1

zhang

2025-08-28 60edff747d52eb42aadb036e3fbd580252de4c05

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

@@ -71,6 +71,10 @@
    private JamService jamService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private TaskService taskService;
    @Autowired
    private FuncStaService funcStaService;

    @Transactional
    public synchronized void trigger(Segment segment) {
@@ -99,6 +103,77 @@
            if (!agvService.judgeEnable(agv.getId())) {
                return;
            }

            // resolve deadlock
//            if (configService.getVal("unlockSwitch", Boolean.class)) {
//
//                boolean preSegIsStandbyDeadLock = false;
//                Segment previousSeg = segmentService.getPreviousStepOfFinish(segment.getTravelId(), segment.getSerial(), MapDataConstant.RESOLVE_DEADLOCK);
//                preSegIsStandbyDeadLock = previousSeg != null;
//                if (preSegIsStandbyDeadLock && !jamService.isAvoidSeg(segment.getId())) {
//                    if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
//                            .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString())
//                            .eq(Segment::getMemo, MapDataConstant.RESOLVE_DEADLOCK))) {
//                        return;
//                    }
//                }
//
//                Jam jam = jamService.getJam(agv.getId(), agvDetail.getRecentCode(), segment.getId());
//                if (!preSegIsStandbyDeadLock && (null != jam && null != jam.getDuration() && jam.getDuration() > (BlockSeverityType.SEVERE.duration - MapDataConstant.MAX_JAM_TIMEOUT)
//                        || DateUtils.diffToMilliseconds(segment.getUpdateTime(), now)  > (BlockSeverityType.SEVERE.duration - MapDataConstant.MAX_JAM_TIMEOUT))
//                        && (Cools.isEmpty(segment.getMemo()) || !segment.getMemo().equals(MapDataConstant.RESOLVE_DEADLOCK))) {
//
//                    Task task = taskService.getById(segment.getTaskId());
//                    if (task.getTaskSts().equals(TaskStsType.PROGRESS.val())
//                            && DateUtils.diffToMilliseconds(task.getUpdateTime(), now) > MapDataConstant.DEADLOCK_TASK_TIMEOUT) {
//
//                        Code endCode = null;
//                        List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.STANDBY, segment.getAgvId());
//                        if (!Cools.isEmpty(idleFunStaList)) {
//                            idleFunStaList = idleFunStaList.stream().filter(funcSta -> {
//                                return 0 == segmentService.count(new LambdaQueryWrapper<Segment>()
//                                                .eq(Segment::getEndNode, funcSta.getCode())
//                                                .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString())
//                                                .eq(Segment::getMemo, MapDataConstant.RESOLVE_DEADLOCK)
//                                );
//                            }).collect(Collectors.toList());
//                            FuncSta funcSta = funcStaService.checkoutFurthestFunSta(agvDetailService.getCurrentCode(segment.getAgvId()).getId(), idleFunStaList);
//                            if (null != funcSta) {
//                                endCode = codeService.getCacheById(funcSta.getCode());
//                            }
//                        }
//                        if (null == endCode) {
//                            log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", segment.getAgvId(), FuncStaType.STANDBY);
//                            return;
//                        }
//
//                        segment.setState(SegmentStateType.INIT.toString());
//                        segment.setUpdateTime(now);
//                        if (!segmentService.updateById(segment)) {
//                            log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
//                            return;
//                        }
//
//                        // new move seg
//                        Segment insertSeg = new Segment();
//                        insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
//                        insertSeg.setTravelId(segment.getTravelId());
//                        insertSeg.setAgvId(segment.getAgvId());
//                        insertSeg.setTaskId(segment.getTaskId());
//                        insertSeg.setSerial(segment.getSerial() - 1);
//                        insertSeg.setEndNode(endCode.getId());
//                        insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
//                        insertSeg.setState(SegmentStateType.WAITING.toString());
//                        insertSeg.setMemo(MapDataConstant.RESOLVE_DEADLOCK);
//                        if (!segmentService.save(insertSeg)) {
//                            log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                            return;
//                        }
//                        return;
//                    }
//                }
//            }

            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                return;
            }
@@ -133,11 +208,11 @@
            }

