From bc5fa0165da2b3e41b9c27bee5394ff6d47f096f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 16 十二月 2024 09:29:34 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 90 ++++++++++++++++++++++++++++++--------------
1 files changed, 61 insertions(+), 29 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 89e82f6..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
@@ -1,8 +1,8 @@
package com.zy.acs.manager.core.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.acs.framework.common.Cools;
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.DynamicNodeType;
@@ -57,20 +57,21 @@
private MapService mapService;
@PostConstruct
+ @SuppressWarnings("all")
public void execute() {
this.singleThreadExecutor = Executors.newSingleThreadExecutor();
this.singleThreadExecutor.execute(() -> {
+ try { Thread.sleep(200); } catch (InterruptedException ignore) {}
+
this.calcDynamicNodeWhenBoot();
- while (!Thread.currentThread().isInterrupted()) {
-
- this.calcWaveScope();
-
- try {
- Thread.sleep(500);
- } catch (InterruptedException ignore) {}
- }
+// while (!Thread.currentThread().isInterrupted()) {
+//
+// this.calcWaveScope();
+//
+// try { Thread.sleep(500); } catch (InterruptedException ignore) {}
+// }
});
}
@@ -88,39 +89,70 @@
return;
}
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
- String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
-
- // vehicle
-// for (Agv agv : agvService.list(new LambdaQueryWrapper<>())) {
-// AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
-// AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
-// Code code = codeService.getById(agvDetail.getRecentCode());
+// AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
//
-// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
-// List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
+// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
//
-// for (NavigateNode navigateNode : includeList) {
-// String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
-// waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
+// 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);
- // lock path
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+ String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
+//
+// // 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());
+ AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
+ 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()];
+ String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
}
}
@@ -140,7 +172,7 @@
}
stopWatch.stop();
- if (stopWatch.getTime() > 50) {
+ if (stopWatch.getTime() > 100) {
log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
}
@@ -163,7 +195,7 @@
Agv agv = agvService.selectByUuid(agvNo);
AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.IDLE_DISTANCE_COE);
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -203,7 +235,7 @@
if (null == agvDetail) {
return;
}
- if (agvDetail.getPos() == null || agvDetail.getPos() != 1) {
+ if (agvDetail.getPos() == null) {
return;
}
Long recentCode = agvDetail.getRecentCode();
--
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