From d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 17 十二月 2024 09:58:39 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 58 ++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 46 insertions(+), 12 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 411d0da..ed017d2 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
@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.manager.common.config.RedisProperties;
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;
@@ -21,13 +22,15 @@
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang.time.StopWatch;
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 javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
-import java.io.BufferedReader;
-import java.io.IOException;
-import java.io.InputStreamReader;
+import java.io.*;
+import java.nio.file.Files;
+import java.nio.file.StandardCopyOption;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -59,6 +62,8 @@
private CodeService codeService;
@Autowired
private MapService mapService;
+ @Autowired
+ private RedisProperties redisProperties;
@PostConstruct
@SuppressWarnings("all")
@@ -93,22 +98,50 @@
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);
long startTime = System.currentTimeMillis();
- ProcessBuilder processBuilder = new ProcessBuilder("python"
- , "D:\\tmp\\pyagv\\agv4.py"
- , String.valueOf(avoidDistance)
- );
- processBuilder.redirectErrorStream(true);
+ Resource resource = new ClassPathResource("agv.py");
+
+ File tempScript = null;
try {
+ InputStream is = resource.getInputStream();
+ tempScript = File.createTempFile("agv", ".py");
+ tempScript.deleteOnExit();
+
+ Files.copy(is, tempScript.toPath(), StandardCopyOption.REPLACE_EXISTING);
+ tempScript.setExecutable(true);
+
+ ProcessBuilder processBuilder = new ProcessBuilder(
+ "python" // 鎴栬�� "python3" 鍙栧喅浜庣郴缁熼厤缃�
+ , tempScript.getAbsolutePath()
+ , String.valueOf(avoidDistance)
+ , redisProperties.getHost()
+ , redisProperties.getPassword()
+ , String.valueOf(redisProperties.getPort())
+ , String.valueOf(redisProperties.getIndex())
+ );
+
+ processBuilder.redirectErrorStream(true);
+
+// File file = resource.getFile();
+// ProcessBuilder processBuilder = new ProcessBuilder(
+// "python"
+// , file.getAbsolutePath()
+// , String.valueOf(avoidDistance)
+// , redisProperties.getHost()
+// , redisProperties.getPassword()
+// , String.valueOf(redisProperties.getPort())
+// , String.valueOf(redisProperties.getIndex())
+// );
+// processBuilder.redirectErrorStream(true);
+
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();
@@ -116,10 +149,10 @@
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);
+ log.error("Python script exited with error code: {}", exitCode);
+ log.error("python error:{}", builder.toString());
return;
}
reader.close();
@@ -140,6 +173,7 @@
}
log.error("python finish {}", System.currentTimeMillis() - startTime);
+ // java
// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
// String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
//
--
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