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);
            Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
            Code endCode = codeService.getCacheById(endNode);
            long startTime = System.currentTimeMillis();
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
//            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
            if (Cools.isEmpty(pathList)) {
                return;
            }
@@ -148,7 +223,7 @@
            String lastCodeData = pathList.get(pathList.size() - 1);
            if (!endCode.getData().equals(lastCodeData)) {
                // slice
                Code lastCode = codeService.selectByData(lastCodeData);
                Code lastCode = codeService.getCacheByData(lastCodeData);

//                if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
//                    return;
@@ -180,31 +255,31 @@
            } else {

                // complete first segment then merge behind segment
                int serial = segment.getSerial();
                boolean interrupt = false;
                while (!interrupt) {

                    Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
                    serial ++;
                    if (null == nextStep) {
                        interrupt = true;
                    } else {
                        if (nextStep.getEndNode() == endNode) {

                            segmentList.add(nextStep);
                        } else {
                            interrupt = true;
                        }
                    }

                }
//                int serial = segment.getSerial();
//                boolean interrupt = false;
//                while (!interrupt) {
//
//                    Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
//                    serial ++;
//                    if (null == nextStep) {
//                        interrupt = true;
//                    } else {
//                        if (nextStep.getEndNode() == endNode) {
//
//                            segmentList.add(nextStep);
//                        } else {
//                            interrupt = true;
//                        }
//                    }
//
//                }
            }

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

            startTime = System.currentTimeMillis();
            mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
            System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
//            System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -309,7 +384,7 @@

                                // block vehicle info
                                Long blockAgvId = agvService.getAgvId(blockAgvNo);
                                String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgvId).getRecentCode()).getData();
                                String blockAgvCode = codeService.getCacheById(agvDetailService.selectMajorByAgvId(blockAgvId).getRecentCode()).getData();

                                // create new jam if already notify the avoid vehicle
                                if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgvId.equals(jam.getAvoAgv())) {
@@ -329,7 +404,7 @@
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgvId);
                                    if (null != waitingSegList
                                            && waitingSegList.stream().anyMatch(
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.getCacheByData(blockAgvCode).getId())
                                    )) {
                                        maxJamTimeoutFactor = 1;
                                        break;
@@ -433,12 +508,13 @@
    private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
        List<BlockVehicleDto> blockVehicleList = new ArrayList<>();

//        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
        for (String code : fullPathList) {
            int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, fullPathList);
        for (int i = 0; i < fullPathList.size(); i++) {
            String codeData = fullPathList.get(i);
            int[] codeMatrixIdx = codeMatrixIdxList.get(i);

            String waveNode = waveMatrix[node[0]][node[1]];
            String waveNode = waveMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
            assert !waveNode.equals(WaveNodeType.DISABLE.val);
            if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
@@ -455,15 +531,7 @@
                }
            }

//            DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
//            String vehicle = dynamicNode.getVehicle();
//            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
//            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
//                blockVehicleList.add(vehicle);
//                break;
//            }

            pathList.add(code);
            pathList.add(codeData);
        }

        if (pathList.size() <= 1) {
@@ -477,8 +545,8 @@
     * avoidPathList include wave node and dynamic node
     */
    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
        Agv agv = agvService.selectByUuid(agvNo);
        if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
        Long agvId = agvService.getAgvId(agvNo);
        if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
            log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }
@@ -494,9 +562,9 @@
        }

        String endCodeData = finalNode.getCodeData();
        Code endCode = codeService.selectByData(endCodeData);
        Code endCode = codeService.getCacheByData(endCodeData);

        List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
        List<Segment> waitingSegList = segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString());
        if (!Cools.isEmpty(waitingSegList)) {

            if (waitingSegList.size() > 1) {
@@ -517,7 +585,7 @@
            Segment insertSeg = new Segment();
            insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            insertSeg.setTravelId(segment.getTravelId());
            insertSeg.setAgvId(agv.getId());
            insertSeg.setAgvId(agvId);
            insertSeg.setTaskId(segment.getTaskId());
            insertSeg.setSerial(segment.getSerial() - 1);
            insertSeg.setEndNode(endCode.getId());
@@ -533,7 +601,7 @@

        } else {

            return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
            return mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, endCodeData, jam);
        }

        return true;