From f076136ab3d84d0129a2b5898ee92dc1b70a4a30 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期五, 06 三月 2026 13:29:21 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java | 26 ++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java | 6
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 97 +++++++++++++++++++----
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java | 19 ++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 60 +++++++++++++++
5 files changed, 187 insertions(+), 21 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
index b7c7104..222f5cd 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/common/utils/MapDataUtils.java
@@ -56,12 +56,12 @@
return JSON.toJSONString(set);
}
- public static Double getVehicleWaveSafeDistance(Integer diameter, Double factor) {
- if (Cools.isEmpty(diameter)) {
+ public static Double getVehicleWaveSafeDistance(Integer val, Double factor) {
+ if (Cools.isEmpty(val)) {
return 0.0D;
}
factor = Optional.ofNullable(factor).orElse(1.0D);
- return diameter * factor;
+ return val * factor;
}
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java
new file mode 100644
index 0000000..5622f98
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleFootprint.java
@@ -0,0 +1,26 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+/**
+ * 杞﹁締鍦ㄨ嚜韬潗鏍囩郴涓嬬殑鐭╁舰杞粨鎻忚堪
+ */
+@Data
+public class VehicleFootprint {
+
+ private double head;
+ private double tail;
+ private double halfWidth;
+
+ public VehicleFootprint(double head, double tail, double halfWidth) {
+ this.head = head;
+ this.tail = tail;
+ this.halfWidth = halfWidth;
+ }
+
+ public double maxExtent() {
+ double frontDiag = Math.hypot(head, halfWidth);
+ double rearDiag = Math.hypot(tail, halfWidth);
+ return Math.max(frontDiag, rearDiag);
+ }
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java
new file mode 100644
index 0000000..069bdaf
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/VehicleRuntime.java
@@ -0,0 +1,19 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+@Data
+public class VehicleRuntime {
+
+ private VehicleFootprint footprint;
+ private double headingRad;
+
+ public VehicleRuntime() {
+ }
+
+ public VehicleRuntime(VehicleFootprint footprint, double headingRad) {
+ this.footprint = footprint;
+ this.headingRad = headingRad;
+ }
+
+}
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 59cbb82..e3110b7 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
@@ -3,9 +3,13 @@
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.framework.exception.CoolException;
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.domain.VehicleFootprint;
+import com.zy.acs.manager.core.domain.VehicleRuntime;
+import com.zy.acs.manager.core.service.astart.CodeNodeType;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
@@ -33,7 +37,9 @@
import java.io.InputStreamReader;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -172,41 +178,96 @@
return true;
}
- private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) throws Exception {
- if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
- log.warn("There is no diameter or diameter value was wrong...");
- }
-
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-
- // java
+ private boolean calcWaveScopeByJava(Integer lev, AgvModel agvModel) {
+ assert null != agvModel.getDiameter();
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
-
- // lock path
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ // 褰撳墠璋冨害杞﹀瀷鐨勬渶澶ф棆杞崐寰�
+ double bufferRadius = buildFootprint(agvModel).maxExtent();
+
+ Map<String, VehicleRuntime> runtimeCache = new HashMap<>();
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)) {
+ if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
+ continue;
+ }
+ String codeData = codeMatrix[i][j];
+ if (CodeNodeType.NONE.val.equals(codeData)) {
+ continue;
+ }
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+ // cache
+ VehicleRuntime runtime = runtimeCache.computeIfAbsent(vehicle, this::loadRuntime);
+ assert null != runtime; assert null != runtime.getFootprint();
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
- }
+ List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, runtime.getFootprint(), runtime.getHeadingRad(), bufferRadius);
+
+ for (NavigateNode navigateNode : includeList) {
+ String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
+ waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
}
}
}
-// mapDataDispatcher.printMatrix(waveMatrix);
mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
return true;
}
+ private VehicleRuntime loadRuntime(String agvNo) {
+ AgvModel model = agvModelService.getByAgvNo(agvNo);
