From d14e77e0da0db122867500fecf6d0607ef4d3bd5 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 26 十二月 2024 13:43:54 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
zy-acs-flow/src/map/constants.js | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java | 37 ++---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java | 9
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 7
zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 232 +++++++++++++++++---------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java | 11 +
zy-acs-manager/src/main/resources/agv.py | 2
version/db/mock/50-20241225.rar | 0
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 59 ++------
10 files changed, 173 insertions(+), 188 deletions(-)
diff --git a/version/db/mock/50-20241225.rar b/version/db/mock/50-20241225.rar
new file mode 100644
index 0000000..9c82952
--- /dev/null
+++ b/version/db/mock/50-20241225.rar
Binary files differ
diff --git a/zy-acs-flow/src/map/constants.js b/zy-acs-flow/src/map/constants.js
index d7d46c0..2f82f22 100644
--- a/zy-acs-flow/src/map/constants.js
+++ b/zy-acs-flow/src/map/constants.js
@@ -1,5 +1,5 @@
-export const ANIMATE_DURING_TIME = 800;
+export const ANIMATE_DURING_TIME = 1000;
export const MAP_DEFAULT_ROTATION = 270;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
index c0d5448..19a8af3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/MapDataWsScheduler.java
@@ -33,7 +33,7 @@
@Component
public class MapDataWsScheduler {
- public static final int WEBSOCKET_BROADCAST_INTERVAL = 800;
+ public static final int WEBSOCKET_BROADCAST_INTERVAL = 1000;
private ExecutorService singleThreadExecutor;
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 2a6d863..b87f448 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
@@ -50,6 +50,8 @@
private ExecutorService singleThreadExecutor;
+ private File pythonFile = null;
+
@Autowired
private MapDataDispatcher mapDataDispatcher;
@Autowired
@@ -85,7 +87,126 @@
});
}
- private File pythonFile = null;
+
+ public boolean calcWaveScope() {
+ Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
+ boolean lockAcquired = false;
+
+ StopWatch stopWatch = new StopWatch();
+ stopWatch.start();
+
+ try {
+ if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
+ log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
+ return false;
+ }
+
+// return this.calcWaveScopeByPython(lev);
+ return this.calcWaveScopeByJava(lev);
+
+ } catch (Exception e) {
+
+ log.error(this.getClass().getSimpleName(), e);
+ return false;
+ } finally {
+
+ if (lockAcquired) {
+ lock.unlock();
+ }
+
+ stopWatch.stop();
+ if (stopWatch.getTime() > 100) {
+ log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
+ }
+ }
+ }
+
+ private boolean calcWaveScopeByPython(Integer lev) throws Exception {
+ // python
+ 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);
+
+ if (null == pythonFile) {
+ pythonFile = loadPythonFile();
+ }
+
+ ProcessBuilder processBuilder = new ProcessBuilder(
+ "python" // 鎴栬�� "python3" 鍙栧喅浜庣郴缁熼厤缃�
+ , pythonFile.getAbsolutePath()
+ , String.valueOf(avoidDistance)
+ , redisProperties.getHost()
+ , redisProperties.getPassword()
+ , String.valueOf(redisProperties.getPort())
+ , String.valueOf(redisProperties.getIndex())
+ );
+
+ processBuilder.redirectErrorStream(true);
+
+ Process process = processBuilder.start();
+
+ BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
+ String line;
+ StringBuilder builder = new StringBuilder();
+ while ((line = reader.readLine()) != null) {
+ builder.append(line);
+ }
+
+ int exitCode = process.waitFor();
+ if (exitCode != 0) {
+ log.error("Python script exited with error code: {}", exitCode);
+ log.error("python error:{}", builder.toString());
+ return false;
+ }
+ reader.close();
+
+ if (builder.length() <= 0) {
+ return false;
+ }
+
+ String result = builder.toString();
+
+ if (Cools.isEmpty(result)) {
+ return false;
+ }
+ if (!"1".equals(result)) {
+ log.error("Failed to call python");
+ return false;
+ }
+
+ return true;
+ }
+
+ private boolean calcWaveScopeByJava(Integer lev) throws Exception {
+ 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);
+
+ // java
+ 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)) {
+
+ 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);
+
+ return true;
+ }
private File loadPythonFile() {
File scriptFile = null;
@@ -98,118 +219,11 @@
Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
- scriptFile.setExecutable(true);
+ boolean executable = scriptFile.setExecutable(true);
} catch (Exception e) {
throw new RuntimeException(e);
}
return scriptFile;
- }
-
- public void calcWaveScope() {
- Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
- boolean lockAcquired = false;
-
- StopWatch stopWatch = new StopWatch();
- stopWatch.start();
-
- try {
- if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
- return;
- }
-
- // python
- 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);
-
- if (null == pythonFile) {
- pythonFile = loadPythonFile();
- }
-
- ProcessBuilder processBuilder = new ProcessBuilder(
- "python" // 鎴栬�� "python3" 鍙栧喅浜庣郴缁熼厤缃�
- , pythonFile.getAbsolutePath()
- , String.valueOf(avoidDistance)
- , redisProperties.getHost()
- , redisProperties.getPassword()
- , String.valueOf(redisProperties.getPort())
- , String.valueOf(redisProperties.getIndex())
- );
-
- processBuilder.redirectErrorStream(true);
-
- Process process = processBuilder.start();
-
- BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
- String line;
- StringBuilder builder = new StringBuilder();
- while ((line = reader.readLine()) != null) {
- builder.append(line);
- }
-
- int exitCode = process.waitFor();
- if (exitCode != 0) {
- log.error("Python script exited with error code: {}", exitCode);
- log.error("python error:{}", builder.toString());
- return;
- }
- reader.close();
-
- if (builder.length() <= 0) {
- return;
- }
-
- String result = builder.toString();
-
- if (!Cools.isEmpty(result)) {
- if (!"1".equals(result)) {
- log.error("Failed to call python");
- }
- }
-// log.error("python finish {}", System.currentTimeMillis() - startTime);
-
- // java
-// 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) {
-
- log.error(this.getClass().getSimpleName(), e);
- } finally {
-
- if (lockAcquired) {
- lock.unlock();
- }
-
- stopWatch.stop();
- if (stopWatch.getTime() > 100) {
- log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
- }
-
- }
}
public void syncWaveBySingleVeh(String agvNo, String codeData) {
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 5cd7493..cf74c9a 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -267,7 +267,7 @@
NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
List<NavigateNode> includeList = new ArrayList<>();
- List<NavigateNode> existNodes = new ArrayList<>();
+ Set<NavigateNode> existNodes = new HashSet<>();
includeList.add(originNode);
existNodes.add(originNode);
@@ -279,7 +279,7 @@
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
, String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = currNode.getX();
int y = currNode.getY();
@@ -291,7 +291,7 @@
public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
, String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
- , List<NavigateNode> includeList, List<NavigateNode> existNodes) {
+ , List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = nextNode.getX();
int y = nextNode.getY();
@@ -301,48 +301,26 @@
return;
}
- if (this.isExist(nextNode, existNodes)) {
+ if (existNodes.contains(nextNode)) {
return;
}
existNodes.add(nextNode);
- String nextNodeCodeData = codeMatrix[x][y];
- if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
+ List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
+ List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]);
+
+ if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
+ nextNode.setCodeData(codeMatrix[x][y]);
+
+ if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
+ includeList.add(nextNode);
+ }
this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
-
- } else {
-
- List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
- List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
-
-// if (Math.pow(o1.getX() - o2.getX(), 2) + Math.pow(o1.getY() - o2.getY(), 2) <= Math.pow(radiusLen, 2)) {
- if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
- nextNode.setCodeData(nextNodeCodeData);
- includeList.add(nextNode);
-
- this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
-
- }
}
- }
- private boolean isExist(NavigateNode node, List<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
- }
-
- private boolean isSame(NavigateNode o1, NavigateNode o2) {
- if (Cools.isEmpty(o1, o2)) {
- return false;
- }
- return o1.getX() == o2.getX() && o1.getY() == o2.getY();
}
// v2 BFS ------------------------------------------------------------------------------
@@ -394,7 +372,7 @@
}
// If the node has already been visited, skip it
- if (this.isExist0(nextNode, visited)) {
+ if (visited.contains(nextNode)) {
return;
}
@@ -422,15 +400,6 @@
queue.offer(nextNode);
}
}
- }
-
- private boolean isExist0(NavigateNode node, Set<NavigateNode> existNodes) {
- for (NavigateNode existNode : existNodes) {
- if (this.isSame(node, existNode)) {
- return true;
- }
- }
- return false;
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
index 5b13f69..0451ee4 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -23,6 +23,7 @@
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
import java.util.stream.Collectors;
/**
@@ -95,7 +96,7 @@
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
boolean pointOfTurn = neighborNodes.size() >= 2;
label: for (RetreatNavigateNode node : neighborNodes) {
if (node.getCodeData().equals(breakPoint)) { continue; }
@@ -212,7 +213,7 @@
RetreatNavigateNode currentNode = openQueue.poll();
List<RetreatNavigateNode> enableNodes = new ArrayList<>();
- ArrayList<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
+ List<RetreatNavigateNode> neighborNodes = this.getNeighborNodes(currentNode, existNodes, codeMatrix);
// 绗竴姝ワ細鑾峰彇鏈夋晥杞集鐐�
if (null == availablePointOfTurn) {
@@ -319,12 +320,12 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {
