From 0ae57663de53c0c988d4b06a1218c1a4c5440651 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 23 十二月 2024 15:55:53 +0800
Subject: [PATCH] #
---
zy-acs-flow/src/map/constants.js | 2
/dev/null | 203 ----------------------------------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java | 4
zy-acs-manager/src/main/resources/agv.py | 49 ++++++---
4 files changed, 37 insertions(+), 221 deletions(-)
diff --git a/zy-acs-flow/src/map/constants.js b/zy-acs-flow/src/map/constants.js
index 8088dcf..d7d46c0 100644
--- a/zy-acs-flow/src/map/constants.js
+++ b/zy-acs-flow/src/map/constants.js
@@ -1,5 +1,5 @@
-export const ANIMATE_DURING_TIME = 200;
+export const ANIMATE_DURING_TIME = 800;
export const MAP_DEFAULT_ROTATION = 270;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
index e7d5133..3870b56 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
@@ -33,7 +33,7 @@
@Component
public class MapDataWsScheduler {
- public static final int WEBSOCKET_BROADCAST_INTERVAL = 200;
+ public static final int WEBSOCKET_BROADCAST_INTERVAL = 800;
private ExecutorService singleThreadExecutor;
@@ -58,7 +58,7 @@
MapWsVo mapWsVo = new MapWsVo();
mapWsVo.setAgvVos(syncAgv());
MapWebSocket.broadcast(GsonUtils.toJson(mapWsVo));
- Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL);
+ Thread.sleep(WEBSOCKET_BROADCAST_INTERVAL / 2);
} catch (Exception e) {
log.error("MapDataWsScheduler.init", e);
}
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index 23d4dd6..d6b5632 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -19,29 +19,45 @@
def getWaveScopeByCode_iterative(x, y, codeMatrix, cdaMatrix, radiusLen):
"""
- 浣跨敤骞垮害浼樺厛鎼滅储锛圔FS锛夋潵浠ｆ浛閫掑綊锛屼互閬垮厤閫掑綊娣卞害杩囧ぇ鐨勯棶棰樸��
+ 浣跨敤骞垮害浼樺厛鎼滅储锛圔FS锛夊苟璺熻釜鎵╁睍鏂瑰悜锛屼互閬垮厤閫掑綊娣卞害杩囧ぇ鍜屼笉蹇呰鐨勮祫婧愭氮璐广��
+ 褰撻亣鍒� 'NONE' 鑺傜偣鏃讹紝浠呭湪褰撳墠鏂瑰悜涓婄户缁墿灞曘��
"""
includeList = []
existNodes = set()
queue = deque()
- originNode = {"x": x, "y": y}
- currNode = {"x": x, "y": y}
- queue.append(currNode)
+ # 鍒濆鑺傜偣锛屾病鏈夋柟鍚�
+ originNode = {"x": x, "y": y, "dir": None}
+ queue.append(originNode)
existNodes.add((x, y))
while queue:
node = queue.popleft()
- node_x, node_y = node['x'], node['y']
- neighbors = [
- (node_x + 1, node_y),
- (node_x - 1, node_y),
- (node_x, node_y + 1),
- (node_x, node_y - 1)
- ]
+ node_x, node_y, current_dir = node['x'], node['y'], node['dir']
- for neighbor in neighbors:
- nx, ny = neighbor
+ # 鏍规嵁褰撳墠鏂瑰悜鍐冲畾鎵╁睍鐨勬柟鍚�
+ if current_dir is None:
+ # 濡傛灉娌℃湁鏂瑰悜锛屽悜鍥涗釜鏂瑰悜鎵╁睍
+ neighbors = [
+ (node_x + 1, node_y, 'right'),
+ (node_x - 1, node_y, 'left'),
+ (node_x, node_y + 1, 'down'),
+ (node_x, node_y - 1, 'up')
+ ]
+ else:
+ # 濡傛灉鏈夋柟鍚戯紝浠呭湪璇ユ柟鍚戜笂鎵╁睍
+ if current_dir == 'right':
+ neighbors = [(node_x + 1, node_y, 'right')]
+ elif current_dir == 'left':
+ neighbors = [(node_x - 1, node_y, 'left')]
+ elif current_dir == 'down':
+ neighbors = [(node_x, node_y + 1, 'down')]
+ elif current_dir == 'up':
+ neighbors = [(node_x, node_y - 1, 'up')]
+ else:
+ neighbors = []
+
+ for nx, ny, direction in neighbors:
# 妫�鏌ヨ竟鐣屾潯浠�
if (nx < 0 or nx >= codeMatrix.shape[0] or ny < 0 or ny >= codeMatrix.shape[1]):
continue
@@ -52,8 +68,10 @@
neighbor_code = codeMatrix[nx, ny]
