From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java |   79 +++++++++------------------------------
 1 files changed, 18 insertions(+), 61 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..4a11335 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
@@ -20,15 +20,18 @@
 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.List;
@@ -42,6 +45,7 @@
  */
 @Slf4j
 @Component
+@DependsOn("mapDataDispatcher")
 public class AvoidWaveCalculator {
 
     private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -72,18 +76,9 @@
     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) {}
-//            }
-
         });
     }
 
@@ -92,8 +87,7 @@
         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 +95,8 @@
                 return false;
             }
 
-            return this.calcWaveScopeByPython(lev);
-//            return this.calcWaveScopeByJava(lev);
+//            return this.calcWaveScopeByPython(lev);
+            return this.calcWaveScopeByJava(lev);
 
         } catch (Exception e) {
 
@@ -114,9 +108,9 @@
                 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);
             }
         }
     }
@@ -177,6 +171,10 @@
     }
 
     private boolean calcWaveScopeByJava(Integer lev) throws Exception {
+
+        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);
+
         // java
         String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
         String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
@@ -188,9 +186,7 @@
                 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
 
-                    Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
                     List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
 
                     for (NavigateNode navigateNode : includeList) {
@@ -225,45 +221,6 @@
         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() {
         List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
         DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
@@ -296,7 +253,7 @@
         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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