version/db/mock/50-20241225.rarBinary files differ
zy-acs-flow/src/map/constants.js
@@ -1,5 +1,5 @@ export const ANIMATE_DURING_TIME = 800; export const ANIMATE_DURING_TIME = 1000; export const MAP_DEFAULT_ROTATION = 270;
@@ -33,7 +33,7 @@ @Component public class MapDataWsScheduler { public static final int WEBSOCKET_BROADCAST_INTERVAL = 800; public static final int WEBSOCKET_BROADCAST_INTERVAL = 1000; private ExecutorService singleThreadExecutor;
@@ -50,6 +50,8 @@ private ExecutorService singleThreadExecutor; private File pythonFile = null; @Autowired private MapDataDispatcher mapDataDispatcher; @Autowired @@ -85,7 +87,126 @@ }); } private File pythonFile = null; public boolean calcWaveScope() { Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV; boolean lockAcquired = false; StopWatch stopWatch = new StopWatch(); stopWatch.start(); try { if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) { log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ..."); return false; } // return this.calcWaveScopeByPython(lev); return this.calcWaveScopeByJava(lev); } 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()); } } } private boolean calcWaveScopeByPython(Integer lev) throws Exception { // 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); 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) throws Exception { 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); // 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)) { 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 true; } private File loadPythonFile() { File scriptFile = null; @@ -98,118 +219,11 @@ Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING); scriptFile.setExecutable(true); boolean executable = scriptFile.setExecutable(true); } catch (Exception e) { throw new RuntimeException(e); } return scriptFile; } public void calcWaveScope() { Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV; boolean lockAcquired = false; StopWatch stopWatch = new StopWatch(); stopWatch.start(); try { if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) { log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ..."); return; } // 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); 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; } reader.close(); if (builder.length() <= 0) { return; } String result = builder.toString(); if (!Cools.isEmpty(result)) { if (!"1".equals(result)) { log.error("Failed to call python"); } } // 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); } catch (Exception e) { log.error(this.getClass().getSimpleName(), e); } 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()); } } } public void syncWaveBySingleVeh(String agvNo, String codeData) { zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -267,7 +267,7 @@ NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code); List<NavigateNode> includeList = new ArrayList<>(); List<NavigateNode> existNodes = new ArrayList<>(); Set<NavigateNode> existNodes = new HashSet<>(); includeList.add(originNode); existNodes.add(originNode); @@ -279,7 +279,7 @@ public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen , List<NavigateNode> includeList, List<NavigateNode> existNodes) { , List<NavigateNode> includeList, Set<NavigateNode> existNodes) { int x = currNode.getX(); int y = currNode.getY(); @@ -291,7 +291,7 @@ public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen , List<NavigateNode> includeList, List<NavigateNode> existNodes) { , List<NavigateNode> includeList, Set<NavigateNode> existNodes) { int x = nextNode.getX(); int y = nextNode.getY(); @@ -301,48 +301,26 @@ return; } if (this.isExist(nextNode, existNodes)) { if (existNodes.contains(nextNode)) { return; } existNodes.add(nextNode); String nextNodeCodeData = codeMatrix[x][y]; if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) { List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]); List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]); if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) { nextNode.setCodeData(codeMatrix[x][y]); if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) { includeList.add(nextNode); } this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes); } else { List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]); List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]); // if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) { if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) { nextNode.setCodeData(nextNodeCodeData); includeList.add(nextNode); this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes); } } } private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) { for (NavigateNode existNode : existNodes) { if (this.isSame(node, existNode)) { return true; } } return false; } private boolean isSame(NavigateNode o1, NavigateNode o2) { if (Cools.isEmpty(o1, o2)) { return false; } return o1.getX() == o2.getX() && o1.getY() == o2.getY(); } // v2 BFS ------------------------------------------------------------------------------ @@ -394,7 +372,7 @@ } // If the node has already been visited, skip it if (this.isExist0(nextNode, visited)) { if (visited.contains(nextNode)) { return; } @@ -422,15 +400,6 @@ queue.offer(nextNode); } } } private boolean isExist0(NavigateNode node, Set<NavigateNode> existNodes) { for (NavigateNode existNode : existNodes) { if (this.isSame(node, existNode)) { return true; } } return false; }
