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++) {

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