package com.zy.acs.manager.core.service;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.utils.GsonUtils;
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import com.zy.acs.common.utils.Utils;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.SnowflakeIdWorker;
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import com.zy.acs.framework.exception.CoolException;
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import com.zy.acs.manager.common.utils.MapDataUtils;
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import com.zy.acs.manager.core.constant.MapDataConstant;
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import com.zy.acs.manager.core.domain.BlockVehicleDto;
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import com.zy.acs.manager.core.domain.TaskPosDto;
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import com.zy.acs.manager.core.domain.type.BlockSeverityType;
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import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.core.service.astart.NavigateNode;
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import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
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import com.zy.acs.manager.core.service.astart.WaveNodeType;
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import com.zy.acs.manager.manager.entity.*;
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import com.zy.acs.manager.manager.enums.JamStateType;
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import com.zy.acs.manager.manager.enums.SegmentStateType;
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import com.zy.acs.manager.manager.enums.TaskTypeType;
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import com.zy.acs.manager.manager.service.*;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Date;
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import java.util.List;
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import java.util.stream.Collectors;
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/**
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* Wavefront
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* Created by vincent on 6/25/2024
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*/
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@Slf4j
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@Component
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public class TrafficService {
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@Autowired
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private AgvService agvService;
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@Autowired
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private AgvDetailService agvDetailService;
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@Autowired
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private CodeService codeService;
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@Autowired
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private TravelService travelService;
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@Autowired
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private SegmentService segmentService;
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@Autowired
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private MainService mainService;
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@Autowired
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private MainLockWrapService mainLockWrapService;
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@Autowired
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private MapService mapService;
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@Autowired
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private MapDataDispatcher mapDataDispatcher;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private RetreatNavigateService retreatNavigateService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private JamService jamService;
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@Autowired
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private AvoidWaveCalculator avoidWaveCalculator;
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@Transactional
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public synchronized void trigger(Segment segment) {
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try {
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Date now = new Date();
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Travel travel = travelService.getById(segment.getTravelId());
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Agv agv = agvService.getById(travel.getAgvId());
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AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
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long endNode = segment.getEndNode();
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// valid ----------------------------------------------------
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if (!agvService.judgeEnable(agv.getId())) {
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return;
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}
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if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
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return;
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}
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List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
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if (!Cools.isEmpty(waitingSegList)) {
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for (Segment waitingSeg : waitingSegList) {
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if (!waitingSeg.getId().equals(segment.getId())) {
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// log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
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return;
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}
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}
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}
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// dead lane
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if (jamService.count(new LambdaQueryWrapper<Jam>()
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.eq(Jam::getJamAgv, agv.getId())
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.eq(Jam::getJamSeg, segment.getId())
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.eq(Jam::getCycleAvo, 1)
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.eq(Jam::getCycleCode, endNode)
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.eq(Jam::getState, JamStateType.RUNNING.toString())
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) > 0) {
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return;
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}
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// deprecate jam
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if (this.isJamBeDeprecatedByAvo(segment.getId())) {
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if (this.skipCurrSegment(segment)) {
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return;
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}
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}
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// execute -----------------------------------------------
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// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
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// get path list
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avoidWaveCalculator.calcWaveScope(); // * sync wave scope
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// checkout path
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Code startCode = codeService.getById(agvDetail.getRecentCode());
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Code endCode = codeService.getById(endNode);
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List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
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if (Cools.isEmpty(pathList)) {
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return;
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}
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List<Segment> segmentList = new ArrayList<>();
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segmentList.add(segment);
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String lastCodeData = pathList.get(pathList.size() - 1);
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if (!endCode.getData().equals(lastCodeData)) {
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// slice
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Code lastCode = codeService.selectByData(lastCodeData);
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// if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
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// return;
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// }
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// revert
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segment.setState(SegmentStateType.INIT.toString());
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segment.setUpdateTime(now);
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if (!segmentService.updateById(segment)) {
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log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
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}
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segmentList.clear();
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// new move seg
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Segment insertSeg = new Segment();
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insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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insertSeg.setTravelId(travel.getId());
