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/MapService.java | 110 +++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 95 insertions(+), 15 deletions(-)
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 c3cb502..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
@@ -1,12 +1,15 @@
package com.zy.acs.manager.core.service;
import com.alibaba.fastjson.JSON;
-import com.zy.acs.common.enums.AgvDirectionType;
+import com.zy.acs.common.enums.ActuatorDirectionType;
import com.zy.acs.framework.common.Cools;
+import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.DirectionDto;
+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;
@@ -16,9 +19,8 @@
import com.zy.acs.manager.manager.entity.Segment;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.enums.CodeSpinType;
-import com.zy.acs.manager.manager.service.ActionService;
import com.zy.acs.manager.manager.service.CodeService;
-import com.zy.acs.manager.system.service.ConfigService;
+import com.zy.acs.manager.manager.service.LaneService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -52,9 +54,9 @@
@Autowired
private AStarNavigateService aStarNavigateService;
@Autowired
- private ConfigService configService;
+ private LaneService laneService;
@Autowired
- private ActionService actionService;
+ private LaneBuilder laneBuilder;
@Autowired
private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
@@ -158,20 +160,39 @@
return angle;
}
- // 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
- Integer compDirect = loc.getCompDirect();
- return AgvDirectionType.fromVal(compDirect);
+ // 鍧愭爣璐ф灦闃堝��
+ public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
+ Integer compDirect = loc.getCompDirect();
+ return ActuatorDirectionType.fromVal(compDirect);
}
- public Double getStaAngle(Sta sta, Double workDirection) {
- if (null == sta) {
- return null;
+ public Double getStaAngle(Sta sta) {
+ if (null == sta.getCode()) {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯鏈缃湴鐮侊紒");
}
- if (Cools.isEmpty(sta.getAngle())) {
- return workDirection;
+ Code code = codeService.getCacheById(sta.getCode());
+ if (code.getCornerBool()) {
+ if (!Cools.isEmpty(sta.getAngle())) {
+ return Double.parseDouble(sta.getAngle());
+ } else {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯鏈缃溅浣撲綔涓氳搴︼紒");
+ }
+ } else {
+ LaneDto laneDto = laneBuilder.search(code.getData());
+ Double laneDir = laneService.getLaneDirection(laneDto);
+
+ if (!Cools.isEmpty(laneDir)) {
+ if (!Cools.isEmpty(sta.getAngle()) && !laneDir.equals(Double.parseDouble(sta.getAngle()))) {
+ throw new CoolException(sta.getStaNo() + "鍙锋帴椹崇珯杞︿綋浣滀笟瑙掑害涓庡贩閬撹繘鍏ヨ搴︿笉涓�鑷达紒");
+ }
+ return laneDir;
+ } else {
+ if (!Cools.isEmpty(sta.getAngle())) {
+ return Double.parseDouble(sta.getAngle());
+ }
+ throw new CoolException("鏈缃�" + sta.getStaNo() + "鍙锋帴椹崇珯鎵�澶勫贩閬撶殑杩涘叆瑙掑害");
+ }
}
- return Double.parseDouble(sta.getAngle());
}
public Double calculateAgvWorkDirectionByStation(Double staWorkDirection, Double lastDirection) {
@@ -274,6 +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) {
@@ -318,6 +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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