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vincentlu

昨天 f076136ab3d84d0129a2b5898ee92dc1b70a4a30

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

@@ -56,12 +56,12 @@
        return JSON.toJSONString(set);
    }

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

}

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

New file
@@ -0,0 +1,26 @@
package com.zy.acs.manager.core.domain;

import lombok.Data;

/**
 * 车辆在自身坐标系下的矩形轮廓描述
 */
@Data
public class VehicleFootprint {

    private double head;
    private double tail;
    private double halfWidth;

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

    public double maxExtent() {
        double frontDiag = Math.hypot(head, halfWidth);
        double rearDiag = Math.hypot(tail, halfWidth);
        return Math.max(frontDiag, rearDiag);
    }
}

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

New file
@@ -0,0 +1,19 @@
package com.zy.acs.manager.core.domain;

import lombok.Data;

@Data
public class VehicleRuntime {

    private VehicleFootprint footprint;
    private double headingRad;

    public VehicleRuntime() {
    }

    public VehicleRuntime(VehicleFootprint footprint, double headingRad) {
        this.footprint = footprint;
        this.headingRad = headingRad;
    }

}

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

@@ -3,9 +3,13 @@
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.domain.VehicleRuntime;
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 +37,9 @@
import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -172,41 +178,96 @@
        return true;
    }

    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...");
        }

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

        // java
    private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) {
        assert null != agvModel.getDiameter();
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);

        // lock path
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        // 当前调度车型的最大旋转半径
        double bufferRadius = buildFootprint(agvModel).maxExtent();

        Map<String, VehicleRuntime> runtimeCache = new HashMap<>();
        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)) {
                if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
                    continue;
                }
                String codeData = codeMatrix[i][j];
                if (CodeNodeType.NONE.val.equals(codeData)) {
                    continue;
                }

                    List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
                // cache
                VehicleRuntime runtime = runtimeCache.computeIfAbsent(vehicle, this::loadRuntime);
                assert null != runtime; assert null != runtime.getFootprint();

                    for (NavigateNode navigateNode : includeList) {
                        String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
                        waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                    }
                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, runtime.getFootprint(), runtime.getHeadingRad(), bufferRadius);

                for (NavigateNode navigateNode : includeList) {
                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
                    waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
                }
            }
        }

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

        return true;
    }

    private VehicleRuntime loadRuntime(String agvNo) {
        AgvModel model = agvModelService.getByAgvNo(agvNo);
        if (model == null) {
            return null;
        }
        VehicleFootprint footprint = this.buildFootprint(model);

        AgvDetail detail = agvDetailService.selectByAgvNo(agvNo);
        if (detail == null || null == detail.getAgvAngle()) {
            throw new CoolException(agvNo + " does not have an agv angle");
        }
        double headingDeg = detail.getAgvAngle();

        return new VehicleRuntime(footprint, Math.toRadians(90 - headingDeg));
    }

    private double toMapLength(Integer mm) {
        if (mm == null || mm <= 0) {
            throw new IllegalArgumentException("Invalid map length: " + mm);
        }
        return MapDataUtils.getVehicleWaveSafeDistance(mm, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
    }

    private double resolveAvoidDistance(AgvModel agvModel) {
        if (agvModel == null || agvModel.getDiameter() == null || agvModel.getDiameter() <= 0) {
            return 0D;
        }
        return MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
    }

    private VehicleFootprint buildFootprint(AgvModel agvModel) {
        if (null == agvModel) {
            throw new IllegalArgumentException("AgvModel is null");
        }
        if (agvModel.getHeadOffset() == null || agvModel.getHeadOffset() <= 0) {
            throw new IllegalArgumentException("Invalid head offset: " + agvModel.getHeadOffset());
        }
        if (agvModel.getTailOffset() == null || agvModel.getTailOffset() <= 0) {
            throw new IllegalArgumentException("Invalid tail offset: " + agvModel.getTailOffset());
        }
        if (agvModel.getWidth() == null || agvModel.getWidth() <= 0) {
            throw new IllegalArgumentException("Invalid width: " + agvModel.getWidth());
        }

        double head = toMapLength(agvModel.getHeadOffset());
        double tail = toMapLength(agvModel.getTailOffset());
        double halfWidth = toMapLength(agvModel.getWidth()) / 2;

        return new VehicleFootprint(head, tail, halfWidth);
    }

    private File loadPythonFile() {
        File scriptFile = null;
        try {

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

@@ -9,6 +9,7 @@
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -294,6 +295,35 @@
        return includeList;
    }

    public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, VehicleFootprint footprint, double headingRad, double buffer) {
        int[] centerIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        if (centerIdx == null) {
            throw new CoolException(code + " does not exist in codeMatrix");
        }
        Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
        Double centerX = cdaMatrix[centerIdx[0]][centerIdx[1]][0];
        Double centerY = cdaMatrix[centerIdx[0]][centerIdx[1]][1];
        if (centerX == null || centerY == null) {
            throw new CoolException(code + " does not exist in cdaMatrix");
        }

        double searchRadius = footprint.maxExtent() + buffer;

        List<NavigateNode> candidates = this.getWaveScopeByCode(lev, code, searchRadius);

        List<NavigateNode> includeList = new ArrayList<>();
        for (NavigateNode node : candidates) {
            Double px = cdaMatrix[node.getX()][node.getY()][0];
            Double py = cdaMatrix[node.getX()][node.getY()][1];

            if (isInsideExpandedFootprint(px, py, centerX, centerY, footprint, headingRad, buffer)) {
                includeList.add(node);
            }

        }
        return includeList;
    }

    public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
            , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
            , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
@@ -338,6 +368,36 @@

    }

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

        double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
        double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);

        double xMin = -footprint.getTail();
        double xMax = footprint.getHead();
        double yMin = -footprint.getHalfWidth();
        double yMax = footprint.getHalfWidth();

        double excessX = 0D;
        if (localX < xMin) {
            excessX = xMin - localX;
        } else if (localX > xMax) {
            excessX = localX - xMax;
        }

        double excessY = 0D;
        if (localY < yMin) {
            excessY = yMin - localY;
        } else if (localY > yMax) {
            excessY = localY - yMax;
        }

        return excessX * excessX + excessY * excessY <= buffer * buffer;
    }

    // v2 BFS ------------------------------------------------------------------------------
//    public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
//        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);