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luxiaotao1123

2024-12-12 cc1adec06e08b82808eb7e4a2919e08218d86519

#

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

@@ -1,8 +1,8 @@
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.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
@@ -13,6 +13,7 @@
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;
@@ -24,6 +25,9 @@

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;
@@ -89,47 +93,78 @@
                return;
            }

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

            // 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.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//                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());
//                }
//
//            }

            // 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
            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);
                        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);
                        }
                    }
                }
            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);
            }

//            mapDataDispatcher.printMatrix(waveMatrix);
            mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
                // 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);
//
//            // 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) {