if neighbor_code == 'NONE':
- queue.append({"x": nx, "y": ny})
+ # 閬囧埌 'NONE' 鑺傜偣锛岀户缁湪褰撳墠鏂瑰悜涓婃墿灞�
+ queue.append({"x": nx, "y": ny, "dir": direction})
else:
+ # 妫�鏌ヨ窛绂绘潯浠�
o1Cda = convert_to_float_array(cdaMatrix[x, y])
o2Cda = convert_to_float_array(cdaMatrix[nx, ny])
@@ -65,7 +83,8 @@
"y": int(ny),
"code": str(codeMatrix[nx, ny])
})
- queue.append({"x": nx, "y": ny})
+ # 闈� 'NONE' 鑺傜偣锛岄噸缃柟鍚�
+ queue.append({"x": nx, "y": ny, "dir": None})
return includeList
diff --git a/zy-acs-manager/src/main/resources/agv1.py b/zy-acs-manager/src/main/resources/agv1.py
deleted file mode 100644
index 245bb6e..0000000
--- a/zy-acs-manager/src/main/resources/agv1.py
+++ /dev/null
@@ -1,203 +0,0 @@
-import ast
-import sys
-import numpy as np
-import json
-import time
-import redis
-from collections import deque
-
-radiusLen = None
-
-# 灏嗗瓧绗︿覆杞崲涓烘诞鐐瑰瀷鏁扮粍
-def convert_to_float_array(str_array):
- if isinstance(str_array, str):
- return np.array(ast.literal_eval(str_array), dtype=float)
- return str_array
-
-def getWaveScopeByCode_iterative(x, y):
- """
- 浣跨敤骞垮害浼樺厛鎼滅储锛圔FS锛夋潵浠ｆ浛閫掑綊锛屼互閬垮厤閫掑綊娣卞害杩囧ぇ鐨勯棶棰樸��
- """
- includeList = []
- existNodes = set()
- queue = deque()
-
- originNode = {"x": x, "y": y}
- currNode = {"x": x, "y": y}
- queue.append(currNode)
- existNodes.add((x, y))
-
- while queue:
- node = queue.popleft()
- node_x, node_y = node['x'], node['y']
- neighbors = [
- (node_x + 1, node_y),
- (node_x - 1, node_y),
- (node_x, node_y + 1),
- (node_x, node_y - 1)
- ]
-
- for neighbor in neighbors:
- nx, ny = neighbor
- # 妫�鏌ヨ竟鐣屾潯浠�
- if (nx < 0 or nx >= codeMatrix.shape[0] or ny < 0 or ny >= codeMatrix.shape[1]):
- continue
- if (nx, ny) in existNodes:
- continue
-
- existNodes.add((nx, ny))
- neighbor_code = codeMatrix[nx, ny]
-
- if neighbor_code == 'NONE':
- queue.append({"x": nx, "y": ny})
- else:
- o1Cda = convert_to_float_array(cdaMatrix[x, y])
- o2Cda = convert_to_float_array(cdaMatrix[nx, ny])
-
- num1 = (o1Cda[0] - o2Cda[0]) ** 2
- num2 = (o1Cda[1] - o2Cda[1]) ** 2
- if num1 + num2 <= radiusLen ** 2:
- includeList.append({
- "x": int(nx),
- "y": int(ny),
- "code": str(codeMatrix[nx, ny])
- })
- queue.append({"x": nx, "y": ny})
-
- return includeList
-
-def find_value_in_matrix(value):
- indices = np.where(codeMatrix == value)
- return list(zip(indices[0], indices[1]))
-
-def initWaveMatrix():
- waveMatrix = np.empty_like(codeMatrix, dtype=object)
-
- for x in range(codeMatrix.shape[0]):
- for y in range(codeMatrix.shape[1]):
- if codeMatrix[x][y] == 'NONE':
- waveMatrix[x][y] = "-"
- else:
- waveMatrix[x][y] = '[]'
-
- return waveMatrix
-
-# 浼樺寲鐗堟湰锛氫娇鐢ㄩ泦鍚堟潵鎻愰珮鎬ц兘
-def mergeWave(originWave, vehicle):
- # 灏嗗瓧绗︿覆瑙ｆ瀽涓洪泦鍚�
- try:
- set_data = set(ast.literal_eval(originWave))
- except (ValueError, SyntaxError):
- set_data = set()
- # 濡傛灉 vehicle 涓嶅湪闆嗗悎涓紝鍒欐坊鍔�
- set_data.add(vehicle)
- # 杩斿洖搴忓垪鍖栧悗鐨勫瓧绗︿覆
- return json.dumps(list(set_data))
-
-# 灏� dynamicMatrix 杞崲涓� numpy 缁撴瀯鍖栨暟缁�
-def convert_to_structured_array(dynamicMatrix):
- # 瀹氫箟缁撴瀯鍖栨暟缁勭殑 dtype
- dtype = [('serial', int), ('vehicle', 'U2'), ('time', int)]
-
- # 纭繚姣忎釜瀛楀吀鍖呭惈鎵�鏈夊瓧娈�
- structured_list = []
- for row in dynamicMatrix:
- for d in row:
- # 鎻愬彇瀛楁锛岀‘淇� 'time' 瀛樺湪锛屽惁鍒欒缃负榛樿鍊硷紙渚嬪 0.0锛�
- serial = d.get('serial', 0)
- vehicle = d.get('vehicle', '0')
- time_val = d.get('time', 0)
- structured_list.append((serial, vehicle, time_val))
-
- # 灏嗗祵濂楃殑鍒楄〃杞崲涓虹粨鏋勫寲鏁扮粍
- structured_array = np.array(structured_list, dtype=dtype)
- # 閲嶅涓哄師濮嬬殑浜岀淮褰㈢姸
- return structured_array.reshape(len(dynamicMatrix), -1)
-
-# 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
-def process_dynamic_matrix(dynamicMatrix, codeMatrix):
- global waveMatrix # 纭繚 waveMatrix 鏄叏灞�鍙橀噺
-
- # 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
- dynamicMatrix = convert_to_structured_array(dynamicMatrix)
-
- # 鑾峰彇 dynamicMatrix 鐨勫舰鐘�
- rows, cols = dynamicMatrix.shape
-
- # 鍒涘缓涓�涓竷灏旀帺鐮侊紝鐢ㄤ簬绛涢�夊嚭 vehicle 涓嶄负 '0' 鍜� '-1' 鐨勫厓绱�
- mask = (dynamicMatrix['vehicle'] != '0') & (dynamicMatrix['vehicle'] != '-1')
-
- # 鑾峰彇婊¤冻鏉′欢鐨� x 鍜� y 鍧愭爣
- x_indices, y_indices = np.where(mask)
-
- # 閬嶅巻婊¤冻鏉′欢鐨勫潗鏍�
- for x, y in zip(x_indices, y_indices):
- vehicle = dynamicMatrix[x][y]['vehicle']
- includeList = getWaveScopeByCode_iterative(x, y)
- for include in includeList:
- originWave = waveMatrix[include['x']][include['y']]
- waveMatrix[include['x']][include['y']] = mergeWave(originWave, vehicle)
-
-def main():
- global radiusLen, codeMatrix, cdaMatrix, waveMatrix # 澹版槑涓哄叏灞�鍙橀噺
-
- if len(sys.argv) != 6:
- print("Usage: python script.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
- sys.exit(1)
-
- radiusLenStr = sys.argv[1]
- radiusLen = float(radiusLenStr)
-
- redisHost = sys.argv[2]
- redisPwd = sys.argv[3]
- redisPort = sys.argv[4]
- redisIdx = sys.argv[5]
-
- startTime = time.perf_counter()
-
- # 鍒涘缓涓�涓繛鎺ユ睜
- pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
- r = redis.Redis(connection_pool=pool)
-
- # 鑾峰彇骞跺姞杞� codeMatrix
- codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
- if codeMatrixStr is None:
- print("Error: 'KV.AGV_MAP_ASTAR_CODE_FLAG.1' not found in Redis.")
- sys.exit(1)
- codeMatrix = np.array(json.loads(codeMatrixStr))
-
- # 鑾峰彇骞跺姞杞� cdaMatrix
- cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
- if cdaMatrixStr is None:
- print("Error: 'KV.AGV_MAP_ASTAR_CDA_FLAG.1' not found in Redis.")
- sys.exit(1)
- cdaMatrix = np.array(json.loads(cdaMatrixStr))
-
- # 鑾峰彇骞跺姞杞� dynamicMatrix
- dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
- if dynamicMatrixStr is None:
- print("Error: 'KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1' not found in Redis.")
- sys.exit(1)
- dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
-
- # 鍒濆鍖� waveMatrix
- waveMatrix = initWaveMatrix()
-
- # 澶勭悊 dynamicMatrix
- process_dynamic_matrix(dynamicMatrix, codeMatrix)
-
- # 灏� numpy.ndarray 杞崲涓哄祵濂楀垪琛�
- waveMatrixList = waveMatrix.tolist()
- # 灏嗗祵濂楀垪琛ㄨ浆鎹负 JSON 瀛楃涓�
- waveMatrixJsonStr = json.dumps(waveMatrixList)
-
- # 灏嗙粨鏋滀繚瀛樺洖 Redis
- r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)
-
- end = time.perf_counter()
- # 鎵撳嵃绋嬪簭杩愯鏃堕棿
-# print(f"绋嬪簭杩愯鏃堕棿涓�: {end - startTime} Seconds")
- print("1")
-
-if __name__ == "__main__":
- main()
\ No newline at end of file
--
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