From 7ce12b33107fb33941df7e1589bf1a6716539377 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 13 三月 2026 13:39:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java | 5
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 9 +
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 60 ++++++-----
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 40 +++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 186 +++++++++++++++----------------------
5 files changed, 153 insertions(+), 147 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
index 222f5cd..c055c8f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
+++ b/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);
+ }
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java
index e05f8c6..d632cf5 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java
+++ b/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);
}
}
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() {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index e8dd401..c73ac0f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/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: 闃诲AGV锛屾尅閬撹��
+ * sponsor锛� 琚樆濉濧GV锛屽鍧�鍙戣捣鑰�
* 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);
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 95704e5..dbf3a7b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/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 濡傛灉宸茬粡鍦ㄩ伩璁╃偣锛堝洜涓哄綋鍓嶈溅鎵ц浜嗛伩璁╀换鍔★級锛岄偅涔堝垯涓嶈兘鍐嶅幓妫�绱箣鍓嶇殑闃诲璺緞
List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
- List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
+ List<String> blackPath = this.getBlackPathList(agvNo, unfinishedOriginJamByCurrAgv);
// 缁撴灉闆�
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 {
- // 濡傛灉琚樆濉炶溅杈嗗凡缁忎笉鍦ㄥ師鏉ョ殑闃诲璺緞涓紝鑰冭檻閬胯杞﹁蛋琛屾椂涓嶉渶瑕佹妸涔嬪墠鐨勯樆濉炶矾寰勫姞鍏ラ粦鍚嶅崟
- 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 {
+ // 濡傛灉琚樆濉炶溅杈嗗凡缁忎笉鍦ㄥ師鏉ョ殑闃诲璺緞涓紝鑰冭檻閬胯杞﹁蛋琛屾椂涓嶉渶瑕佹妸涔嬪墠鐨勯樆濉炶矾寰勫姞鍏ラ粦鍚嶅崟
+ list = new ArrayList<>();
}
-
- blackPathList.addAll(list);
}
+
+ blackPathList.addAll(list);
}
}
+
return blackPathList.stream().distinct().collect(Collectors.toList());
}
--
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