#

luxiaotao1123

2024-11-18 4116d1a906514bf1920e4450fc6868191fe93bac

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

@@ -200,16 +200,16 @@
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
        // judge avoid of jam
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.hasUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        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
@@ -271,10 +271,11 @@
                        } 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);

                            // block vehicle info
                            Agv blockAgv = agvService.selectByUuid(blockAgvNo);
@@ -290,8 +291,11 @@
                                }

                                // 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())) {
                                List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
                                if (null != waitingSegList
                                        && waitingSegList.stream().anyMatch(
                                                waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
                                )) {
                                    maxJamTimeoutFactor = 1;
                                    break;
                                }
@@ -437,6 +441,10 @@
        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) {
@@ -508,4 +516,18 @@
        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;
    }

}