From cc1adec06e08b82808eb7e4a2919e08218d86519 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 12 十二月 2024 16:32:43 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 103 ++++++++++++++++++++++++++++++++++-----------------
1 files changed, 69 insertions(+), 34 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 853b7c2..411d0da 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;
@@ -13,6 +13,7 @@
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;
@@ -24,6 +25,9 @@
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;
@@ -89,47 +93,78 @@
return;
}
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
- String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
+ AgvModel agvModel = agvModelService.selectByType(AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()); // can be optimized
- // 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());
-//
-// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-// List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
-//
-// for (NavigateNode navigateNode : includeList) {
-// String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
-// waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
-// }
-//
-// }
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
- // 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
+ long startTime = System.currentTimeMillis();
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+ ProcessBuilder processBuilder = new ProcessBuilder("python"
+ , "D:\\tmp\\pyagv\\agv4.py"
+ , String.valueOf(avoidDistance)
+ );
+ processBuilder.redirectErrorStream(true);
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
- }
+ 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);
-// mapDataDispatcher.printMatrix(waveMatrix);
- mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
+// 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()); // 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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