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/service/AvoidWaveCalculator.java | 194 ++++++++++++++++++++++++++++--------------------
1 files changed, 113 insertions(+), 81 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 59cbb82..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
@@ -2,10 +2,12 @@
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;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
@@ -27,13 +29,13 @@
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;
import java.util.List;
+import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -114,97 +116,122 @@
}
}
- 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...");
- }
+// 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;
+// }
- // 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) throws Exception {
- if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
- log.warn("There is no diameter or diameter value was wrong...");
- }
-
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-
- // java
+ private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) {
+// assert null != agvModel.getDiameter();
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
-
- // lock path
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ // 褰撳墠璋冨害杞﹀瀷鐨勬渶澶ф棆杞崐寰�
+ double bufferRadius = MapDataUtils.buildFootprint(agvModel).maxExtent();
+
+ Map<String, VehicleFootprint> footprintCache = new HashMap<>();
+
for (int i = 0; i < dynamicMatrix.length; i++) {
for (int j = 0; j < dynamicMatrix[i].length; j++) {
DynamicNode dynamicNode = dynamicMatrix[i][j];
String vehicle = dynamicNode.getVehicle();
- if (!DynamicNodeType.ACCESS.val.equals(vehicle) && !DynamicNodeType.BLOCK.val.equals(vehicle)) {
+ if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
+ continue;
+ }
+ String codeData = codeMatrix[i][j];
+ if (CodeNodeType.NONE.val.equals(codeData)) {
+ continue;
+ }
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+ VehicleFootprint footprint = footprintCache.computeIfAbsent(vehicle, this::loadFootprint);
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
- }
+ 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()];
+ waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
}
}
}
-// mapDataDispatcher.printMatrix(waveMatrix);
mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
return true;
+ }
+
+ private VehicleFootprint loadFootprint(String agvNo) {
+ AgvModel model = agvModelService.getByAgvNo(agvNo);
+ if (model == null) {
+ throw new CoolException(agvNo + " does not have an model.");
+ }
+ return MapDataUtils.buildFootprint(model);
}
private File loadPythonFile() {
@@ -238,7 +265,7 @@
if (null == dynamicMatrix) {
dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
}
- AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
+ AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(agv.getId());
if (null == agvDetail) {
return;
}
@@ -257,7 +284,12 @@
DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
String vehicle = dynamicNode.getVehicle();
if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
- mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid());
+ mapDataDispatcher.modifyDynamicMatrix(
+ null,
+ Utils.singletonList(codeMatrixIdx),
+ agv.getUuid(),
+ Utils.singletonList(new PathDto(code.getData(), MapService.mapToNearest(agvDetail.getAgvAngle())))
+ );
}
}
--
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