package com.zy.acs.manager.core.service;
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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.manager.core.service.astart.MapDataDispatcher;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvDetail;
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import com.zy.acs.manager.manager.entity.Segment;
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import com.zy.acs.manager.manager.entity.Travel;
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import com.zy.acs.manager.manager.enums.SegmentStateType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.service.ConfigService;
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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.Date;
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import java.util.List;
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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 TrafficZkdService {
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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 ConfigService configService;
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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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@Autowired
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private TaskService taskService;
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@Autowired
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private FuncStaService funcStaService;
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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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// temporary -----------------
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Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
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if (null != algoExtensionTime && algoExtensionTime > 0) {
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Thread.sleep(algoExtensionTime);
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}
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// ---------------------------
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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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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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List<Segment> segmentList = new ArrayList<>();
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segmentList.add(segment);
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mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
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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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}
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