+ if (model == null) {
+ return null;
+ }
+ VehicleFootprint footprint = this.buildFootprint(model);
+
+ AgvDetail detail = agvDetailService.selectByAgvNo(agvNo);
+ if (detail == null || null == detail.getAgvAngle()) {
+ throw new CoolException(agvNo + " does not have an agv angle");
+ }
+ double headingDeg = detail.getAgvAngle();
+
+ return new VehicleRuntime(footprint, Math.toRadians(90 - headingDeg));
+ }
+
+ private double toMapLength(Integer mm) {
+ if (mm == null || mm <= 0) {
+ throw new IllegalArgumentException("Invalid map length: " + mm);
+ }
+ return MapDataUtils.getVehicleWaveSafeDistance(mm, MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ }
+
+ private double resolveAvoidDistance(AgvModel agvModel) {
+ if (agvModel == null || agvModel.getDiameter() == null || agvModel.getDiameter() <= 0) {
+ return 0D;
+ }
+ return MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ }
+
+ private VehicleFootprint buildFootprint(AgvModel agvModel) {
+ if (null == agvModel) {
+ throw new IllegalArgumentException("AgvModel is null");
+ }
+ if (agvModel.getHeadOffset() == null || agvModel.getHeadOffset() <= 0) {
+ throw new IllegalArgumentException("Invalid head offset: " + agvModel.getHeadOffset());
+ }
+ if (agvModel.getTailOffset() == null || agvModel.getTailOffset() <= 0) {
+ throw new IllegalArgumentException("Invalid tail offset: " + agvModel.getTailOffset());
+ }
+ if (agvModel.getWidth() == null || agvModel.getWidth() <= 0) {
+ throw new IllegalArgumentException("Invalid width: " + agvModel.getWidth());
+ }
+
+ double head = toMapLength(agvModel.getHeadOffset());
+ double tail = toMapLength(agvModel.getTailOffset());
+ double halfWidth = toMapLength(agvModel.getWidth()) / 2;
+
+ return new VehicleFootprint(head, tail, halfWidth);
+ }
+
private File loadPythonFile() {
File scriptFile = null;
try {
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 d6ac66c..d90a532 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
@@ -9,6 +9,7 @@
import com.zy.acs.manager.core.domain.LaneDto;
import com.zy.acs.manager.core.domain.SortCodeDto;
import com.zy.acs.manager.core.domain.UnlockPathTask;
+import com.zy.acs.manager.core.domain.VehicleFootprint;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -294,6 +295,35 @@
return includeList;
}
+ public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, VehicleFootprint footprint, double headingRad, double buffer) {
+ int[] centerIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
+ if (centerIdx == null) {
+ throw new CoolException(code + " does not exist in codeMatrix");
+ }
+ Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+ Double centerX = cdaMatrix[centerIdx[0]][centerIdx[1]][0];
+ Double centerY = cdaMatrix[centerIdx[0]][centerIdx[1]][1];
+ if (centerX == null || centerY == null) {
+ throw new CoolException(code + " does not exist in cdaMatrix");
+ }
+
+ double searchRadius = footprint.maxExtent() + buffer;
+
+ List<NavigateNode> candidates = this.getWaveScopeByCode(lev, code, searchRadius);
+
+ List<NavigateNode> includeList = new ArrayList<>();
+ for (NavigateNode node : candidates) {
+ Double px = cdaMatrix[node.getX()][node.getY()][0];
+ Double py = cdaMatrix[node.getX()][node.getY()][1];
+
+ if (isInsideExpandedFootprint(px, py, centerX, centerY, footprint, headingRad, buffer)) {
+ includeList.add(node);
+ }
+
+ }
+ return includeList;
+ }
+
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
, String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
@@ -338,6 +368,36 @@
}
+ private boolean isInsideExpandedFootprint(double px, double py, double centerX, double centerY
+ , VehicleFootprint footprint, double headingRad, double buffer) {
+ double dx = px - centerX;
+ double dy = py - centerY;
+
+ double localX = dx * Math.cos(headingRad) + dy * Math.sin(headingRad);
+ double localY = -dx * Math.sin(headingRad) + dy * Math.cos(headingRad);
+
+ double xMin = -footprint.getTail();
+ double xMax = footprint.getHead();
+ double yMin = -footprint.getHalfWidth();
+ double yMax = footprint.getHalfWidth();
+
+ double excessX = 0D;
+ if (localX < xMin) {
+ excessX = xMin - localX;
+ } else if (localX > xMax) {
+ excessX = localX - xMax;
+ }
+
+ double excessY = 0D;
+ if (localY < yMin) {
+ excessY = yMin - localY;
+ } else if (localY > yMax) {
+ excessY = localY - yMax;
+ }
+
+ return excessX * excessX + excessY * excessY <= buffer * buffer;
+ }
+
// v2 BFS ------------------------------------------------------------------------------
// public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
--
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