#

vincentlu

2 天以前 44153e246cc041180f8544e05d81f5432b14a808

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

@@ -3,9 +3,12 @@
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.framework.exception.CoolException;
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.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
@@ -14,14 +17,13 @@
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;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.DependsOn;
import org.springframework.core.io.ClassPathResource;
import org.springframework.core.io.Resource;
import org.springframework.stereotype.Component;
@@ -30,9 +32,11 @@
import javax.annotation.PreDestroy;
import java.io.BufferedReader;
import java.io.File;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.util.List;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.*;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -43,6 +47,7 @@
 */
@Slf4j
@Component
@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {

    private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -50,6 +55,8 @@
    private static final int LOCK_TIMEOUT = 5;

    private ExecutorService singleThreadExecutor;

    private File pythonFile = null;

    @Autowired
    private MapDataDispatcher mapDataDispatcher;
@@ -71,167 +78,338 @@
    public void execute() {
        this.singleThreadExecutor = Executors.newSingleThreadExecutor();
        this.singleThreadExecutor.execute(() -> {

            try { Thread.sleep(200); } catch (InterruptedException ignore) {}
            try { Thread.sleep(500); } catch (InterruptedException ignore) {}

            this.calcDynamicNodeWhenBoot();

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

        });
    }

    public void calcWaveScope() {

    public boolean calcWaveScope(AgvModel agvModel) {
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        boolean lockAcquired = false;

        StopWatch stopWatch = new StopWatch();
        stopWatch.start();
        long startTime = System.currentTimeMillis();

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
                return;
                return false;
            }

            // 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();

            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();

                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) {
                    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);

            // 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);
//            return this.calcWaveScopeByPython(lev);
            return this.calcWaveScopeByJava(lev, agvModel);

        } catch (Exception e) {

            log.error(this.getClass().getSimpleName(), e);
            return false;
        } finally {

            if (lockAcquired) {
                lock.unlock();
            }

            stopWatch.stop();
            if (stopWatch.getTime() > 100) {
                log.info("滤波函数花费时间为：{}毫秒......", stopWatch.getTime());
            long during = System.currentTimeMillis() - startTime;
            if (during > 50) {
                log.info("滤波函数花费时间为：{}毫秒......", during);
            }

        }
    }

    public void syncWaveBySingleVeh(String agvNo, String codeData) {
        if (Cools.isEmpty(agvNo, codeData)) {
            return;
    private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
            log.warn("There is no diameter or diameter value was wrong...");
        }

        boolean lockAcquired = false;
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        // python
        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
                return;
        if (null == pythonFile) {
            pythonFile = loadPythonFile();
        }

        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);

        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 false;
        }
        reader.close();

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

        String result = builder.toString();

        if (Cools.isEmpty(result)) {
            return false;
        }
        if (!"1".equals(result)) {
            log.error("Failed to call python");
            return false;
        }

        return true;
    }

    private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) throws Exception {
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        // 记录每台车的安全半径，顺带标记已按矩形方式绘制的地码
        Map<String, Double> vehicleAvoidDistance = new HashMap<>();
        Set<String> preciseNodes = new HashSet<>();

        // 先根据实时位置+角度绘制实际矩形占位
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
        for (Agv agv : agvList) {
            // 每次按调度列表刷新车辆当前地码与角度
            AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
            if (null == agvDetail) { continue; }
            Long recentCodeId = agvDetail.getRecentCode();
            if (null == recentCodeId) { continue; }
            Code centerCode = codeService.getCacheById(recentCodeId);
            if (null == centerCode) { continue; }

            AgvModel model = agvModelService.getByAgvId(agv.getId());
            if (null == model) {
                model = agvModel;
            }
            double avoidDistance = resolveAvoidDistance(model, agvModel);
            vehicleAvoidDistance.put(agv.getUuid(), avoidDistance);

