Merge branch 'refs/heads/rcs_master' into jdxaj

zhang

10 小时以前 70930071a49190f414c8d8bc9c9e9795a4096739

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

@@ -2,7 +2,6 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.News;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -28,6 +27,7 @@
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import com.zy.acs.common.utils.News;

import java.util.ArrayList;
import java.util.Arrays;
@@ -144,14 +144,14 @@
//                            }
//                        }
//                        if (null == endCode) {
//                            log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", segment.getAgvId(), FuncStaType.STANDBY);
//                            News.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());
//                            News.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
//                            return;
//                        }
//
@@ -167,7 +167,7 @@
//                        insertSeg.setState(SegmentStateType.WAITING.toString());
//                        insertSeg.setMemo(MapDataConstant.RESOLVE_DEADLOCK);
//                        if (!segmentService.save(insertSeg)) {
//                            log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                            News.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                            return;
//                        }
//                        return;
@@ -182,7 +182,7 @@
            if (!Cools.isEmpty(waitingSegList)) {
                for (Segment waitingSeg : waitingSegList) {
                    if (!waitingSeg.getId().equals(segment.getId())) {
//                        log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
//                        News.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
                        return;
                    }
                }
@@ -204,7 +204,7 @@

            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope(agvModelService.getByAgvId(agv.getId()))) {
                log.error("failed to calculate avoid wave matrix ...");
                News.error("failed to calculate avoid wave matrix ...");
                return;
            }

@@ -234,7 +234,7 @@
                segment.setState(SegmentStateType.INIT.toString());
                segment.setUpdateTime(now);
                if (!segmentService.updateById(segment)) {
                    log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
                    News.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
                }
                segmentList.clear();

@@ -249,7 +249,7 @@
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] failed to save ！！！", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
                    News.error("Segment [{}] failed to save ！！！", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
                }
                segmentList.add(insertSeg);

@@ -286,7 +286,7 @@
            mapService.lockPath(null, pathDtoList, agv.getUuid());

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
            News.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            throw new RuntimeException("trigger method caught an exception", e);
@@ -338,7 +338,7 @@

                    boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
                    if (hasUnavoidableBlocks && pathList.size() <= MapDataConstant.MIN_SLICE_PATH_LENGTH) {
                        News.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
//                        News.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
                        pathList.clear();
                    }

@@ -346,7 +346,7 @@
                            blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
                    );
                    if (hasCycleJam) {
                        log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        News.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        pathList.clear();
                    }
                }
@@ -355,7 +355,7 @@
            } else {

                if (Cools.isEmpty(blockVehicleList)) {
                    log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                    News.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                } else {

                    assert !Cools.isEmpty(blockVehicleList);
@@ -449,10 +449,10 @@
                                        , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
                            }
                        } else {
                            log.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
                                    , agvNo
                                    , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
                            );
//                            News.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
//                                    , agvNo
//                                    , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
//                            );
                        }
                    }

@@ -485,12 +485,12 @@
                            previousJam.setState(JamStateType.DEPRECATED.toString());
                            previousJam.setUpdateTime(now);
                            if (!jamService.updateById(previousJam)) {
                                log.error("Jam[{}] failed to update！！！", previousJam.getUuid());
                                News.error("Jam[{}] failed to update！！！", previousJam.getUuid());
                            }
                        }
                    }
                } else {
                    log.error("Jam[{}] failed to update！！！", jam.getUuid());
                    News.error("Jam[{}] failed to update！！！", jam.getUuid());
                }
            }
            // deal expired jam
@@ -502,7 +502,7 @@
                expiredJam.setUpdateTime(now);
                expiredJam.setState(JamStateType.DEPRECATED.toString());
                if (!jamService.updateById(expiredJam)) {
                    log.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
                    News.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
                }
            }

@@ -553,7 +553,7 @@
    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
        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);
            News.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }

@@ -563,7 +563,7 @@
        assert avoidPathList.size() >= 2;
        RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
        if (null == finalNode) {
            log.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
            News.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
            return false;
        }

@@ -574,7 +574,7 @@
        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);
                News.error("避让通知失败，{}号车辆存在多个等待中的Segment！！！", agvNo);
                return false;
            }
            // revert
@@ -583,7 +583,7 @@
                seg.setState(SegmentStateType.INIT.toString());
                seg.setUpdateTime(now);
                if (!segmentService.updateById(seg)) {
                    log.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
                    News.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
                }
            }
            Segment segment = waitingSegList.get(0);
@@ -598,7 +598,7 @@
            insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
            insertSeg.setState(SegmentStateType.WAITING.toString());
            if (!segmentService.save(insertSeg)) {
                log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                News.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                return false;
            } else {
                jam.setAvoSeg(insertSeg.getId());
@@ -624,13 +624,13 @@
            jam.setStartTime(new Date());
            jam.setState(JamStateType.RUNNING.toString());
            if (!jamService.save(jam)) {
                log.error("AGV[{}] failed to save jam", agv.getUuid());
                News.error("AGV[{}] failed to save jam", agv.getUuid());
                throw new CoolException("failed to save jam");
            }
        } else {
            jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
            if (!jamService.updateById(jam)) {
                log.error("AGV[{}] failed to update jam", agv.getUuid());
                News.error("AGV[{}] failed to update jam", agv.getUuid());
            }
        }
        return jam;
@@ -640,7 +640,7 @@
        originJam.setUpdateTime(new Date());
        originJam.setState(JamStateType.FINISH.toString());
        if (!jamService.updateById(originJam)) {
            log.error("Jam[{}] failed to update", originJam.getUuid());
            News.error("Jam[{}] failed to update", originJam.getUuid());
            return originJam;
        } else {
            return this.createOrUpdateJam(
@@ -744,7 +744,7 @@
            return false;
        }
        if (jamList.size() > 1) {
            log.error("AvoSeg[id = {}] seg data has exception, result in two jams", avoSeg);
            News.error("AvoSeg[id = {}] seg data has exception, result in two jams", avoSeg);
        }
        Jam jam = jamList.get(0);
        if (jam.getState().equals(JamStateType.DEPRECATED.toString())) {
@@ -757,4 +757,4 @@
        return false;
    }

}
}