From a46f9e397d5973e1ff9be3bb89357e2c50919900 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 13 十二月 2024 14:58:46 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 21 ++-----
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 134 +++++++++++++++++++++-----------------------
zy-acs-manager/pom.xml | 8 ++
3 files changed, 79 insertions(+), 84 deletions(-)
diff --git a/zy-acs-manager/pom.xml b/zy-acs-manager/pom.xml
index af1e3a7..8fb1e78 100644
--- a/zy-acs-manager/pom.xml
+++ b/zy-acs-manager/pom.xml
@@ -146,6 +146,14 @@
<artifactId>easyexcel</artifactId>
<version>2.2.6</version>
</dependency>
+
+ <!-- nd4j -->
+<!-- <dependency>-->
+<!-- <groupId>org.nd4j</groupId>-->
+<!-- <artifactId>nd4j-native-platform</artifactId>-->
+<!-- <version>1.0.0-M2.1</version>-->
+<!-- </dependency>-->
+
</dependencies>
<build>
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..8afc00d 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
@@ -1,12 +1,10 @@
package com.zy.acs.manager.common.utils;
import com.alibaba.fastjson.JSON;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.framework.common.Cools;
-import com.zy.acs.manager.core.service.astart.WaveNodeType;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Optional;
+import java.util.*;
/**
* Created by vincent on 8/7/2024
@@ -38,17 +36,10 @@
}
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 = GsonUtils.fromJsonToList(originStr, String.class);
+ Set<String> set = new HashSet<>(originNode);
+ set.add(waveNode);
+ return GsonUtils.toJson(set);
}
public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {
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 411d0da..ca758b1 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
@@ -13,7 +13,6 @@
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
@@ -25,9 +24,6 @@
import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.io.BufferedReader;
-import java.io.IOException;
-import java.io.InputStreamReader;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -93,78 +89,78 @@
return;
}
- AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
-
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-
- long startTime = System.currentTimeMillis();
-
- ProcessBuilder processBuilder = new ProcessBuilder("python"
- , "D:\\tmp\\pyagv\\agv4.py"
- , String.valueOf(avoidDistance)
- );
- processBuilder.redirectErrorStream(true);
-
- try {
- Process process = processBuilder.start();
-
- // 璇诲彇Python鑴氭湰鐨勮緭鍑�
- BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
- String line;
- StringBuilder builder = new StringBuilder();
- while ((line = reader.readLine()) != null) {
- builder.append(line);
- }
-
- // 绛夊緟Python鑴氭湰鎵ц瀹屾垚
- int exitCode = process.waitFor();
- if (exitCode != 0) {
- System.out.println("Python script exited with error code: " + exitCode);
- return;
- }
- reader.close();
-
- if (builder.length() <= 0) {
- return;
- }
-
- String result = builder.toString();
-
- if (!Cools.isEmpty(result)) {
- if (!"1".equals(result)) {
- log.error("Fail python");
- }
- }
- } catch (IOException | InterruptedException e) {
- e.printStackTrace();
- }
- log.error("python finish {}", System.currentTimeMillis() - startTime);
-
-// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
-// String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
+// AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
//
-// // lock path
-// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
-// 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)) {
-// AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
+// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//
-// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-// List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+// long startTime = System.currentTimeMillis();
//
-// for (NavigateNode navigateNode : includeList) {
-// String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
-// waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
-// }
+// ProcessBuilder processBuilder = new ProcessBuilder("python"
+// , "D:\\tmp\\pyagv\\agv4.py"
+// , String.valueOf(avoidDistance)
+// );
+// processBuilder.redirectErrorStream(true);
+//
+// try {
+// Process process = processBuilder.start();
+//
+// // 璇诲彇Python鑴氭湰鐨勮緭鍑�
+// BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
+// String line;
+// StringBuilder builder = new StringBuilder();
+// while ((line = reader.readLine()) != null) {
+// builder.append(line);
+// }
+//
+// // 绛夊緟Python鑴氭湰鎵ц瀹屾垚
+// int exitCode = process.waitFor();
+// if (exitCode != 0) {
+// System.out.println("Python script exited with error code: " + exitCode);
+// return;
+// }
+// reader.close();
+//
+// if (builder.length() <= 0) {
+// return;
+// }
+//
+// String result = builder.toString();
+//
+// if (!Cools.isEmpty(result)) {
+// if (!"1".equals(result)) {
+// log.error("Fail python");
// }
// }
+// } catch (IOException | InterruptedException e) {
+// e.printStackTrace();
// }
+// log.error("python finish {}", System.currentTimeMillis() - startTime);
+
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+ String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
//
-//// mapDataDispatcher.printMatrix(waveMatrix);
-// mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
+// // lock path
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ 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)) {
+ AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
+
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+
+ for (NavigateNode navigateNode : includeList) {
+ String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
+ waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
+ }
+ }
+ }
+ }
+
+// mapDataDispatcher.printMatrix(waveMatrix);
+ mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
} catch (Exception e) {
--
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