version/doc/hik/º£¿µÒƶ¯»úÆ÷ÈËÉ豸VDA½ÓÈëЭÒé - ¿ò¼Ü20240711(1).pdf

Binary files differ

 zy-acs-flow/src/map/constants.js

@@ -5,7 +5,7 @@

export let AGV_ANGLE_OFFSET_VAL = 0;

export let MAP_MIRROR = false;;
export let MAP_MIRROR = false;

export const setMapPreferences = (preferences = {}) => {
    if (preferences == null || typeof preferences !== 'object') {

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

@@ -2,6 +2,9 @@

import com.alibaba.fastjson.JSON;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.manager.entity.AgvModel;

import java.util.*;

@@ -56,12 +59,41 @@
        return JSON.toJSONString(set);
    }

    public static Double getVehicleWaveSafeDistance(Integer val, Double factor) {
        if (Cools.isEmpty(val)) {
            return 0.0D;
    public static Double getVehicleWaveSafeDistance(Number mm) {
        return getVehicleWaveSafeDistance(mm, null);
    }

    public static Double getVehicleWaveSafeDistance(Number mm, Double factor) {
        if (mm == null) {
            throw new IllegalArgumentException("Invalid map length: " + mm);
        }
        factor = Optional.ofNullable(factor).orElse(1.0D);
        double val = mm.doubleValue();
        if (val <= 0) {
            throw new IllegalArgumentException("Invalid map length: " + mm);
        }
        factor = Optional.ofNullable(factor).orElse(MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        return val * factor;
    }

    public static 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 = agvModel.getHeadOffset();
        double tail = agvModel.getTailOffset();
        double halfWidth = (double) agvModel.getWidth() / 2;

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

}

 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 = 1.1;
    public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.05;

    public static final Integer MAX_STEPS_SINGLE = 25;


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

@@ -1,5 +1,6 @@
package com.zy.acs.manager.core.domain;

import com.zy.acs.manager.common.utils.MapDataUtils;
import lombok.Data;

/**
@@ -22,6 +23,8 @@
//        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);

        double hypot = Math.hypot(Math.max(head, tail), halfWidth);
        return MapDataUtils.getVehicleWaveSafeDistance(hypot);
    }
}

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

@@ -2,11 +2,9 @@

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.PathDto;
import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.CodeNodeType;
@@ -31,10 +29,8 @@

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
import java.io.BufferedReader;
import java.io.File;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.HashMap;
@@ -120,72 +116,72 @@
        }
    }

    private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
            log.warn("There is no diameter or diameter value was wrong...");
        }

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

        if (null == pythonFile) {
            pythonFile = loadPythonFile();
        }

        ProcessBuilder processBuilder = new ProcessBuilder(
                "python" // æˆ–者 "python3" å–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 calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
//        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
//            log.warn("There is no diameter or diameter value was wrong...");
//        }
//
//        // python
//        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//
//        if (null == pythonFile) {
//            pythonFile = loadPythonFile();
//        }
//
//        ProcessBuilder processBuilder = new ProcessBuilder(
//                "python" // æˆ–者 "python3" å–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, AgvModel agvModel) {
        assert null != agvModel.getDiameter();
//        assert null != agvModel.getDiameter();
        String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);

        // å½“前调度车型的最大旋转半径
        double bufferRadius = buildFootprint(agvModel).maxExtent();
        double bufferRadius = MapDataUtils.buildFootprint(agvModel).maxExtent();

        Map<String, VehicleFootprint> footprintCache = new HashMap<>();

@@ -203,18 +199,21 @@

                VehicleFootprint footprint = footprintCache.computeIfAbsent(vehicle, this::loadFootprint);

                List<NavigateNode> includeList;
                Double nodeDirection = dynamicNode.getDirection();
                if (dynamicNode.isTurn()) {
                    double radius = footprint.maxExtent() + bufferRadius;
                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
                } else if (nodeDirection != null) {
                    double headingRad = Math.toRadians(90 - nodeDirection);
                    includeList = mapService.getWaveScopeByCode(lev, codeData, footprint, headingRad, bufferRadius);
                } else {
                    double radius = footprint.maxExtent() + bufferRadius;
                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
                }
                double radius = footprint.maxExtent() + bufferRadius;
                List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, radius);

