From 2bdbfd1ac24d4e9a87daf6fb8b99ec32264d5752 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 21 十二月 2024 11:25:27 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 95 ++++++++++++++++++++++++++++-------------------
1 files changed, 56 insertions(+), 39 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index a293cf0..2a6d863 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
@@ -28,10 +28,9 @@
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.io.BufferedReader;
-import java.io.File;
-import java.io.IOException;
-import java.io.InputStreamReader;
+import java.io.*;
+import java.nio.file.Files;
+import java.nio.file.StandardCopyOption;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -86,6 +85,26 @@
});
}
+ private File pythonFile = null;
+
+ private File loadPythonFile() {
+ File scriptFile = null;
+ try {
+ Resource resource = new ClassPathResource("agv.py");
+
+ InputStream is = resource.getInputStream();
+ scriptFile = File.createTempFile("agv", ".py");
+ scriptFile.deleteOnExit();
+
+ Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
+
+ scriptFile.setExecutable(true);
+ } catch (Exception e) {
+ throw new RuntimeException(e);
+ }
+ return scriptFile;
+ }
+
public void calcWaveScope() {
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
boolean lockAcquired = false;
@@ -103,53 +122,51 @@
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);
- long startTime = System.currentTimeMillis();
+ if (null == pythonFile) {
+ pythonFile = loadPythonFile();
+ }
- Resource resource = new ClassPathResource("agv.py");
- File file = resource.getFile();
ProcessBuilder processBuilder = new ProcessBuilder(
- "python"
- , file.getAbsolutePath()
+ "python" // 鎴栬�� "python3" 鍙栧喅浜庣郴缁熼厤缃�
+ , pythonFile.getAbsolutePath()
, String.valueOf(avoidDistance)
, redisProperties.getHost()
, redisProperties.getPassword()
, String.valueOf(redisProperties.getPort())
, String.valueOf(redisProperties.getIndex())
);
+
processBuilder.redirectErrorStream(true);
- try {
- Process process = processBuilder.start();
+ 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) {
- System.out.println("Python script exited with error code: " + exitCode);
- return;
- }
- reader.close();
-
- if (builder.length() <= 0) {
- return;
- }
-
- String result = builder.toString();
-
- if (!Cools.isEmpty(result)) {
- if (!"1".equals(result)) {
- log.error("Fail python");
- }
- }
- } catch (IOException | InterruptedException e) {
- e.printStackTrace();
+ BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
+ String line;
+ StringBuilder builder = new StringBuilder();
+ while ((line = reader.readLine()) != null) {
+ builder.append(line);
}
- log.error("python finish {}", System.currentTimeMillis() - startTime);
+
+ 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);
--
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