@@ -23,6 +23,7 @@ import org.springframework.stereotype.Service; import java.util.*; import java.util.concurrent.CopyOnWriteArrayList; import java.util.stream.Collectors; /** @@ -95,7 +96,7 @@ List<RetreatNavigateNode> enableNodes = new ArrayList<>(); ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix); List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix); boolean pointOfTurn = neighborNodes.size() >= 2; label: for (RetreatNavigateNode node : neighborNodes) { if (node.getCodeData().equals(breakPoint)) { continue; } @@ -212,7 +213,7 @@ RetreatNavigateNode currentNode = openQueue.poll(); List<RetreatNavigateNode> enableNodes = new ArrayList<>(); ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix); List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix); // 第一步：获取有效转弯点 if (null == availablePointOfTurn) { @@ -319,12 +320,12 @@ } // 获取四周节点 private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) { private List<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) { int x = currentNode.getX(); int y = currentNode.getY(); ArrayList<RetreatNavigateNode> neighbourNodes = new ArrayList<>(); List<RetreatNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>(); List<RetreatNavigateNode> possibleNodes = Arrays.asList( new RetreatNavigateNode(x, y + 1), // right zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -126,8 +126,11 @@ // execute ----------------------------------------------- // ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {}); // get path list avoidWaveCalculator.calcWaveScope(); // * sync wave scope // * sync wave scope if (!avoidWaveCalculator.calcWaveScope()) { log.error("failed to calculate avoid wave matrix ..."); return; } // checkout path Code startCode = codeService.getById(agvDetail.getRecentCode()); zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -1,6 +1,7 @@ package com.zy.acs.manager.core.service.astart; import com.zy.acs.common.constant.RedisConstant; import com.zy.acs.common.utils.GsonUtils; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.common.utils.MapDataUtils; @@ -11,14 +12,17 @@ import com.zy.acs.manager.manager.entity.Segment; import com.zy.acs.manager.manager.service.JamService; import com.zy.acs.manager.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.*; import java.util.concurrent.CopyOnWriteArrayList; /** * Created by vincent on 6/12/2024 */ @Slf4j @Service public class AStarNavigateService { @@ -58,9 +62,10 @@ // 取优先队列顶部元素并且把这个元素从Open表中删除，取F值最小的节点 NavigateNode currentNode = openQueue.poll(); ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes); List<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes); for (NavigateNode node : neighbourNodes) { node.setCodeData(codeMatrix[node.getX()][node.getY()]); boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY(); int weight = 0; @@ -171,11 +176,11 @@ } // 获取四周节点 private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) { private List<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) { int x = currentNode.getX(); int y = currentNode.getY(); ArrayList<NavigateNode> neighbourNodes = new ArrayList<>(); List<NavigateNode> neighbourNodes = new CopyOnWriteArrayList<>(); List<NavigateNode> possibleNodes = Arrays.asList( new NavigateNode(x, y + 1), // right zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
@@ -3,6 +3,7 @@ import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.constant.RedisConstant; import com.zy.acs.common.utils.GsonUtils; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.exception.CoolException; @@ -28,6 +29,9 @@ public static final Integer MAP_DEFAULT_LEV = 1; private final RedisSupport redis = RedisSupport.defaultRedisSupport; List<Double> xIdxList; List<Double> yIdxList; private String[][] codeMatrix; @@ -193,7 +197,6 @@ } public String[][] initWaveMatrix(Integer lev) { log.info("There is initializing Wave Matrix......"); lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV); String[][] codeMatrix = getCodeMatrix(lev); @@ -236,13 +239,20 @@ log.info("There is initializing Cda Matrix......"); lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV); if (Cools.isEmpty(xIdxList, yIdxList)) { this.initCodeMatrix(lev); } String[][] codeMatrix = getCodeMatrix(lev); String[][] cdaMatrix = new String[codeMatrix.length][codeMatrix[0].length]; for (int i = 0; i < codeMatrix.length; i++) { for (int j = 0; j < codeMatrix[i].length; j++) { if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) { cdaMatrix[i][j] = CdaNodeType.DISABLE.val; List<Double> cdaArr = new ArrayList<>(); cdaArr.add(xIdxList.get(j)); cdaArr.add(yIdxList.get(i)); cdaMatrix[i][j] = JSON.toJSONString(cdaArr); } else { Code currCode = codeService.selectByData(codeMatrix[i][j]); if (null != currCode) { @@ -385,13 +395,9 @@ .orderByAsc(Code::getY) .orderByAsc(Code::getX) ); // int xCount = codeService.selectDistinctCountFromX(); // int yCount = codeService.selectDistinctCountFromY(); // // [][] 第一个是排的数量 第二个是列的数量 // String[][] codeMatrix = new String[yCount][xCount]; List<Double> xIdxList = new ArrayList<>(); List<Double> yIdxList = new ArrayList<>(); xIdxList = new ArrayList<>(); yIdxList = new ArrayList<>(); for (Code code : codeList) { Double x = code.getX(); Double y = code.getY(); @@ -409,24 +415,9 @@ // [][] 第一个是排的数量 第二个是列的数量 String[][] codeMatrix = new String[yIdxList.size()][xIdxList.size()]; int idxX = -1; int idxY = -1; double lastX = -1; double lastY = -1; for (Code code : codeList) { Double x = code.getX(); Double y = code.getY(); // if (y != lastY) { // idxY ++; // idxX = 0; // lastY = y; // lastX = x; // } // if (x != lastX) { // idxX++; // lastX = x; // } // codeMatrix[idxY][idxX] = code.getData(); codeMatrix[yIdxList.indexOf(y)][xIdxList.indexOf(x)] = code.getData(); } zy-acs-manager/src/main/resources/agv.py
@@ -1,3 +1,5 @@ # -*- coding: utf-8 -*- import ast import multiprocessing import sys
