From d2aa9473613af8cd99c3a6dea0331765ecb830dc Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 17 十二月 2024 13:57:20 +0800
Subject: [PATCH] #
---
zy-acs-fake/src/main/resources/unlock.py | 22 +++
zy-acs-manager/src/main/resources/agv.py | 174 ++++++++++++++----------
zy-acs-fake/src/main/java/com/zy/acs/fake/config/RedisProperties.java | 96 +++++++++++++
zy-acs-fake/src/main/java/com/zy/acs/fake/service/MapService.java | 78 +++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 2
5 files changed, 299 insertions(+), 73 deletions(-)
diff --git a/zy-acs-fake/src/main/java/com/zy/acs/fake/config/RedisProperties.java b/zy-acs-fake/src/main/java/com/zy/acs/fake/config/RedisProperties.java
new file mode 100644
index 0000000..4ac338f
--- /dev/null
+++ b/zy-acs-fake/src/main/java/com/zy/acs/fake/config/RedisProperties.java
@@ -0,0 +1,96 @@
+package com.zy.acs.fake.config;
+
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Configuration;
+
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+
+/**
+ * redis绯荤粺閰嶇疆
+ * Created by vincent on 2018/10/15
+ */
+@Configuration
+@ConfigurationProperties(prefix = "redis")
+public class RedisProperties {
+
+ public static String HOST_NAME;
+
+ static {
+ try {
+ HOST_NAME = InetAddress.getLocalHost().getHostName();
+ } catch (UnknownHostException e) {
+ System.err.println("find hostname err");
+ }
+ }
+
+ private String host;
+
+ private String password;
+
+ private int port;
+
+ private int min;
+
+ private int max;
+
+ private int timeout;
+
+ private int index;
+
+ public String getHost() {
+ return host;
+ }
+
+ public void setHost(String host) {
+ this.host = host;
+ }
+
+ public String getPassword() {
+ return password;
+ }
+
+ public void setPassword(String password) {
+ this.password = password;
+ }
+
+ public int getPort() {
+ return port;
+ }
+
+ public void setPort(int port) {
+ this.port = port;
+ }
+
+ public int getMin() {
+ return min;
+ }
+
+ public void setMin(int min) {
+ this.min = min;
+ }
+
+ public int getMax() {
+ return max;
+ }
+
+ public void setMax(int max) {
+ this.max = max;
+ }
+
+ public int getTimeout() {
+ return timeout;
+ }
+
+ public void setTimeout(int timeout) {
+ this.timeout = timeout;
+ }
+
+ public int getIndex() {
+ return index;
+ }
+
+ public void setIndex(int index) {
+ this.index = index;
+ }
+}
diff --git a/zy-acs-fake/src/main/java/com/zy/acs/fake/service/MapService.java b/zy-acs-fake/src/main/java/com/zy/acs/fake/service/MapService.java
index 1578c7a..6228265 100644
--- a/zy-acs-fake/src/main/java/com/zy/acs/fake/service/MapService.java
+++ b/zy-acs-fake/src/main/java/com/zy/acs/fake/service/MapService.java
@@ -1,11 +1,21 @@
package com.zy.acs.fake.service;
+import com.zy.acs.fake.config.RedisProperties;
import com.zy.acs.fake.domain.DynamicNode;
import com.zy.acs.framework.common.Cools;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.core.io.ClassPathResource;
+import org.springframework.core.io.Resource;
import org.springframework.stereotype.Component;
+import org.springframework.util.StopWatch;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.nio.file.Files;
+import java.nio.file.StandardCopyOption;
import java.util.ArrayList;
import java.util.List;
@@ -18,9 +28,73 @@
@Autowired
