version/doc/RCS¿ª·¢½ø¶È±í.xlsx

Binary files differ

 zy-acs-flow/src/i18n/en.js

@@ -368,9 +368,9 @@
                length: "length",
                headOffset: "head (mm)",
                tailOffset: "tail (mm)",
                width: "width",
                height: "height",
                liftHeight: "lift height",
                width: "width (mm)",
                height: "height (mm)",
                liftHeight: "lift height (mm)",
                diameter: "diameter",
                password: "password",
                backpack: "backpack",

 zy-acs-flow/src/i18n/zh.js

@@ -368,9 +368,9 @@
                length: "长度",
                headOffset: "车头(毫米)",
                tailOffset: "车尾(毫米)",
                width: "宽度",
                height: "高度",
                liftHeight: "举升高度",
                width: "宽度(毫米)",
                height: "高度(毫米)",
                liftHeight: "举升高度(毫米)",
                diameter: "旋转直径",
                password: "设备密码",
                backpack: "背篓数量",

 zy-acs-flow/src/page/agvModel/AgvModelCreate.jsx

@@ -13,6 +13,7 @@
    AutocompleteInput,
    Toolbar,
    required,
    minValue,
    useDataProvider,
    useNotify,
    Form,
@@ -108,51 +109,53 @@
                                        validate={required()}
                                    />
                                </Grid>
                                <Grid item xs={4} display="flex" gap={1}>
                                {/* <Grid item xs={4} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.length"
                                        source="length"
                                    />
                                </Grid>
                                </Grid> */}
                                <Grid item xs={4} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.headOffset"
                                        source="headOffset"
                                        validate={required()}
                                        validate={[required(), minValue(1)]}
                                    />
                                </Grid>
                                <Grid item xs={4} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.tailOffset"
                                        source="tailOffset"
                                        validate={required()}
                                        validate={[required(), minValue(1)]}
                                    />
                                </Grid>
                                <Grid item xs={4} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.width"
                                        source="width"
                                        validate={[required(), minValue(1)]}
                                    />
                                </Grid>
                                <Grid item xs={4} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.height"
                                        source="height"
                                        validate={[required(), minValue(1)]}
                                    />
                                </Grid>
                                <Grid item xs={6} display="flex" gap={1}>
                                <Grid item xs={4} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.liftHeight"
                                        source="liftHeight"
                                    />
                                </Grid>
                                <Grid item xs={6} display="flex" gap={1}>
                                {/* <Grid item xs={6} display="flex" gap={1}>
                                    <NumberInput
                                        label="table.field.agvModel.diameter"
                                        source="diameter"
                                        validate={required()}
                                    />
                                </Grid>
                                </Grid> */}
                                <Grid item xs={6} display="flex" gap={1}>
                                    <TextInput
                                        label="table.field.agvModel.password"

 zy-acs-flow/src/page/agvModel/AgvModelEdit.jsx

@@ -84,41 +84,45 @@
                            />
                        </Stack>
                        <Stack direction='row' gap={2}>
                            <NumberInput
                            {/* <NumberInput
                                label="table.field.agvModel.length"
                                source="length"
                            />
                            /> */}
                            <NumberInput
                                label="table.field.agvModel.headOffset"
                                source="headOffset"
                                validate={required()}
                                min={1}
                            />
                            <NumberInput
                                label="table.field.agvModel.tailOffset"
                                source="tailOffset"
                                validate={required()}
                                min={1}
                            />
                        </Stack>
                        <Stack direction='row' gap={2}>
                            <NumberInput
                                label="table.field.agvModel.width"
                                source="width"
                                validate={required()}
                                min={1}
                            />
                        </Stack>
                        <Stack direction='row' gap={2}>
                            <NumberInput
                                label="table.field.agvModel.height"
                                source="height"
                            />
                        </Stack>
                        <Stack direction='row' gap={2}>
                            <NumberInput
                                label="table.field.agvModel.liftHeight"
                                source="liftHeight"
                            />
                        </Stack>
                        {/* <Stack direction='row' gap={2}>
                            <NumberInput
                                label="table.field.agvModel.diameter"
                                source="diameter"
                            />
                        </Stack>
                        </Stack> */}
                        <Stack direction='row' gap={2}>
                            <TextInput
                                label="table.field.agvModel.password"

 zy-acs-flow/src/page/agvModel/AgvModelList.jsx

@@ -137,8 +137,8 @@
                    expand={() => <AgvModelPanel />}
                    expandSingle={true}
                    omit={['id', 'uuid', 'liftHeight', 'mqttTopic', 'password', 'protocol'
                        // , 'headOffset', 'tailOffset'
                        , 'length', 'width', 'height', 'allDirectionBool', 'diameter'
                        // , 'headOffset', 'tailOffset', 'width'
                        , 'length', 'height', 'allDirectionBool', 'diameter'
                        , 'statusBool', 'updateBy', 'updateTime', 'createTime', 'createBy', 'memo']}
                >
                    <NumberField source="id" />

