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/common/utils/MapDataUtils.java | 81 +++++++++++++++++++++++++++++-----------
1 files changed, 59 insertions(+), 22 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 8449992..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
@@ -2,16 +2,32 @@
import com.alibaba.fastjson.JSON;
import com.zy.acs.framework.common.Cools;
-import com.zy.acs.manager.core.service.astart.WaveNodeType;
+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.ArrayList;
-import java.util.List;
-import java.util.Optional;
+import java.util.*;
/**
* Created by vincent on 8/7/2024
*/
public class MapDataUtils {
+
+ public static Double[][][] preComputeCdaMatrix(String[][] cdaStrMatrix) {
+ int rows = cdaStrMatrix.length;
+ int cols = cdaStrMatrix[0].length;
+
+ Double[][][] cdaMatrix = new Double[rows][cols][2];
+ for (int i = 0; i < rows; i++) {
+ for (int j = 0; j < cols; j++) {
+ List<Double> cda = MapDataUtils.parseCdaNode(cdaStrMatrix[i][j]);
+ cdaMatrix[i][j][0] = cda.get(0);
+ cdaMatrix[i][j][1] = cda.get(1);
+ }
+ }
+
+ return cdaMatrix;
+ }
public static List<String> parseWaveNode(String waveNodeStr) {
List<String> waveNodeList = new ArrayList<>();
@@ -22,9 +38,8 @@
}
public static List<Double> parseCdaNode(String cdaNodeStr) {
- List<Double> waveNodeList = new ArrayList<>();
if (Cools.isEmpty(cdaNodeStr)) {
- return waveNodeList;
+ return new ArrayList<>();
}
return JSON.parseArray(cdaNodeStr, Double.class);
}
@@ -38,25 +53,47 @@
}
public static String generateWaveNode(String originStr, String waveNode) {
- List<String> waveNodeList;
- if (originStr.equals(WaveNodeType.ENABLE.val)) {
- waveNodeList = new ArrayList<>();
- waveNodeList.add(waveNode);
- } else {
- waveNodeList = JSON.parseArray(originStr, String.class);
- if (!waveNodeList.contains(waveNode)) {
- waveNodeList.add(waveNode);
- }
- }
- return JSON.toJSONString(waveNodeList);
+ List<String> originNode = JSON.parseArray(originStr, String.class);
+ Set<String> set = new HashSet<>(originNode);
+ set.add(waveNode);
+ return JSON.toJSONString(set);
}
- public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {
- if (Cools.isEmpty(diameter)) {
- 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);
- return diameter * factor;
+ 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);
}
}
--
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