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/service/AvoidWaveCalculator.java | 97 +++++++++++++++++++++++++++++++++++++++---------
1 files changed, 79 insertions(+), 18 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 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 {
--
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