From 67de3f38ab7a5ae9a9ae1aeec369c285004ee4d5 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 13 三月 2026 13:54:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 186 ++++++++++++++++++---------------------------
1 files changed, 75 insertions(+), 111 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 e0635cb..013b8bc 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
@@ -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" // 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);
-
- 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" // 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);
+//
+// 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);
// 褰撳墠璋冨害杞﹀瀷鐨勬渶澶ф棆杞崐寰�
- 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() {
--
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