From 908421d77423a632630fccb49bf0eb2aa1431cd4 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 06 三月 2026 15:20:01 +0800
Subject: [PATCH] Merge branch 'rcs_master_path' into rcs_master
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 127 +++++++++++++++++++++++++++++++++++-------
1 files changed, 105 insertions(+), 22 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 15614f4..dfca02b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -1,12 +1,15 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
-import com.zy.acs.common.enums.AgvDirectionType;
+import com.zy.acs.common.enums.ActuatorDirectionType;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
+import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
+import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -16,9 +19,8 @@
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.enums.CodeSpinType;
-import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.system.service.ConfigService;
+import com.zy.acs.manager.manager.service.LaneService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -35,7 +37,7 @@
* Created by vincent on 2023/6/14
*/
@Slf4j
-@Component("mapService")
+@Component
public class MapService {
private static final double EPS = 1e-7;
@@ -52,9 +54,9 @@
@Autowired
private AStarNavigateService aStarNavigateService;
@Autowired
- private ConfigService configService;
+ private LaneService laneService;
@Autowired
- private ActionService actionService;
+ private LaneBuilder laneBuilder;
@Autowired
private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
@@ -158,27 +160,39 @@
return angle;
}
- // 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
+ // 鍧愭爣璐ф灦闃堝��
+ public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
- AgvDirectionType agvDirectionType = null;
- if (compDirect == 0) {
- agvDirectionType = AgvDirectionType.RIGHT;
- }
- if (compDirect == 1) {
- agvDirectionType = AgvDirectionType.LEFT;
- }
- return agvDirectionType;
+ return ActuatorDirectionType.fromVal(compDirect);
}
- public Double getStaAngle(Sta sta, Double workDirection) {
- if (null == sta) {
- return null;
+ public Double getStaAngle(Sta sta) {
+ if (null == sta.getCode()) {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯鏈缃湴鐮侊紒");
}
- if (Cools.isEmpty(sta.getAngle())) {
- return workDirection;
+ Code code = codeService.getCacheById(sta.getCode());
+ if (code.getCornerBool()) {
+ if (!Cools.isEmpty(sta.getAngle())) {
+ return Double.parseDouble(sta.getAngle());
+ } else {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯鏈缃溅浣撲綔涓氳搴︼紒");
+ }
+ } else {
+ LaneDto laneDto = laneBuilder.search(code.getData());
+ Double laneDir = laneService.getLaneDirection(laneDto);
+
+ if (!Cools.isEmpty(laneDir)) {
+ if (!Cools.isEmpty(sta.getAngle()) && !laneDir.equals(Double.parseDouble(sta.getAngle()))) {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯杞︿綋浣滀笟瑙掑害涓庡贩閬撹繘鍏ヨ搴︿笉涓�鑷达紒");
+ }
+ return laneDir;
+ } else {
+ if (!Cools.isEmpty(sta.getAngle())) {
+ return Double.parseDouble(sta.getAngle());
+ }