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

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

            List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);

            for (NavigateNode navigateNode : includeList) {
            // 将旋转矩形映射到网格，得到需要占用的节点集合
            List<NavigateNode> footprintNodes = calcFootprintNodes(lev, centerCode, agvDetail, model, codeMatrix, cdaMatrix);
            if (Cools.isEmpty(footprintNodes)) {
                continue;
            }
            preciseNodes.add(centerCode.getData());
            for (NavigateNode navigateNode : footprintNodes) {
                String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
            }
        }

            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        } catch (Exception e) {
            log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
        } finally {

            if (lockAcquired) {
                lock.unlock();
        // 再用原来的圆形波纹补上剩余的路径锁定节点
        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)) {
                    String codeData = codeMatrix[i][j];
                    if (preciseNodes.contains(codeData)) {
                        // 已经按真实矩形写过一次，避免重复占用
                        continue;
                    }
                    double avoidDistance = vehicleAvoidDistance.getOrDefault(vehicle, resolveAvoidDistance(null, agvModel));
                    if (avoidDistance <= 0) {
                        continue;
                    }
                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);
                    for (NavigateNode navigateNode : includeList) {
                        String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                        waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                    }
                }
            }
        }

        // 所有车辆同步完成后再统一写回 redis，减少频繁刷新
        mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
        return true;
    }

    // 不同车型可能直径不同，缺失时退回调用方传入的默认模型，最后再退回 0
    private double resolveAvoidDistance(AgvModel agvModel, AgvModel fallback) {
        Integer diameter = null;
        if (null != agvModel && null != agvModel.getDiameter() && agvModel.getDiameter() > 0) {
            diameter = agvModel.getDiameter();
        } else if (null != fallback) {
            diameter = fallback.getDiameter();
        }
        return MapDataUtils.getVehicleWaveSafeDistance(diameter, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
    }

    /**
     * 计算给定车辆在当前角度下真实覆盖的网格节点
     */
    private List<NavigateNode> calcFootprintNodes(Integer lev, Code centerCode, AgvDetail agvDetail, AgvModel agvModel
            , String[][] codeMatrix, Double[][][] cdaMatrix) {
        if (null == centerCode || null == agvDetail || null == agvModel) {
            return new ArrayList<>();
        }

        int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, centerCode.getData());
        if (null == codeMatrixIdx) {
            return new ArrayList<>();
        }
        Double centerX = cdaMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]][0];
        Double centerY = cdaMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]][1];
        if (centerX == null || centerY == null) {
            return new ArrayList<>();
        }

        VehicleFootprint footprint = this.buildFootprint(agvModel);
        if (null == footprint) {
            return new ArrayList<>();
        }

        double direction = Optional.ofNullable(agvDetail.getAgvAngle()).orElse(0D);
        // 现场角度是以正北为 0， 统一转换成弧度方便三角函数
        double headingRad = Math.toRadians(90 - direction);

        // 旋转矩形先求出世界坐标包围盒，减少遍历
        double[][] corners = this.buildRectangleCorners(centerX, centerY, footprint, headingRad);
        double minX = Arrays.stream(corners).mapToDouble(point -> point[0]).min().orElse(centerX);
        double maxX = Arrays.stream(corners).mapToDouble(point -> point[0]).max().orElse(centerX);
        double minY = Arrays.stream(corners).mapToDouble(point -> point[1]).min().orElse(centerY);
        double maxY = Arrays.stream(corners).mapToDouble(point -> point[1]).max().orElse(centerY);

