#

luxiaotao1123

2024-11-18 18959656f9bf75e40a5802c3befd545ec33621d7

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java

@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -98,6 +99,8 @@
                    }
                }
            }

            // dead lane
            if (jamService.count(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getJamSeg, segment.getId())
@@ -196,14 +199,17 @@
        String agvNo = agv.getUuid();
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
        // judge avoid of jam
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);

        // 结果集
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);

        if (!Cools.isEmpty(lockPathList) && // 存在避让解
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
@@ -246,7 +252,8 @@
                    Integer maxJamTimeoutFactor = null;

                    // persist jam data
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam);
                    ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);

                    // ? has unAvoidable block vehicles
                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -264,47 +271,58 @@
                        } else {

                            // select optimal block vehicle
                            String blockAgvNo = blockVehicleList.stream()
                                    .filter(BlockVehicleDto::isAvoidable)
                                    .map(BlockVehicleDto::getVehicle)
                                    .findFirst().orElse(null);
//                            String blockAgvNo = blockVehicleList.stream()
//                                    .filter(BlockVehicleDto::isAvoidable)
//                                    .map(BlockVehicleDto::getVehicle)
//                                    .findFirst().orElse(null);
                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
                            if (Cools.isEmpty(blockAgvNo)) {

                            // block vehicle info
                            Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                            String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
                                maxJamTimeoutFactor = 2;

                            do {
                            } else {

                                // 阻塞车辆正在原地作业，等待 ===>> 超过等待时间，绕路
                                List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
                                if (!Cools.isEmpty(runningSegList)) {
                                    maxJamTimeoutFactor = 1;
                                    break;
                                }
                                // block vehicle info
                                Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                                String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();

                                // 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
                                Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                                if (null != waitingSeg && waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
                                    maxJamTimeoutFactor = 1;
                                    break;
                                }
                                do {

                                // notify block vehicle to avoid
                                if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
                                    if (jam.getCycleAvo() == 1) {
                                        jam.setCycleCode(endCode.getId());
                                    // 阻塞车辆正在原地作业，等待 ===>> 超过等待时间，绕路
                                    List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
                                    if (!Cools.isEmpty(runningSegList)) {
                                        maxJamTimeoutFactor = 1;
                                        break;
                                    }
                                    jam.setAvoAgv(blockAgv.getId());
                                    jam.setNotifyTime(new Date());
                                    if (!jamService.updateById(jam)) {
                                        throw new CoolException(jam.getUuid() + "-jam failed to update！！！");

                                    // 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
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
                                    if (null != waitingSegList
                                            && waitingSegList.stream().anyMatch(
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
                                    )) {
                                        maxJamTimeoutFactor = 1;
                                        break;
                                    }
                                } else {

                                    maxJamTimeoutFactor = 1;
                                }
                                    // notify block vehicle to avoid
                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
                                        if (jam.getCycleAvo() == 1) {
                                            jam.setCycleCode(endCode.getId());
                                        }
                                        jam.setAvoAgv(blockAgv.getId());
                                        jam.setNotifyTime(new Date());
                                        if (!jamService.updateById(jam)) {
                                            throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
                                        }
                                    } else {

                            } while (false);
                                        maxJamTimeoutFactor = 1;
                                    }

                                } while (false);
                            }

                        }

                    }
@@ -430,6 +448,10 @@
        List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
        if (!Cools.isEmpty(waitingSegList)) {

            if (waitingSegList.size() > 1) {
                log.error("避让通知失败，{}号车辆存在多个等待中的Segment！！！", agvNo);
                return false;
            }
            // revert
            Date now = new Date();
            for (Segment seg : waitingSegList) {
@@ -465,13 +487,14 @@
        return true;
    }

    private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam) {
    private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam, List<String> jamPath) {
        if (jam == null) {
            jam = new Jam();
            jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            jam.setJamAgv(agv.getId());
            jam.setJamCode(startCode.getId());
            jam.setJamSeg(segment.getId());
            jam.setJamPath(GsonUtils.toJson(jamPath));
            jam.setStartTime(new Date());
            jam.setState(JamStateType.RUNNING.toString());
            if (!jamService.save(jam)) {
@@ -487,4 +510,31 @@
        return jam;
    }

    private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
        List<String> blackPathList = new ArrayList<>();
        if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            for (Jam jam : unfinishedOriginJamByCurrAgv) {
                if (!Cools.isEmpty(jam.getJamPath())) {
                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
                    blackPathList.addAll(list);
                }
            }
        }
        return blackPathList.stream().distinct().collect(Collectors.toList());
    }

    private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList) {
        assert !Cools.isEmpty(blockVehicleList);
        for (BlockVehicleDto blockVehicleDto : blockVehicleList) {
            if (!blockVehicleDto.isAvoidable()) {
                continue;
            }
            // 没有避让中的任务
            if (Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
                return blockVehicleDto.getVehicle();
            }
        }
        return null;
    }

}