+ throw new CoolException("鏈缃�" + sta.getStaNo() + "鍙锋帴椹崇珯鎵�澶勫贩閬撶殑杩涘叆瑙掑害");
+ }
}
- return Double.parseDouble(sta.getAngle());
}
public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
@@ -281,6 +295,35 @@
return includeList;
}
+ public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, VehicleFootprint footprint, double headingRad, double buffer) {
+ int[] centerIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
+ if (centerIdx == null) {
+ throw new CoolException(code + " does not exist in codeMatrix");
+ }
+ Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+ Double centerX = cdaMatrix[centerIdx[0]][centerIdx[1]][0];
+ Double centerY = cdaMatrix[centerIdx[0]][centerIdx[1]][1];
+ if (centerX == null || centerY == null) {
+ throw new CoolException(code + " does not exist in cdaMatrix");
+ }
+
+ double searchRadius = footprint.maxExtent() + buffer;
+
+ List<NavigateNode> candidates = this.getWaveScopeByCode(lev, code, searchRadius);
+
+ List<NavigateNode> includeList = new ArrayList<>();
+ for (NavigateNode node : candidates) {
+ Double px = cdaMatrix[node.getX()][node.getY()][0];
+ Double py = cdaMatrix[node.getX()][node.getY()][1];
+
+ if (isInsideExpandedFootprint(px, py, centerX, centerY, footprint, headingRad, buffer)) {
+ includeList.add(node);
+ }
+
+ }
+ return includeList;
+ }
+
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
, String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
@@ -325,6 +368,46 @@
}
+ private boolean isInsideExpandedFootprint(double px, double py, double centerX, double centerY
+ , VehicleFootprint footprint, double headingRad, double buffer) {
+ // 涓�銆侀噸缃垚浠ヨ溅杈嗕负鍘熺偣涓旇溅澶翠负x銆亂姝ｆ柟鍚戠殑鍧愭爣绯�
+ // 鍚戦噺骞崇Щ锛屽湴鍥惧潗鏍囩郴杞埌浠ヨ溅杈嗕腑蹇冧负鍘熺偣鐨勫潗鏍囩郴锛屼娇杞﹁締涓績鍙樻垚鏂扮殑鍘熺偣锛堟柟渚胯绠楋級
+ double dx = px - centerX;
+ double dy = py - centerY;
+
+ // 鍐嶆妸鍧愭爣鏃嬭浆鍒拌溅杈嗗潗鏍囩郴锛坙ocalX 鎸囧悜杞﹀ご锛宭ocalY 鎸囧悜杞﹁締宸︿晶锛夛紝鍙栨秷鍘熷湴鍥剧殑杞﹁締鏃嬭浆鏂瑰悜
+ double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
+ double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);
+
+ // 浜屻�佽溅杈嗗湪鑷韩鍧愭爣绯讳腑鐨勭煩褰㈣寖鍥�
+ double xMax = footprint.getHead(); // localX鏂瑰悜锛� 鍚戝墠锛堣溅澶存柟鍚戯級鏄鍊�
+ double xMin = -footprint.getTail(); // localX鏂瑰悜锛� 鍚戝悗锛堣溅灏撅級鏄礋鍊�
+
+ double yMax = footprint.getHalfWidth(); // localY 鏂瑰悜锛� 宸︿晶涓烘
+ double yMin = -footprint.getHalfWidth(); // localY 鏂瑰悜锛� 鍙充晶涓鸿礋
+
+ // 涓夈�佽绠� 鐐� 鏄惁鍦� 鈥滅煩褰㈠鎵� + buffer 鐨勫尯鍩熲�濋噷
+ // 璁＄畻鐐硅窛绂� 鐭╁舰杈圭晫 鐨勨�樿秴鍑洪噺鈥欙紝钀藉湪鐭╁舰鍐呮椂瓒呭嚭閲忎负 0
+ double excessX = 0D; // 榛樿 0 琛ㄧず杩樺湪鐭╁舰閲岄潰
+ if (localX < xMin) {
+ excessX = xMin - localX;
+ } else if (localX > xMax) {
+ excessX = localX - xMax;
+ }
+
+ double excessY = 0D; // 榛樿 0 琛ㄧず杩樺湪鐭╁舰閲岄潰
+ if (localY < yMin) {
+ excessY = yMin - localY;
+ } else if (localY > yMax) {
+ excessY = localY - yMax;
+ }
+
+ // (excessX, excessY) 琛ㄧず璺濈鍚戦噺
+
+ // 閫氳繃 娆ф皬璺濈骞虫柟绠楁硶锛� 鑻ュ埌鐭╁舰鐨勬渶鐭窛绂讳笉瓒呰繃 buffer锛岃鏄庡湪鈥滆溅杈嗗舰鐘� + 缂撳啿鍗婂緞鈥濆唴
+ return excessX * excessX + excessY * excessY <= buffer * buffer;
+ }
+
// v2 BFS ------------------------------------------------------------------------------
// public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
--
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