 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/constant/MapDataConstant.java

@@ -5,7 +5,7 @@
 */
public class MapDataConstant {

    public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.00;
    public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.02;

    public static final Integer MAX_STEPS_SINGLE = 25;


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

New file
@@ -0,0 +1,27 @@
package com.zy.acs.manager.core.domain;

import lombok.Data;

/**
 * è½¦è¾†åœ¨è‡ªèº«åæ ‡ç³»ä¸‹çš„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);
        return Math.hypot(Math.max(head, tail), halfWidth);
    }
}

 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);

        // å½“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/GuaranteeRuntimeService.java

@@ -91,6 +91,9 @@
        if (detail.getAgvStatus() != null && detail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
            return false;
        }
        if (!agvService.judgeOnline(agv.getId())) {
            return false;
        }

        if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                .eq(Task::getAgvId, agv.getId())

 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;
@@ -36,7 +37,7 @@
 * Created by vincent on 2023/6/14
 */
@Slf4j
@Component("mapService")
@Component
public class MapService {

    private static final double EPS = 1e-7;
@@ -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 +368,46 @@

    }

    private boolean isInsideExpandedFootprint(double px, double py, double centerX, double centerY
            , VehicleFootprint footprint, double headingRad, double buffer) {
        // ä¸€ã€é‡ç½®æˆä»¥è½¦è¾†ä¸ºåŽŸç‚¹ä¸”车头为x、y正方向的坐标系
        // å‘量平移，地图坐标系转到以车辆中心为原点的坐标系，使车辆中心变成新的原点（方便计算）
        double dx = px - centerX;
        double dy = py - centerY;

        // å†æŠŠåæ ‡æ—‹è½¬åˆ°è½¦è¾†åæ ‡ç³»ï¼ˆlocalX æŒ‡å‘车头，localY æŒ‡å‘车辆左侧），取消原地图的车辆旋转方向
        double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
        double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);

        // äºŒã€è½¦è¾†åœ¨è‡ªèº«åæ ‡ç³»ä¸­çš„矩形范围
        double xMax = footprint.getHead(); // localX方向， å‘前（车头方向）是正值
        double xMin = -footprint.getTail(); // localX方向， å‘后（车尾）是负值

        double yMax = footprint.getHalfWidth(); // localY æ–¹å‘， å·¦ä¾§ä¸ºæ­£
        double yMin = -footprint.getHalfWidth(); // localY æ–¹å‘， å³ä¾§ä¸ºè´Ÿ

        // ä¸‰ã€è®¡ç®— ç‚¹ æ˜¯å¦åœ¨ â€œçŸ©å½¢å¤–扩 + buffer çš„区域”里
        // è®¡ç®—点距离 çŸ©å½¢è¾¹ç•Œ çš„‘超出量’，落在矩形内时超出量为 0
        double excessX = 0D; // é»˜è®¤ 0 è¡¨ç¤ºè¿˜åœ¨çŸ©å½¢é‡Œé¢
        if (localX < xMin) {
            excessX = xMin - localX;
        } else if (localX > xMax) {
            excessX = localX - xMax;
        }

        double excessY = 0D; // é»˜è®¤ 0 è¡¨ç¤ºè¿˜åœ¨çŸ©å½¢é‡Œé¢
        if (localY < yMin) {
            excessY = yMin - localY;
        } else if (localY > yMax) {
            excessY = localY - yMax;
        }

        // (excessX, excessY) è¡¨ç¤ºè·ç¦»å‘量

        // é€šè¿‡ æ¬§æ°è·ç¦»å¹³æ–¹ç®—法， è‹¥åˆ°çŸ©å½¢çš„最短距离不超过 buffer，说明在“车辆形状 + ç¼“冲半径”内
        return excessX * excessX + excessY * excessY <= buffer * buffer;
    }

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