//                List<NavigateNode> includeList;
//                Double nodeDirection = dynamicNode.getDirection();
//                if (dynamicNode.isTurn()) {
//                    double radius = footprint.maxExtent() + bufferRadius;
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
//                } else if (nodeDirection != null) {
//                    double headingRad = Math.toRadians(90 - nodeDirection);
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, footprint, headingRad, bufferRadius);
//                } else {
//                    double radius = footprint.maxExtent() + bufferRadius;
//                    includeList = mapService.getWaveScopeByCode(lev, codeData, radius);
//                }

                for (NavigateNode navigateNode : includeList) {
                    String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
@@ -232,42 +231,7 @@
        if (model == null) {
            throw new CoolException(agvNo + " does not have an model.");
        }
        return this.buildFootprint(model);
    }

    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);
        return MapDataUtils.buildFootprint(model);
    }

    private File loadPythonFile() {

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

@@ -5,10 +5,10 @@
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.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.utils.RouteGenerator;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.entity.Segment;
@@ -56,6 +56,8 @@
    private AgvAreaDispatcher agvAreaDispatcher;

    /**
     * agvNo: é˜»å¡žAGV，挡道者
     * sponsor： è¢«é˜»å¡žAGV，寻址发起者
     * avoidPathList ===>>  [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ......
     **/
//    @SuppressWarnings("all")
@@ -80,8 +82,9 @@
        String breakPoint = avoidPathList.stream().findFirst().orElse(null);
        List<String> blackList = Utils.singletonList(sponsor);

        Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModelService.getByAgvNo(sponsor).getDiameter()
                , MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
        AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
        AgvModel sponsorModel = agvModelService.getByAgvNo(sponsor);
        double avoidDistance = MapDataUtils.buildFootprint(agvModel).maxExtent() + MapDataUtils.buildFootprint(sponsorModel).maxExtent();
        List<String> avoidPathListWave = mapService.getWaveScopeByCodeList(lev, avoidPathList, avoidDistance);

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

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

@@ -300,7 +300,7 @@
        BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
        // judge avoid of jam å¦‚果已经在避让点（因为当前车执行了避让任务），那么则不能再去检索之前的阻塞路径
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
        List<String> blackPath = this.getBlackPathList(agvNo, unfinishedOriginJamByCurrAgv);

        // ç»“果集
        List<String> pathList = new ArrayList<>();
@@ -652,43 +652,47 @@
        }
    }

    private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
    private List<String> getBlackPathList(String agvNo, List<Jam> unfinishedOriginJamByCurrAgv) {
        List<String> blackPathList = new ArrayList<>();
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            for (Jam jam : unfinishedOriginJamByCurrAgv) {
                if (!Cools.isEmpty(jam.getJamPath())) {
        if (Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            return blackPathList;
        }

                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
        AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
        double bufferRadius = MapDataUtils.buildFootprint(agvModel).maxExtent();

                    Agv jamAgv = agvService.getById(jam.getJamAgv());
                    List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
                    // jamDynamicNodes has sorted
                    String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
        for (Jam jam : unfinishedOriginJamByCurrAgv) {
            if (!Cools.isEmpty(jam.getJamPath())) {

                    if (!Cools.isEmpty(firstCodeNode)) {
                        int idx = list.indexOf(firstCodeNode);
                        if (idx != -1) {
                            list = new ArrayList<>(list.subList(idx, list.size()));
                List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);

                            // the wave of first node
                            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
                                    agvModelService.getByAgvId(jamAgv.getId()).getDiameter(),
                                    MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
                            );
                            List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                            list.addAll(waveCodeList);
                        } else {
                            // å¦‚果被阻塞车辆已经不在原来的阻塞路径中，考虑避让车走行时不需要把之前的阻塞路径加入黑名单
                            list = new ArrayList<>();
                        }
                String jamAgvNo = agvService.getAgvNo(jam.getJamAgv());
                List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgvNo);
                // jamDynamicNodes has sorted
                String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);

                if (!Cools.isEmpty(firstCodeNode)) {
                    int idx = list.indexOf(firstCodeNode);
                    if (idx != -1) {
                        list = new ArrayList<>(list.subList(idx, list.size()));

                        // the wave of first node
                        AgvModel jamAgvModel = agvModelService.getByAgvNo(jamAgvNo);
                        Double avoidDistance = MapDataUtils.buildFootprint(jamAgvModel).maxExtent() + bufferRadius;
                        List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
                                .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        list.addAll(waveCodeList);
                    } else {
                        // å¦‚果被阻塞车辆已经不在原来的阻塞路径中，考虑避让车走行时不需要把之前的阻塞路径加入黑名单
                        list = new ArrayList<>();
                    }

                    blackPathList.addAll(list);
                }

                blackPathList.addAll(list);
            }
        }

        return blackPathList.stream().distinct().collect(Collectors.toList());
    }