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insertSeg.setAgvId(agv.getId());
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insertSeg.setTaskId(segment.getTaskId());
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insertSeg.setSerial(segment.getSerial() - 1);
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insertSeg.setEndNode(lastCode.getId());
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insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
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insertSeg.setState(SegmentStateType.WAITING.toString());
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if (!segmentService.save(insertSeg)) {
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log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
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}
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segmentList.add(insertSeg);
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} else {
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// complete first segment then merge behind segment
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int serial = segment.getSerial();
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boolean interrupt = false;
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while (!interrupt) {
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Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
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serial ++;
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if (null == nextStep) {
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interrupt = true;
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} else {
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if (nextStep.getEndNode() == endNode) {
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segmentList.add(nextStep);
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} else {
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interrupt = true;
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}
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}
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}
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}
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mapService.lockPath(null, pathList, agv.getUuid());
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mainService.generateAction(segment.getAgvId(), segmentList, pathList);
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} catch (Exception e) {
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log.error("TrafficService.trigger", e);
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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private List<String> checkoutPath(Agv agv, Code startCode, Code endCode, Segment segment) {
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Integer lev = null;
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String agvNo = agv.getUuid();
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Date now = new Date();
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Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
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BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
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// judge avoid of jam 如果已经在避让点（因为当前车执行了避让任务），那么则不能再去检索之前的阻塞路径
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List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
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List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
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// 结果集
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List<String> pathList = new ArrayList<>();
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// 无障碍解
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List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
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// 避让解
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List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
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if (!Cools.isEmpty(lockPathList) && // 存在避让解
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Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
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) {
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pathList = lockPathList;
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} else {
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// preview path
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List<String> draftPath = new ArrayList<>(unlockPathList);
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if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
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unlockPathList.remove(endCode.getData());
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blackPath.addAll(unlockPathList);
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List<String> newUnlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
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if (!Cools.isEmpty(newUnlockPathList)) {
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draftPath = newUnlockPathList;
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}
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}
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// 可走行路径集合计算
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List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList); // jamAgvNo may was wave
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if (!Cools.isEmpty(pathList)) {
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if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
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assert !Cools.isEmpty(blockVehicleList);
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boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
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if (hasUnavoidableBlocks && pathList.size() <= MapDataConstant.MIN_SLICE_PATH_LENGTH) {
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log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
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pathList.clear();
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}
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boolean hasCycleJam = blockVehicleList.stream().anyMatch(
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blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
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);
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if (hasCycleJam) {
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log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
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pathList.clear();
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}
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}
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// 无可走行路径
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} else {
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if (Cools.isEmpty(blockVehicleList)) {
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log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
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} else {
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assert !Cools.isEmpty(blockVehicleList);
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Integer maxJamTimeoutFactor = null;
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// persist jam data
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jam = this.createOrUpdateJam(agv, startCode, segment, jam, draftPath);
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// ? has unAvoidable block vehicles
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if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
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// set factor of jam timeout
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maxJamTimeoutFactor = 1;
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} else {
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// ? already do notify to avoid
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if (!Cools.isEmpty(jam.getAvoAgv())
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&& BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
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maxJamTimeoutFactor = 5;
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} else {
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// select optimal block vehicle
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String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList, segment);
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if (Cools.isEmpty(blockAgvNo)) {
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maxJamTimeoutFactor = 2;
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} else {
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// block vehicle info
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Agv blockAgv = agvService.selectByUuid(blockAgvNo);
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String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
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// create new jam if already notify the avoid vehicle
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if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgv.getId().equals(jam.getAvoAgv())) {
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jam = this.setupNewJam(jam, agv, startCode, segment, draftPath);
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}
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do {
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// 阻塞车辆正在原地作业，等待 ===>> 超过等待时间，绕路
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List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
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if (!Cools.isEmpty(runningSegList)) {
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maxJamTimeoutFactor = 1;
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break;
