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 | 73 ++++++++++++++++++++++++++---------- 1 files changed, 52 insertions(+), 21 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 af11655..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; @@ -66,12 +66,12 @@ 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) {} +// } }); } @@ -89,26 +89,57 @@ 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.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR); -// 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++) { -- Gitblit v1.9.1