#

luxiaotao1123

2024-12-30 3209b7899f99fbc567c24be9709ba289f33ea73b

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

@@ -20,6 +20,7 @@
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -65,7 +66,7 @@
    @Autowired
    private RetreatNavigateService retreatNavigateService;
    @Autowired
    private TaskService taskService;
    private ConfigService configService;
    @Autowired
    private JamService jamService;
    @Autowired
@@ -75,6 +76,20 @@
    public synchronized void trigger(Segment segment) {
        try {
            Date now = new Date();

            // deprecate jam
            if (this.isExpiredJamByAvo(segment.getId())) {
                mainService.settleSegmentList(Utils.singletonList(segment), null);
                return;
            }

            // temporary -----------------
            Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
            if (null != algoExtensionTime && algoExtensionTime > 0) {
                Thread.sleep(algoExtensionTime);
            }
            // ---------------------------

            Travel travel = travelService.getById(segment.getTravelId());
            Agv agv = agvService.getById(travel.getAgvId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
@@ -108,17 +123,14 @@
                return;
            }

            // deprecate jam
            if (this.isExpiredJamByAvo(segment.getId())) {
                mainService.settleSegmentList(Utils.singletonList(segment), null);
                return;
            }

            // execute -----------------------------------------------
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // get path list
            avoidWaveCalculator.calcWaveScope();    // * sync wave scope
            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope()) {
                log.error("failed to calculate avoid wave matrix ...");
                return;
            }

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
@@ -188,7 +200,7 @@

            mapService.lockPath(null, pathList, agv.getUuid());

            mainService.generateAction(segment.getAgvId(), segmentList, pathList);
            mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -279,7 +291,7 @@
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                            maxJamTimeoutFactor = 5;
                            maxJamTimeoutFactor = 4;

                        } else {