private MapDataDispatcher mapDataDispatcher;
+ @Autowired
+ private RedisProperties redisProperties;
+
+ public synchronized void unlockPath0(String agvNo, String codeData) {
+ try {
+
+ Resource resource = new ClassPathResource("unlock.py");
+ File tempScript = null;
+
+ InputStream is = resource.getInputStream();
+ tempScript = File.createTempFile("unlock", ".py");
+ tempScript.deleteOnExit();
+
+ Files.copy(is, tempScript.toPath(), StandardCopyOption.REPLACE_EXISTING);
+ tempScript.setExecutable(true);
+
+ ProcessBuilder processBuilder = new ProcessBuilder(
+ "python"
+ , tempScript.getAbsolutePath()
+ , redisProperties.getHost()
+ , redisProperties.getPassword()
+ , String.valueOf(redisProperties.getPort())
+ , String.valueOf(redisProperties.getIndex())
+ , agvNo
+ , codeData
+ );
+
+ 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("Fail python");
+ }
+ }
+
+
+ } catch (Exception e) {
+ log.error("MapService.unlockPath", e);
+ }
+ }
public synchronized void unlockPath(String agvNo, String codeData) {
try {
+ long startTime = System.currentTimeMillis();
if (Cools.isEmpty(agvNo, codeData)) {
return;
@@ -55,8 +129,10 @@
mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeList);
}
+ log.info("瑙ｉ攣璺緞鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", System.currentTimeMillis() - startTime);
+
} catch (Exception e) {
- log.error("TrafficService.unlockPath", e);
+ log.error("MapService.unlockPath", e);
}
}
diff --git a/zy-acs-fake/src/main/resources/unlock.py b/zy-acs-fake/src/main/resources/unlock.py
new file mode 100644
index 0000000..33be43f
--- /dev/null
+++ b/zy-acs-fake/src/main/resources/unlock.py
@@ -0,0 +1,22 @@
+import numpy as np
+import json
+import time
+import redis
+
+startTime = time.perf_counter()
+
+redisHost = sys.argv[1]
+redisPwd = sys.argv[2]
+redisPort = sys.argv[3]
+redisIdx = sys.argv[4]
+
+agvNo = sys.argv[5]
+codeData = sys.argv[6]
+
+# 鍒涘缓涓�涓繛鎺ユ睜
+pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
+r = redis.Redis(connection_pool=pool)
+
+codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
+codeMatrix = np.array(json.loads(codeMatrixStr))
+
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 d50cad9..aa8bb1c 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
@@ -227,7 +227,7 @@
}
} catch (Exception e) {
- log.error("TrafficService.unlockPath", e);
+ log.error("MapService.unlockPath", e);
}
}
diff --git a/zy-acs-manager/src/main/resources/agv.py b/zy-acs-manager/src/main/resources/agv.py
index a366634..2634411 100644
--- a/zy-acs-manager/src/main/resources/agv.py
+++ b/zy-acs-manager/src/main/resources/agv.py
@@ -1,13 +1,12 @@
import ast
import sys
-
import numpy as np
import json
import time
import redis
+from collections import deque
radiusLen = None
-
# 灏嗗瓧绗︿覆杞崲涓烘诞鐐瑰瀷鏁扮粍
def convert_to_float_array(str_array):
@@ -15,50 +14,63 @@
return np.array(ast.literal_eval(str_array), dtype=float)
return str_array
-def getWaveScopeByCode(x, y):
- code = codeMatrix[x, y]
+def getWaveScopeByCode_iterative(x, y):
+ """
+ 浣跨敤骞垮害浼樺厛鎼滅储锛圔FS锛夋潵浠ｆ浛閫掑綊锛屼互閬垮厤閫掑綊娣卞害杩囧ぇ鐨勯棶棰樸��
+ """
includeList = []
existNodes = set()
- spreadWaveNode({"x": x, "y": y}, {"x": x, "y": y}, existNodes, includeList)
- return includeList
+ queue = deque()