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}
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// 判断下个任务是否为原地任务，如果是则等待 ===>> 超过等待时间，绕路；如果不是，让阻塞车辆避让
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List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
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if (null != waitingSegList
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&& waitingSegList.stream().anyMatch(
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waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
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)) {
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maxJamTimeoutFactor = 1;
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break;
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}
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// notify block vehicle to avoid
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if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, agvNo, jam)) {
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if (jam.getCycleAvo() == 1) {
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jam.setCycleCode(endCode.getId());
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}
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jam.setAvoAgv(blockAgv.getId());
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jam.setNotifyTime(new Date());
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if (!jamService.updateById(jam)) {
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throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
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}
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} else {
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maxJamTimeoutFactor = 1;
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}
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} while (false);
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}
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}
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}
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// handle jam timeout
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if (null != maxJamTimeoutFactor) {
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if (System.currentTimeMillis() - jam.getStartTime().getTime() > MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
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if (!Cools.isEmpty(lockPathList)) {
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pathList = lockPathList;
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} else {
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log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
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, agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
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}
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} else {
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log.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
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, agvNo
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, blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
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);
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}
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}
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}
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}
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}
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if (!Cools.isEmpty(pathList)) {
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if (null != jam) {
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boolean beDeprecate = false;
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if (blockSeverity.equals(BlockSeverityType.SEVERE) && !Cools.isEmpty(jam.getJamPath())) {
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List<String> jamPath = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
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if (!this.comparePathLists(jamPath, pathList)) { // jamPath >= pathList
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beDeprecate = true;
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}
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}
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jam.setEndTime(now);
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jam.setUpdateTime(now);
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jam.setState(beDeprecate ? JamStateType.DEPRECATED.toString() : JamStateType.FINISH.toString());
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if (jamService.updateById(jam)) {
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if (beDeprecate) {
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// search previous jam that jamSeg from this segment
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List<Jam> previousJams = jamService.list(new LambdaQueryWrapper<Jam>()
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.eq(Jam::getJamSeg, segment.getId())
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.eq(Jam::getState, JamStateType.FINISH.toString())
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);
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for (Jam previousJam : previousJams) {
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previousJam.setState(JamStateType.DEPRECATED.toString());
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previousJam.setUpdateTime(now);
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if (!jamService.updateById(previousJam)) {
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log.error("Jam[{}] failed to update！！！", previousJam.getUuid());
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}
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}
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}
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} else {
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log.error("Jam[{}] failed to update！！！", jam.getUuid());
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}
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}
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// deal expired jam
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for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
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.eq(Jam::getJamAgv, agv.getId())
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.eq(Jam::getState, JamStateType.RUNNING.toString()))) {
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expiredJam.setEndTime(now);
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expiredJam.setUpdateTime(now);
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expiredJam.setState(JamStateType.DEPRECATED.toString());
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if (!jamService.updateById(expiredJam)) {
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log.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
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}
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}
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}
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return pathList;
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}
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private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
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List<BlockVehicleDto> blockVehicleList = new ArrayList<>();
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// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
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String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
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for (String code : fullPathList) {
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int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
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String waveNode = waveMatrix[node[0]][node[1]];
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assert !waveNode.equals(WaveNodeType.DISABLE.val);
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if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
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List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
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List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
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if (!Cools.isEmpty(otherWaveList)) {
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for (String otherWave : otherWaveList) {
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if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
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blockVehicleList.add(new BlockVehicleDto(otherWave, false));
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} else {
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blockVehicleList.add(new BlockVehicleDto(otherWave, true));
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}
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}
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break;
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}
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}
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// DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
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// String vehicle = dynamicNode.getVehicle();
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// assert !vehicle.equals(DynamicNodeType.BLOCK.val);
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// if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
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// blockVehicleList.add(vehicle);
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// break;
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// }
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pathList.add(code);
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}
