#

luxiaotao1123

2024-12-13 a46f9e397d5973e1ff9be3bb89357e2c50919900

#

 zy-acs-manager/pom.xml

@@ -146,6 +146,14 @@
            <artifactId>easyexcel</artifactId>
            <version>2.2.6</version>
        </dependency>

        <!-- nd4j -->
<!--        <dependency>-->
<!--            <groupId>org.nd4j</groupId>-->
<!--            <artifactId>nd4j-native-platform</artifactId>-->
<!--            <version>1.0.0-M2.1</version>-->
<!--        </dependency>-->

    </dependencies>

    <build>

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

@@ -1,12 +1,10 @@
package com.zy.acs.manager.common.utils;

import com.alibaba.fastjson.JSON;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.service.astart.WaveNodeType;

import java.util.ArrayList;
import java.util.List;
import java.util.Optional;
import java.util.*;

/**
 * Created by vincent on 8/7/2024
@@ -38,17 +36,10 @@
    }

    public static String generateWaveNode(String originStr, String waveNode) {
        List<String> waveNodeList;
        if (originStr.equals(WaveNodeType.ENABLE.val)) {
            waveNodeList = new ArrayList<>();
            waveNodeList.add(waveNode);
        } else {
            waveNodeList = JSON.parseArray(originStr, String.class);
            if (!waveNodeList.contains(waveNode)) {
                waveNodeList.add(waveNode);
            }
        }
        return JSON.toJSONString(waveNodeList);
        List<String> originNode = GsonUtils.fromJsonToList(originStr, String.class);
        Set<String> set = new HashSet<>(originNode);
        set.add(waveNode);
        return GsonUtils.toJson(set);
    }

    public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {

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

@@ -13,7 +13,6 @@
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;
@@ -25,9 +24,6 @@

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -93,78 +89,78 @@
                return;
            }

            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();

            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);

//            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
//            String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
//            AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString());    // can be optimized
//
//            // 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);
//
//                        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//                        List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
//            long startTime = System.currentTimeMillis();
//
//                        for (NavigateNode navigateNode : includeList) {
//                            String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
//                            waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
//                        }
//            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);

            String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
            String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
//
////            mapDataDispatcher.printMatrix(waveMatrix);
//            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
//            // 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) {