#

vincentlu

2 天以前 7ce12b33107fb33941df7e1589bf1a6716539377

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

@@ -9,6 +9,7 @@
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.BlockVehicleDto;
import com.zy.acs.manager.core.domain.PathDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
@@ -277,11 +278,11 @@
                }
            }

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

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

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

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -299,7 +300,7 @@
        BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
        // judge avoid of jam 如果已经在避让点（因为当前车执行了避让任务），那么则不能再去检索之前的阻塞路径
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
        List<String> blackPath = this.getBlackPathList(agvNo, unfinishedOriginJamByCurrAgv);

        // 结果集
        List<String> pathList = new ArrayList<>();
@@ -651,43 +652,47 @@
        }
    }

    private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
    private List<String> getBlackPathList(String agvNo, List<Jam> unfinishedOriginJamByCurrAgv) {
        List<String> blackPathList = new ArrayList<>();
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            for (Jam jam : unfinishedOriginJamByCurrAgv) {
                if (!Cools.isEmpty(jam.getJamPath())) {
        if (Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            return blackPathList;
        }

                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
        AgvModel agvModel = agvModelService.getByAgvNo(agvNo);
        double bufferRadius = MapDataUtils.buildFootprint(agvModel).maxExtent();

                    Agv jamAgv = agvService.getById(jam.getJamAgv());
                    List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
                    // jamDynamicNodes has sorted
                    String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
        for (Jam jam : unfinishedOriginJamByCurrAgv) {
            if (!Cools.isEmpty(jam.getJamPath())) {

                    if (!Cools.isEmpty(firstCodeNode)) {
                        int idx = list.indexOf(firstCodeNode);
                        if (idx != -1) {
                            list = new ArrayList<>(list.subList(idx, list.size()));
                List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);

                            // the wave of first node
                            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
                                    agvModelService.getByAgvId(jamAgv.getId()).getDiameter(),
                                    MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
                            );
                            List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                            list.addAll(waveCodeList);
                        } else {
                            // 如果被阻塞车辆已经不在原来的阻塞路径中，考虑避让车走行时不需要把之前的阻塞路径加入黑名单
                            list = new ArrayList<>();
                        }
                String jamAgvNo = agvService.getAgvNo(jam.getJamAgv());
                List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgvNo);
                // jamDynamicNodes has sorted
                String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);

                if (!Cools.isEmpty(firstCodeNode)) {
                    int idx = list.indexOf(firstCodeNode);
                    if (idx != -1) {
                        list = new ArrayList<>(list.subList(idx, list.size()));

                        // the wave of first node
                        AgvModel jamAgvModel = agvModelService.getByAgvNo(jamAgvNo);
                        Double avoidDistance = MapDataUtils.buildFootprint(jamAgvModel).maxExtent() + bufferRadius;
                        List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
                                .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
                        list.addAll(waveCodeList);
                    } else {
                        // 如果被阻塞车辆已经不在原来的阻塞路径中，考虑避让车走行时不需要把之前的阻塞路径加入黑名单
                        list = new ArrayList<>();
                    }

                    blackPathList.addAll(list);
                }

                blackPathList.addAll(list);
            }
        }

        return blackPathList.stream().distinct().collect(Collectors.toList());
    }