From c65a357fc8b907af755e1ef6a2c201e31eb71e94 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期六, 07 二月 2026 13:50:38 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 183 ++++++++++++++++++++++++++++++++++++---------
1 files changed, 146 insertions(+), 37 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 9c975e1..d6ac66c 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
@@ -1,8 +1,12 @@
package com.zy.acs.manager.core.service;
-import com.zy.acs.common.enums.AgvDirectionType;
+import com.alibaba.fastjson.JSON;
+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.service.astart.*;
@@ -14,9 +18,8 @@
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;
@@ -36,6 +39,7 @@
@Component("mapService")
public class MapService {
+ private static final double EPS = 1e-7;
private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
@Value("${floyd.enable}")
@@ -49,9 +53,9 @@
@Autowired
private AStarNavigateService aStarNavigateService;
@Autowired
- private ConfigService configService;
+ private LaneService laneService;
@Autowired
- private ActionService actionService;
+ private LaneBuilder laneBuilder;
@Autowired
private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
@@ -155,27 +159,39 @@
return angle;
}
- // 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
+ // 鍧愭爣璐ф灦闃堝��
+ public ActuatorDirectionType calculateAgvWorkDirectionByShelf(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
- AgvDirectionType agvDirectionType = null;
- if (compDirect == 0) {
- agvDirectionType = AgvDirectionType.RIGHT;
- }
- if (compDirect == 1) {
- agvDirectionType = AgvDirectionType.LEFT;
- }
- return agvDirectionType;
+ 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) {
@@ -186,22 +202,6 @@
double deltaX = x2 - x1;
double deltaY = y2 - y1;
return Math.sqrt(deltaX * deltaX + deltaY * deltaY);
- }
-
- public DirectionType calcDirectionType(int[] originIdx, int[] oppositeIdx) {
- if (oppositeIdx[0] < originIdx[0] && oppositeIdx[1] == originIdx[1]) {
- return DirectionType.TOP;
- }
- if (oppositeIdx[0] > originIdx[0] && oppositeIdx[1] == originIdx[1]) {
- return DirectionType.BOTTOM;
- }
- if (oppositeIdx[0] == originIdx[0] && oppositeIdx[1] > originIdx[1]) {
- return DirectionType.RIGHT;
- }
- if (oppositeIdx[0] == originIdx[0] && oppositeIdx[1] < originIdx[1]) {
- return DirectionType.LEFT;
- }
- return DirectionType.NONE;
}
public void lockPath(Integer lev, List<String> pathList, String agvNo) {
@@ -438,6 +438,115 @@
return CodeSpinType.of(code.getSpin());
}
+ public static void main(String[] args) {
+ CodeSpinType codeSpinType = calcSpinDirection(null, 260.0, 10.0);
+ List<DirectionDto> directionDtoList = DirectionDto.initCodeDirections();
+ System.out.println(JSON.toJSONString(directionDtoList));
+ System.out.println(codeSpinType.toString());
+ }
+
+ public static CodeSpinType calcSpinDirection(Code code, Double currDir, Double nextDir) {
+ if (Cools.isEmpty(code, currDir, nextDir)) {
+ return CodeSpinType.NA;
+ }
+ List<Double> disableAngleList = new ArrayList<>();
+ List<DirectionDto> directionDtoList;
+ if (!Cools.isEmpty(code.getDirRule())) {
+ directionDtoList = JSON.parseArray(code.getDirRule(), DirectionDto.class);
+ } else {
+ directionDtoList = DirectionDto.initCodeDirections();
+ }
+ for (DirectionDto dto : directionDtoList) {
+ if (null != dto.getEnabled() && !dto.getEnabled()) {
+ disableAngleList.add(dto.getAngle());
+ }
+ }
+
+ if (Cools.isEmpty(disableAngleList)) {
+ return CodeSpinType.NA;
+ }
+
+ double curr = norm360(currDir);
+ double next = norm360(nextDir);
+
+ // 濡傛灉鍑犱箮鐩哥瓑锛岃涓轰笉闇�瑕佹棆杞�
+ if (almostEqual(curr, next)) {
+ return CodeSpinType.NA;
+ }
+
+ double cwDelta = cwDelta(curr, next);
+ double ccwDelta = 360.0 - cwDelta;
+
+ boolean cwBlocked = false;
+ boolean ccwBlocked = false;
+
+ for (Double disableAngle : disableAngleList) {
+ if (disableAngle == null) continue;
+ double disable = norm360(disableAngle);
+
+ if (isOnArcCW(curr, next, disable)) {
+ cwBlocked = true;
+ }
+ if (isOnArcCCW(curr, next, disable)) {
+ ccwBlocked = true;
+ }
+ }
+
+ if (cwBlocked && !ccwBlocked) {
+ return CodeSpinType.CCW;
+ }
+ if (!cwBlocked && ccwBlocked) {
+ return CodeSpinType.CW;
+ }
+
+ return CodeSpinType.NA;
+ }
+
+ private static double norm360(double a) {
+ double x = a % 360.0;
+ if (x < 0) x += 360.0;
+ // 360 褰掍竴鍖栦负 0
+ if (almostEqual(x, 360.0)) return 0.0;
+ return x;
+ }
+
+ private static boolean almostEqual(double a, double b) {
+ return Math.abs(a - b) <= EPS;
+ }
+
+ /**
+ * 椤烘椂閽堣窛绂伙細浠� start 鍒� end锛屾部 CW 鏂瑰悜璧板灏戝害锛岃寖鍥� (0, 360]锛岃繖閲屼笉浼氳繑鍥� 0锛堥櫎闈炰綘 curr==next 宸叉彁鍓嶅鐞嗭級
+ */
+ private static double cwDelta(double start, double end) {
+ double d = end - start;
+ if (d < 0) d += 360.0;
+ if (almostEqual(d, 0.0)) return 0.0;
+ return d;
+ }
+
+ /**
+ * 鍒ゆ柇 angle 鏄惁钀藉湪浠� start -> end 鐨勯『鏃堕拡寮ф涓婏紙涓嶅惈绔偣锛夈��
+ * 鍗筹細娌� CW 浠� start 璧� cwDelta(start,end) 鐨勮矾寰勪笂鏄惁鈥滅粡杩団�漚ngle銆�
+ */
+ private static boolean isOnArcCW(double start, double end, double angle) {
+ double total = cwDelta(start, end);
+ // 寮ч暱涓� 0 琛ㄧず鏃犳棆杞紙宸叉彁鍓嶅鐞嗭級锛岃繖閲岀洿鎺� false
+ if (almostEqual(total, 0.0)) return false;
+
+ double a = cwDelta(start, angle);
+ // 涓嶅寘鍚鐐癸細a 鍦� (0, total) 涔嬮棿鎵嶇畻缁忚繃
+ return a > EPS && a < total - EPS;
+ }
+
+ /**
+ * 鍒ゆ柇 angle 鏄惁钀藉湪浠� start -> end 鐨勯�嗘椂閽堝姬娈典笂锛堜笉鍚鐐癸級銆�
+ * 閫嗘椂閽堢瓑浠蜂簬锛氶『鏃堕拡浠� end -> start 鐨勫姬娈点��
+ */
+ private static boolean isOnArcCCW(double start, double end, double angle) {
+ // 閫嗘椂閽� start->end == 椤烘椂閽� end->start
+ return isOnArcCW(end, start, angle);
+ }
+
/**
* That vehicle is walking if the dynamic node count > 1
*/
--
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