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;
            }
@@ -180,24 +255,24 @@
            } 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());