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if (pathList.size() <= 1) {
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pathList.clear();
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}
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return blockVehicleList.stream().distinct().collect(Collectors.toList());
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}
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/**
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* avoidPathList include wave node and dynamic node
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*/
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private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
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Agv agv = agvService.selectByUuid(agvNo);
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if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
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log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
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return false;
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}
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int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, agvPosCode);
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RetreatNavigateNode startNode = new RetreatNavigateNode(startMapIdx[0], startMapIdx[1], agvPosCode);
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assert avoidPathList.size() >= 2;
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RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
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if (null == finalNode) {
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log.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
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return false;
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}
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String endCodeData = finalNode.getCodeData();
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Code endCode = codeService.selectByData(endCodeData);
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List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
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if (!Cools.isEmpty(waitingSegList)) {
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if (waitingSegList.size() > 1) {
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log.error("避让通知失败，{}号车辆存在多个等待中的Segment！！！", agvNo);
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return false;
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}
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// revert
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Date now = new Date();
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for (Segment seg : waitingSegList) {
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seg.setState(SegmentStateType.INIT.toString());
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seg.setUpdateTime(now);
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if (!segmentService.updateById(seg)) {
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log.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
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}
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}
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Segment segment = waitingSegList.get(0);
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Segment insertSeg = new Segment();
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insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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insertSeg.setTravelId(segment.getTravelId());
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insertSeg.setAgvId(agv.getId());
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insertSeg.setTaskId(segment.getTaskId());
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insertSeg.setSerial(segment.getSerial() - 1);
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insertSeg.setEndNode(endCode.getId());
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insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
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insertSeg.setState(SegmentStateType.WAITING.toString());
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if (!segmentService.save(insertSeg)) {
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log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
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return false;
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} else {
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jam.setAvoSeg(insertSeg.getId());
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jam.setAvoCode(endCode.getId());
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}
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} else {
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return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
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}
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return true;
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}
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private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam, List<String> jamPath) {
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if (jam == null) {
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jam = new Jam();
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jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
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jam.setJamAgv(agv.getId());
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jam.setJamCode(startCode.getId());
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jam.setJamSeg(segment.getId());
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jam.setJamPath(GsonUtils.toJson(jamPath));
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jam.setStartTime(new Date());
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jam.setState(JamStateType.RUNNING.toString());
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if (!jamService.save(jam)) {
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log.error("AGV[{}] failed to save jam", agv.getUuid());
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throw new CoolException("failed to save jam");
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}
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} else {
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jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
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if (!jamService.updateById(jam)) {
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log.error("AGV[{}] failed to update jam", agv.getUuid());
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}
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}
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return jam;
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}
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private Jam setupNewJam(Jam originJam, Agv agv, Code startCode, Segment segment, List<String> draftPath) {
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originJam.setUpdateTime(new Date());
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originJam.setState(JamStateType.FINISH.toString());
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if (!jamService.updateById(originJam)) {
|
log.error("Jam[{}] failed to update", originJam.getUuid());
|
return originJam;
|
} else {
|
return this.createOrUpdateJam(
|
agv
|
, startCode
|
, segment
|
, null
|
, draftPath
|
);
|
}
|
}
|
|
private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
|
List<String> blackPathList = new ArrayList<>();
|
Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
|
if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
|
for (Jam jam : unfinishedOriginJamByCurrAgv) {
|
if (!Cools.isEmpty(jam.getJamPath())) {
|
|
List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
|
|
Agv jamAgv = agvService.getById(jam.getJamAgv());
|
List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
|
// jamDynamicNodes has sorted
|
String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
|
|
if (!Cools.isEmpty(firstCodeNode)) {
|
int idx = list.indexOf(firstCodeNode);
|
if (idx != -1) {
|
list = new ArrayList<>(list.subList(idx, list.size()));
|
|
// the wave of first node
|
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
|
agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
|
MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
|
);
|
List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
|
.stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
|
list.addAll(waveCodeList);
|
}
|
}
|
|
blackPathList.addAll(list);
|
}
|
}
|
}
|
return blackPathList.stream().distinct().collect(Collectors.toList());
|
}
|
|
private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList, Segment segment) {
|
assert !Cools.isEmpty(blockVehicleList);
|
for (BlockVehicleDto blockVehicleDto : blockVehicleList) {
|
if (!blockVehicleDto.isAvoidable()) {
|
continue;
|
}
|
// 当前vehicle正在进行避让作业
|
if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
|
continue;
|
}
|
return blockVehicleDto.getVehicle();
|
}
|
return null;
|
}
|
|
public boolean comparePathLists(List<String> list1, List<String> list2) {
|
if (list1.equals(list2)) {
|
return true;
|
}
|
if (list1.containsAll(list2)) {
|
return true;
|
}
|
return false;
|
}
|
|
private boolean isJamBeDeprecatedByAvo(Long avoSeg) {
|
return 0 < jamService.count(new LambdaQueryWrapper<Jam>()
|
// .eq(Jam::getAvoAgv, avoAgv)
|
.eq(Jam::getAvoSeg, avoSeg)
|
.eq(Jam::getState, JamStateType.DEPRECATED.toString())
|
);
|
}
|
|
private boolean skipCurrSegment(Segment currSegment) {
|
currSegment.setState(SegmentStateType.FINISH.toString());
|
currSegment.setUpdateTime(new Date());
|
if (!segmentService.updateById(currSegment)) {
|
log.error("Segment [{}] failed to update ！！！", currSegment.getTravelId() + " - " + currSegment.getSerial());
|
return false;
|
}
|
segmentService.processNext(Utils.singletonList(currSegment));
|
return true;
|
}
|
|
}
|