-def spreadWaveNode(originNode, currNode, existNodes, includeList):
- x, y = currNode['x'], currNode['y']
- neighbors = [(x + 1, y), (x - 1, y), (x, y + 1), (x, y - 1)]
- for neighbor in neighbors:
- extendNeighborNodes(originNode, {"x": neighbor[0], "y": neighbor[1]}, existNodes, includeList)
-
-def extendNeighborNodes(originNode, nextNode, existNodes, includeList):
- x, y = nextNode['x'], nextNode['y']
- if (x < 0 or x >= codeMatrix.shape[0] or y < 0 or y >= codeMatrix.shape[1]):
- return
-
- if (x, y) in existNodes:
- return
-
+ originNode = {"x": x, "y": y}
+ currNode = {"x": x, "y": y}
+ queue.append(currNode)
existNodes.add((x, y))
- nextNodeCodeData = codeMatrix[x, y]
+ while queue:
+ node = queue.popleft()
+ node_x, node_y = node['x'], node['y']
+ neighbors = [
+ (node_x + 1, node_y),
+ (node_x - 1, node_y),
+ (node_x, node_y + 1),
+ (node_x, node_y - 1)
+ ]
- if nextNodeCodeData == 'NONE':
- spreadWaveNode(originNode, nextNode, existNodes, includeList)
- else:
- o1Cda = convert_to_float_array(cdaMatrix[originNode['x'], originNode['y']])
- o2Cda = convert_to_float_array(cdaMatrix[x, y])
+ for neighbor in neighbors:
+ nx, ny = neighbor
+ # 妫�鏌ヨ竟鐣屾潯浠�
+ if (nx < 0 or nx >= codeMatrix.shape[0] or ny < 0 or ny >= codeMatrix.shape[1]):
+ continue
+ if (nx, ny) in existNodes:
+ continue
- num1 = (o1Cda[0] - o2Cda[0]) ** 2
- num2 = (o1Cda[1] - o2Cda[1]) ** 2
- if num1 + num2 <= radiusLen ** 2:
- includeList.append({"x": int(x), "y": int(y), "code": str(codeMatrix[x, y])})
- spreadWaveNode(originNode, nextNode, existNodes, includeList)
+ existNodes.add((nx, ny))
+ neighbor_code = codeMatrix[nx, ny]
-# 鎵惧埌鏌愪釜鍊煎搴旂殑 x, y 涓嬫爣
+ if neighbor_code == 'NONE':
+ queue.append({"x": nx, "y": ny})
+ else:
+ o1Cda = convert_to_float_array(cdaMatrix[x, y])
+ o2Cda = convert_to_float_array(cdaMatrix[nx, ny])
+
+ num1 = (o1Cda[0] - o2Cda[0]) ** 2
+ num2 = (o1Cda[1] - o2Cda[1]) ** 2
+ if num1 + num2 <= radiusLen ** 2:
+ includeList.append({
+ "x": int(nx),
+ "y": int(ny),
+ "code": str(codeMatrix[nx, ny])
+ })
+ queue.append({"x": nx, "y": ny})
+
+ return includeList
+
def find_value_in_matrix(value):
indices = np.where(codeMatrix == value)
return list(zip(indices[0], indices[1]))
def initWaveMatrix():
- lev = 1
waveMatrix = np.empty_like(codeMatrix, dtype=object)
for x in range(codeMatrix.shape[0]):
@@ -73,7 +85,10 @@
# 浼樺寲鐗堟湰锛氫娇鐢ㄩ泦鍚堟潵鎻愰珮鎬ц兘
def mergeWave(originWave, vehicle):
# 灏嗗瓧绗︿覆瑙ｆ瀽涓洪泦鍚�
- set_data = set(ast.literal_eval(originWave))
+ try:
+ set_data = set(ast.literal_eval(originWave))
+ except (ValueError, SyntaxError):
+ set_data = set()
# 濡傛灉 vehicle 涓嶅湪闆嗗悎涓紝鍒欐坊鍔�
set_data.add(vehicle)
# 杩斿洖搴忓垪鍖栧悗鐨勫瓧绗︿覆
@@ -90,6 +105,8 @@
# 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
def process_dynamic_matrix(dynamicMatrix, codeMatrix):
+ global waveMatrix # 纭繚 waveMatrix 鏄叏灞�鍙橀噺
+
# 灏� dynamicMatrix 杞崲涓虹粨鏋勫寲鏁扮粍
dynamicMatrix = convert_to_structured_array(dynamicMatrix)
@@ -104,57 +121,72 @@
# 閬嶅巻婊¤冻鏉′欢鐨勫潗鏍�
for x, y in zip(x_indices, y_indices):
- # print(code)
- data = dynamicMatrix[x][y]
- vehicle = data['vehicle']
- includeList = getWaveScopeByCode(x,y)
+ vehicle = dynamicMatrix[x][y]['vehicle']
+ includeList = getWaveScopeByCode_iterative(x, y)
for include in includeList:
originWave = waveMatrix[include['x']][include['y']]