+ private List<RetreatNavigateNode> getNeighborNodes(RetreatNavigateNode currentNode, Set<RetreatNavigateNode> existNodes, String[][] codeMatrix) {
int x = currentNode.getX();
int y = currentNode.getY();
- ArrayList<RetreatNavigateNode> neighbourNodes = new ArrayList<>();
+ List<RetreatNavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
List<RetreatNavigateNode> possibleNodes = Arrays.asList(
new RetreatNavigateNode(x, y + 1), // right
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index c612dfe..76a5f58 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -126,8 +126,11 @@
// execute -----------------------------------------------
// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
- // get path list
- avoidWaveCalculator.calcWaveScope(); // * sync wave scope
+ // * sync wave scope
+ if (!avoidWaveCalculator.calcWaveScope()) {
+ log.error("failed to calculate avoid wave matrix ...");
+ return;
+ }
// checkout path
Code startCode = codeService.getById(agvDetail.getRecentCode());
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index f26ba52..9e9e982 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service.astart;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
@@ -11,14 +12,17 @@
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.service.JamService;
import com.zy.acs.manager.system.service.ConfigService;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.*;
+import java.util.concurrent.CopyOnWriteArrayList;
/**
* Created by vincent on 6/12/2024
*/
+@Slf4j
@Service
public class AStarNavigateService {
@@ -58,9 +62,10 @@
// 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣
NavigateNode currentNode = openQueue.poll();
- ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
+ List<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
for (NavigateNode node : neighbourNodes) {
node.setCodeData(codeMatrix[node.getX()][node.getY()]);
+
boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
int weight = 0;
@@ -171,11 +176,11 @@
}
// 鑾峰彇鍥涘懆鑺傜偣
- private ArrayList<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
+ private List<NavigateNode> getNeighborNodes(NavigateNode currentNode, int[][] mapMatrix, Set<NavigateNode> existNodes) {
int x = currentNode.getX();
int y = currentNode.getY();
- ArrayList<NavigateNode> neighbourNodes = new ArrayList<>();
+ List<NavigateNode> neighbourNodes = new CopyOnWriteArrayList<>();
List<NavigateNode> possibleNodes = Arrays.asList(
new NavigateNode(x, y + 1), // right
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
index 25766b9..04c462b 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/MapDataDispatcher.java
@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
@@ -28,6 +29,9 @@
public static final Integer MAP_DEFAULT_LEV = 1;
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ List<Double> xIdxList;
+ List<Double> yIdxList;
private String[][] codeMatrix;
@@ -193,7 +197,6 @@
}
public String[][] initWaveMatrix(Integer lev) {
- log.info("There is initializing Wave Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
String[][] codeMatrix = getCodeMatrix(lev);
@@ -236,13 +239,20 @@
log.info("There is initializing Cda Matrix......");
lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
+ if (Cools.isEmpty(xIdxList, yIdxList)) {
+ this.initCodeMatrix(lev);
+ }
+
String[][] codeMatrix = getCodeMatrix(lev);
String[][] cdaMatrix = new String[codeMatrix.length][codeMatrix[0].length];
for (int i = 0; i < codeMatrix.length; i++) {
for (int j = 0; j < codeMatrix[i].length; j++) {
if (CodeNodeType.NONE.val.equals(codeMatrix[i][j])) {
- cdaMatrix[i][j] = CdaNodeType.DISABLE.val;
+ List<Double> cdaArr = new ArrayList<>();
+ cdaArr.add(xIdxList.get(j));
+ cdaArr.add(yIdxList.get(i));
+ cdaMatrix[i][j] = JSON.toJSONString(cdaArr);
} else {
Code currCode = codeService.selectByData(codeMatrix[i][j]);
if (null != currCode) {
@@ -385,13 +395,9 @@
.orderByAsc(Code::getY)
.orderByAsc(Code::getX)
);
-// int xCount = codeService.selectDistinctCountFromX();
-// int yCount = codeService.selectDistinctCountFromY();
-// // [][] 绗竴涓槸鎺掔殑鏁伴噺 绗簩涓槸鍒楃殑鏁伴噺
-// String[][] codeMatrix = new String[yCount][xCount];
- List<Double> xIdxList = new ArrayList<>();
- List<Double> yIdxList = new ArrayList<>();
+ xIdxList = new ArrayList<>();
+ yIdxList = new ArrayList<>();
for (Code code : codeList) {
Double x = code.getX();
Double y = code.getY();
@@ -409,24 +415,9 @@
// [][] 绗竴涓槸鎺掔殑鏁伴噺 绗簩涓槸鍒楃殑鏁伴噺
String[][] codeMatrix = new String[yIdxList.size()][xIdxList.size()];
- int idxX = -1;
- int idxY = -1;
- double lastX = -1;
- double lastY = -1;
for (Code code : codeList) {
Double x = code.getX();
Double y = code.getY();
-// if (y != lastY) {
-// idxY ++;
-// idxX = 0;
-// lastY = y;
-// lastX = x;
-// }
-// if (x != lastX) {
-// idxX++;
-// lastX = x;
-// }
-// codeMatrix[idxY][idxX] = code.getData();
codeMatrix[yIdxList.indexOf(y)][xIdxList.indexOf(x)] = code.getData();
}
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index d6b5632..ad188ed 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -1,3 +1,5 @@
+# -*- coding: utf-8 -*-
+
import ast
import multiprocessing
import sys
--
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