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 | 214 +++++++++++++++++++++++++++++++----------------------
1 files changed, 124 insertions(+), 90 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 af11655..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
@@ -1,8 +1,9 @@
package com.zy.acs.manager.core.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.acs.framework.common.Cools;
import com.zy.acs.common.utils.Utils;
+import com.zy.acs.framework.common.Cools;
+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.service.astart.DynamicNodeType;
@@ -13,17 +14,26 @@
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.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;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@@ -35,6 +45,7 @@
*/
@Slf4j
@Component
+@DependsOn("mapDataDispatcher")
public class AvoidWaveCalculator {
private static final ReentrantLock lock = new ReentrantLock(Boolean.TRUE);
@@ -42,6 +53,8 @@
private static final int LOCK_TIMEOUT = 5;
private ExecutorService singleThreadExecutor;
+
+ private File pythonFile = null;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@@ -55,136 +68,157 @@
private CodeService codeService;
@Autowired
private MapService mapService;
+ @Autowired
+ private RedisProperties redisProperties;
@PostConstruct
@SuppressWarnings("all")
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 void calcWaveScope() {
+
+ public boolean calcWaveScope() {
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))) {
log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
- return;
+ return false;
}
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
- String[][] waveMatrix = mapDataDispatcher.initWaveMatrix(lev);
-
- // vehicle
-// for (Agv agv : agvService.list(new LambdaQueryWrapper<>())) {
-// AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
-// AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
-// Code code = codeService.getById(agvDetail.getRecentCode());
-//
-// Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
-// List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, code.getData(), avoidDistance);
-//
-// for (NavigateNode navigateNode : includeList) {
-// String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()];
-// waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, agv.getUuid());
-// }
-//
-// }
-
- // lock path
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
- 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
-
- 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) {
- String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
- waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
- }
- }
- }
- }
-
-// mapDataDispatcher.printMatrix(waveMatrix);
- mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
+// return this.calcWaveScopeByPython(lev);
+ return this.calcWaveScopeByJava(lev);
} catch (Exception e) {
log.error(this.getClass().getSimpleName(), e);
+ return false;
} finally {
if (lockAcquired) {
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);
}
-
}
}
- public void syncWaveBySingleVeh(String agvNo, String codeData) {
- if (Cools.isEmpty(agvNo, codeData)) {
- return;
+ private boolean calcWaveScopeByPython(Integer lev) throws Exception {
+ // 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) {
+ pythonFile = loadPythonFile();
}
- boolean lockAcquired = false;
- Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
+ ProcessBuilder processBuilder = new ProcessBuilder(
+ "python" // 鎴栬�� "python3" 鍙栧喅浜庣郴缁熼厤缃�
+ , pythonFile.getAbsolutePath()
+ , String.valueOf(avoidDistance)
+ , redisProperties.getHost()
+ , redisProperties.getPassword()
+ , String.valueOf(redisProperties.getPort())
+ , String.valueOf(redisProperties.getIndex())
+ );
+ processBuilder.redirectErrorStream(true);
+
+ Process process = processBuilder.start();
+
+ BufferedReader reader = new BufferedReader(new InputStreamReader(process.getInputStream()));
+ String line;
+ StringBuilder builder = new StringBuilder();
+ while ((line = reader.readLine()) != null) {
+ builder.append(line);
+ }
+
+ int exitCode = process.waitFor();
+ if (exitCode != 0) {
+ log.error("Python script exited with error code: {}", exitCode);
+ log.error("python error:{}", builder.toString());
+ return false;
+ }
+ reader.close();
+
+ if (builder.length() <= 0) {
+ return false;
+ }
+
+ String result = builder.toString();
+
+ if (Cools.isEmpty(result)) {
+ return false;
+ }
+ if (!"1".equals(result)) {
+ log.error("Failed to call python");
+ return false;
+ }
+
+ return true;
+ }
+
+ 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);
+
+ // lock path
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ 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)) {
+
+ List<NavigateNode> includeList = mapService.getWaveScopeByCode(lev, codeMatrix[i][j], avoidDistance);
+
+ for (NavigateNode navigateNode : includeList) {
+ String waveNode = waveMatrix[navigateNode.getX()][navigateNode.getY()]; // overlay
+ waveMatrix[navigateNode.getX()][navigateNode.getY()] = MapDataUtils.generateWaveNode(waveNode, vehicle);
+ }
+ }
+ }
+ }
+
+// mapDataDispatcher.printMatrix(waveMatrix);
+ mapDataDispatcher.setWaveMatrix(lev, waveMatrix);
+
+ return true;
+ }
+
+ private File loadPythonFile() {
+ File scriptFile = null;
try {
- if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
- log.warn("AvoidWaveCalculator syncWaveBySingleVeh fail, cause can not acquire lock ...");
- return;
- }
+ Resource resource = new ClassPathResource("agv.py");
- Agv agv = agvService.selectByUuid(agvNo);
- AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
- Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(agvModel.getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR);
+ InputStream is = resource.getInputStream();
+ scriptFile = File.createTempFile("agv", ".py");
+ scriptFile.deleteOnExit();
- String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
+ Files.copy(is, scriptFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
- 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);
-
+ boolean executable = scriptFile.setExecutable(true);
} catch (Exception e) {
- log.error("AvoidWaveCalculator.syncWaveBySingleVeh fail", e);
- } finally {
-
- if (lockAcquired) {
- lock.unlock();
- }
+ throw new RuntimeException(e);
}
+ return scriptFile;
}
public void calcDynamicNodeWhenBoot() {
@@ -219,7 +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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