waveMatrix[include['x']][include['y']] = mergeWave(originWave, vehicle)
-radiusLenStr = sys.argv[1]
-radiusLen = float(radiusLenStr)
+def main():
+ global radiusLen, codeMatrix, cdaMatrix, waveMatrix # 澹版槑涓哄叏灞�鍙橀噺
-redisHost = sys.argv[2]
-redisPwd = sys.argv[3]
-redisPort = sys.argv[4]
-redisIdx = sys.argv[5]
+ if len(sys.argv) != 6:
+ print("Usage: python script.py <radiusLen> <redisHost> <redisPwd> <redisPort> <redisIdx>")
+ sys.exit(1)
-startTime = time.perf_counter()
+ radiusLenStr = sys.argv[1]
+ radiusLen = float(radiusLenStr)
-# 鍒涘缓涓�涓繛鎺ユ睜
-pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
-r = redis.Redis(connection_pool=pool)
+ redisHost = sys.argv[2]
+ redisPwd = sys.argv[3]
+ redisPort = sys.argv[4]
+ redisIdx = sys.argv[5]
-codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
-codeMatrix = np.array(json.loads(codeMatrixStr))
+ startTime = time.perf_counter()
-cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
-cdaMatrix = np.array(json.loads(cdaMatrixStr))
+ # 鍒涘缓涓�涓繛鎺ユ睜
+ pool = redis.ConnectionPool(host=redisHost, port=int(redisPort), password=redisPwd, db=int(redisIdx))
+ r = redis.Redis(connection_pool=pool)
-dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
-dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
+ # 鑾峰彇骞跺姞杞� codeMatrix
+ codeMatrixStr = r.get('KV.AGV_MAP_ASTAR_CODE_FLAG.1')
+ if codeMatrixStr is None:
+ print("Error: 'KV.AGV_MAP_ASTAR_CODE_FLAG.1' not found in Redis.")
+ sys.exit(1)
+ codeMatrix = np.array(json.loads(codeMatrixStr))
-waveMatrix = initWaveMatrix()
+ # 鑾峰彇骞跺姞杞� cdaMatrix
+ cdaMatrixStr = r.get('KV.AGV_MAP_ASTAR_CDA_FLAG.1')
+ if cdaMatrixStr is None:
+ print("Error: 'KV.AGV_MAP_ASTAR_CDA_FLAG.1' not found in Redis.")
+ sys.exit(1)
+ cdaMatrix = np.array(json.loads(cdaMatrixStr))
-# # 浣跨敤 numpy 鍔犻�熺殑浠ｇ爜
-process_dynamic_matrix(dynamicMatrix, codeMatrix)
+ # 鑾峰彇骞跺姞杞� dynamicMatrix
+ dynamicMatrixStr = r.get('KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1')
+ if dynamicMatrixStr is None:
+ print("Error: 'KV.AGV_MAP_ASTAR_DYNAMIC_FLAG.1' not found in Redis.")
+ sys.exit(1)
+ dynamicMatrix = np.array(json.loads(dynamicMatrixStr))
-# for x in range(dynamicMatrix.shape[0]):
-# for y in range(dynamicMatrix.shape[1]):
-# data = dynamicMatrix[x, y]
-# vehicle = data['vehicle']
-# if vehicle != '0' and vehicle != '-1':
-# getWaveScopeByCode(x, y)
+ # 鍒濆鍖� waveMatrix
+ waveMatrix = initWaveMatrix()
-# 灏� numpy.ndarray 杞崲涓哄祵濂楀垪琛�
-waveMatrixList = waveMatrix.tolist()
-# 灏嗗祵濂楀垪琛ㄨ浆鎹负 JSON 瀛楃涓�
-waveMatrixJsonStr = json.dumps(waveMatrixList)
+ # 澶勭悊 dynamicMatrix
+ process_dynamic_matrix(dynamicMatrix, codeMatrix)
-r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1",waveMatrixJsonStr)
+ # 灏� numpy.ndarray 杞崲涓哄祵濂楀垪琛�
+ waveMatrixList = waveMatrix.tolist()
+ # 灏嗗祵濂楀垪琛ㄨ浆鎹负 JSON 瀛楃涓�
+ waveMatrixJsonStr = json.dumps(waveMatrixList)
-end = time.perf_counter()
-# print('绋嬪簭杩愯鏃堕棿涓�: %s Seconds' % (end - startTime))
-print("1")
+ # 灏嗙粨鏋滀繚瀛樺洖 Redis
+ r.set("KV.AGV_MAP_ASTAR_WAVE_FLAG.1", waveMatrixJsonStr)
+ end = time.perf_counter()
+ # 鎵撳嵃绋嬪簭杩愯鏃堕棿
+# print(f"绋嬪簭杩愯鏃堕棿涓�: {end - startTime} Seconds")
+ print("1")
+
+if __name__ == "__main__":
+ main()
\ No newline at end of file
--
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