#

vincentlu

2 天以前 44153e246cc041180f8544e05d81f5432b14a808

#

 version/doc/RCS¿ª·¢½ø¶È±í.xlsx

Binary files differ

 zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java

@@ -64,4 +64,12 @@
        return diameter * factor;
    }

    public static Double getVehicleWaveSafeDistance(Double value, Double factor) {
        if (Cools.isEmpty(value)) {
            return 0.0D;
        }
        factor = Optional.ofNullable(factor).orElse(1.0D);
        return value * factor;
    }

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java

New file
@@ -0,0 +1,22 @@
package com.zy.acs.manager.core.domain;

import lombok.Data;

@Data
public class VehicleFootprint {

    public double head;
    public double tail;
    public double halfWidth;

    public VehicleFootprint() {
    }

    public VehicleFootprint(double head, double tail, double halfWidth) {
        this.head = head;
        this.tail = tail;
        this.halfWidth = halfWidth;
    }


}

 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;
@@ -33,7 +36,7 @@
import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.List;
import java.util.*;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -173,40 +176,224 @@
    }

    private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) throws Exception {
        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
            log.warn("There is no diameter or diameter value was wrong...");
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        // è®°å½•æ¯å°è½¦çš„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<>();

        // å…ˆæ ¹æ®å®žæ—¶ä½ç½®+角度绘制实际矩形占位
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
        for (Agv agv : agvList) {
            // æ¯æ¬¡æŒ‰è°ƒåº¦åˆ—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);

            // å°†æ—‹è½¬çŸ©å½¢æ˜ å°„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());
            }
        }

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);

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

        // lock path
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        // å†ç”¨åŽŸæ¥çš„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)) {

                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);

                    String codeData = codeMatrix[i][j];
                    if (preciseNodes.contains(codeData)) {
                        // å·²ç»æŒ‰çœŸå®žçŸ©å½¢å†™è¿‡ä¸€æ¬¡ï¼Œé¿å…é‡å¤å ç”¨
                        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()]; // overlay
                        String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                        waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                    }
                }
            }
        }

//            mapDataDispatcher.printMatrix(waveMatrix);
        // æ‰€æœ‰è½¦è¾†åŒæ­¥å®ŒæˆåŽå†ç»Ÿä¸€å†™å›ž redis，减少频繁刷新
        mapDataDispatcher.setWaveMatrix(lev, waveMatrix);

        return true;
    }

    // ä¸åŒè½¦åž‹å¯èƒ½ç›´å¾„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);
    }

    /**
     * è®¡ç®—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);
        // çŽ°åœºè§’度是以正北为 0， ç»Ÿä¸€è½¬æ¢æˆå¼§åº¦æ–¹ä¾¿ä¸‰è§’函数
        double headingRad = Math.toRadians(90 - direction);

        // æ—‹è½¬çŸ©å½¢å…ˆæ±‚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;
                }
                // å…ˆåˆ©ç”¨ AABB åšä¸€æ¬¡ç²—滤，再做精确的点内检测
                if (px < minX || px > maxX || py < minY || py > maxY) {
                    continue;
                }
                // æ˜¯å¦å‘½ä¸­ å½¢çŠ¶çŸ©é˜µèŒƒå›´
                if (this.isInsideFootprint(px, py, centerX, centerY, footprint, headingRad)) {
                    nodeList.add(new NavigateNode(i, j, codeData));
                }
            }
        }
        return nodeList;
    }

    /**
     * æ ¹æ®è½¦åž‹å‚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 è½¦å¤´é•¿åº¦ã€‚");
        }
        if (null == agvModel.getTailOffset() || agvModel.getTailOffset() <= 0) {
            throw new CoolException(agvModel.getName() + "未设置 è½¦å°¾é•¿åº¦ã€‚");
        }
        if (null == agvModel.getWidth() || agvModel.getWidth() <= 0) {
            throw new CoolException(agvModel.getName() + "未设置 è½¦èº«å®½åº¦ã€‚");
        }
        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 ç›´æŽ¥æ²¿å››ä¸ªæ–¹å‘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);
    }

    /**
     * æ—‹è½¬çŸ©å½¢çš„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;

        // æŠŠç‚¹ç»•å›žè½¦è¾†æœ¬ä½“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 {