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 | 176 +++++++++++++++++++++++++++++++++-------------------------
1 files changed, 99 insertions(+), 77 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 99fae76..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;
@@ -14,24 +18,28 @@
import com.zy.acs.manager.manager.entity.AgvDetail;
import com.zy.acs.manager.manager.entity.AgvModel;
import com.zy.acs.manager.manager.entity.Code;
-import com.zy.acs.manager.manager.enums.AgvModelType;
import com.zy.acs.manager.manager.service.AgvDetailService;
import com.zy.acs.manager.manager.service.AgvModelService;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import lombok.extern.slf4j.Slf4j;
-import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.DependsOn;
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.*;
+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.HashMap;
import java.util.List;
+import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
@@ -42,6 +50,7 @@
*/
@Slf4j
@Component
+@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {
private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -72,28 +81,18 @@
public void execute() {
this.singleThreadExecutor = Executors.newSingleThreadExecutor();
this.singleThreadExecutor.execute(() -> {
-
- try { Thread.sleep(200); } catch (InterruptedException ignore) {}
+ try { Thread.sleep(500); } catch (InterruptedException ignore) {}
this.calcDynamicNodeWhenBoot();
-
-// while (!Thread.currentThread().isInterrupted()) {
-//
-// this.calcWaveScope();
-//
-// try { Thread.sleep(500); } catch (InterruptedException ignore) {}
-// }
-
});
}
- public boolean calcWaveScope() {
+ public boolean calcWaveScope(AgvModel agvModel) {
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
boolean lockAcquired = false;
- StopWatch stopWatch = new StopWatch();
- stopWatch.start();
+ long startTime = System.currentTimeMillis();
try {
if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
@@ -101,8 +100,8 @@
return false;
}
- return this.calcWaveScopeByPython(lev);
-// return this.calcWaveScopeByJava(lev);
+// return this.calcWaveScopeByPython(lev);
+ return this.calcWaveScopeByJava(lev, agvModel);
} catch (Exception e) {
@@ -114,16 +113,19 @@
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());
+ long during = System.currentTimeMillis() - startTime;
+ if (during > 50) {
+ log.info("婊ゆ尝鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", during);
}
}
}
- private boolean calcWaveScopeByPython(Integer lev) throws Exception {
+ private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
+ if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
+ log.warn("There is no diameter or diameter value was wrong...");
+ }
+
// 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) {
@@ -176,35 +178,94 @@
return true;
}
- private boolean calcWaveScopeByJava(Integer lev) throws Exception {
- // 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)) {
- AgvModel agvModel = agvModelService.getById(agvService.selectByUuid(vehicle).getAgvModel()); // can be optimized
+ if (DynamicNodeType.ACCESS.val.equals(vehicle) || DynamicNodeType.BLOCK.val.equals(vehicle)) {
+ continue;
+ }
+ String codeData = codeMatrix[i][j];
+ if (CodeNodeType.NONE.val.equals(codeData)) {
+ continue;
+ }
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
- 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() {
@@ -223,45 +284,6 @@
throw new RuntimeException(e);
}
return scriptFile;
- }
-
- public void syncWaveBySingleVeh(String agvNo, String codeData) {
- if (Cools.isEmpty(agvNo, codeData)) {
- return;
- }
-
- boolean lockAcquired = false;
- Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
-
- try {
- if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
- return;
- }
-
- Agv agv = agvService.selectByUuid(agvNo);
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-
- String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
-
- List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeData, avoidDistance);
-
- for (NavigateNode navigateNode : includeList) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
- }
-
- mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
-
- } catch (Exception e) {
- log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
- } finally {
-
- if (lockAcquired) {
- lock.unlock();
- }
- }
}
public void calcDynamicNodeWhenBoot() {
@@ -296,7 +318,7 @@
DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
String vehicle = dynamicNode.getVehicle();
if (vehicle.equals(DynamicNodeType.ACCESS.val)) {
- mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(code.getData()), agv.getUuid());
+ mapDataDispatcher.modifyDynamicMatrix(null, Utils.singletonList(codeMatrixIdx), agv.getUuid());
}
}
--
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