        List<NavigateNode> nodeList = new ArrayList<>();
        for (int i = 0; i < codeMatrix.length; i++) {
            for (int j = 0; j < codeMatrix[i].length; j++) {
                String codeData = codeMatrix[i][j];
                if (CodeNodeType.NONE.val.equals(codeData)) {
                    continue;
                }
                Double px = cdaMatrix[i][j][0];
                Double py = cdaMatrix[i][j][1];
                if (px == null || py == null) {
                    continue;
                }
                // 先利用 AABB 做一次粗滤，再做精确的点内检测
                if (px < minX || px > maxX || py < minY || py > maxY) {
                    continue;
                }
                // 是否命中 形状矩阵范围
                if (this.isInsideFootprint(px, py, centerX, centerY, footprint, headingRad)) {
                    nodeList.add(new NavigateNode(i, j, codeData));
                }
            }
        }
        return nodeList;
    }

    /**
     * 根据车型参数（含 head/tail/width）构建投影用的矩形，必要时降级使用 length
     */
    private VehicleFootprint buildFootprint(AgvModel agvModel) {
        if (null == agvModel) {
            return null;
        }
//        double baseLength = Optional.ofNullable(agvModel.getLength()).filter(len -> len > 0).map(Double::valueOf).orElse(0D);
//        double defaultHalfLength = baseLength > 0 ? baseLength / 2.0 : 0;

        if (null == agvModel.getHeadOffset() || agvModel.getHeadOffset() <= 0) {
            throw new CoolException(agvModel.getName() + "未设置 车头长度。");
        }
        if (null == agvModel.getTailOffset() || agvModel.getTailOffset() <= 0) {
            throw new CoolException(agvModel.getName() + "未设置 车尾长度。");
        }
        if (null == agvModel.getWidth() || agvModel.getWidth() <= 0) {
            throw new CoolException(agvModel.getName() + "未设置 车身宽度。");
        }
        double head = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getHeadOffset(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        double tail = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getTailOffset(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        double halfWidth = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getWidth() / 2, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

        // padding 直接沿四个方向等比例外扩，等价于给车身预留安全距离
//        double padding = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR) / 2.0;
//        if (padding > 0) {
//            head += padding;
//            tail += padding;
//            halfWidth += padding;
//        }

//        head = head <= 0 ? Math.max(tail, halfWidth) : head;
//        tail = tail <= 0 ? head : tail;
//        halfWidth = halfWidth <= 0 ? Math.max(head, tail) / 2.0 : halfWidth;
//
//        if (head <= 0 || tail <= 0 || halfWidth <= 0) {
//            return null;
//        }
        return new VehicleFootprint(head, tail, halfWidth);
    }

    /**
     * 旋转矩形的四个角坐标，用来快速生成包围盒
     */
    private double[][] buildRectangleCorners(double centerX, double centerY, VehicleFootprint footprint, double headingRad) {
        double cos = Math.cos(headingRad);
        double sin = Math.sin(headingRad);

        double[][] localPoints = new double[][]{
                {footprint.head, footprint.halfWidth},
                {footprint.head, -footprint.halfWidth},
                {-footprint.tail, footprint.halfWidth},
                {-footprint.tail, -footprint.halfWidth}
        };

        double[][] corners = new double[4][2];
        for (int idx = 0; idx < localPoints.length; idx++) {
            double lx = localPoints[idx][0];
            double ly = localPoints[idx][1];
            double gx = centerX + lx * cos - ly * sin;
            double gy = centerY + lx * sin + ly * cos;
            corners[idx][0] = gx;
            corners[idx][1] = gy;
        }
        return corners;
    }

    private boolean isInsideFootprint(double px, double py, double centerX, double centerY, VehicleFootprint footprint, double headingRad) {
        double dx = px - centerX;
        double dy = py - centerY;

        // 把点绕回车辆本体的局部坐标，再做简单矩形判断
        double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
        double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);

        return localX >= -footprint.tail && localX <= footprint.head
                && localY >= -footprint.halfWidth && localY <= footprint.halfWidth;
    }

    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);

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

    public void calcDynamicNodeWhenBoot() {
@@ -266,7 +444,7 @@
        DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
        String vehicle = dynamicNode.getVehicle();
        if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
            mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(code.getData()), agv.getUuid());
            mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid());
        }
    }