
//                mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList);
//            }

        } catch (InterruptedException e) {
            log.error("unlockTaskQueue", e);
        }
@@ -210,6 +274,8 @@

    // v1 BFS ------------------------------------------------------------------------------
    public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
        double radiusLenSquared = Math.pow(radiusLen, 2);

        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);

@@ -222,25 +288,25 @@
        includeList.add(originNode);
        existNodes.add(originNode);

        this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);

        return includeList;
    }

    public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLen
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
        int x = currNode.getX();
        int y = currNode.getY();

        this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
    }

    public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLen
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {

        int x = nextNode.getX();
@@ -259,14 +325,14 @@

        Double[] o1Cda = cdaMatrix[originNode.getX()][originNode.getY()];
        Double[] o2Cda = cdaMatrix[x][y];
        if (Math.pow(o1Cda[0] - o2Cda[0], 2) + Math.pow(o1Cda[1] - o2Cda[1], 2) <= Math.pow(radiusLen, 2)) {
        if (Math.pow(o1Cda[0] - o2Cda[0], 2) + Math.pow(o1Cda[1] - o2Cda[1], 2) <= radiusLenSquared) {
            nextNode.setCodeData(codeMatrix[x][y]);

            if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
                includeList.add(nextNode);
            }

            this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
            this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
        }

    }