#

luxiaotao1123

2024-11-26 80d8b0ed5a43ba329c31b557fff81eceb42b022c

 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.domain.BlockVehicleDto;
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;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
@@ -199,6 +200,7 @@
        String agvNo = agv.getUuid();
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
        BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
        // judge avoid of jam
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
@@ -207,9 +209,9 @@
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, null);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment, null);

        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
@@ -218,8 +220,10 @@
            pathList = lockPathList;
        } else {

            // preview path
            List<String> draftPath = new ArrayList<>(unlockPathList);
            // 可走行路径集合计算
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList);    // jamAgvNo may was wave

            if (!Cools.isEmpty(pathList)) {

@@ -252,8 +256,7 @@
                    Integer maxJamTimeoutFactor = null;

                    // persist jam data
                    ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, draftPath);

                    // ? has unAvoidable block vehicles
                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -271,10 +274,6 @@
                        } else {

                            // select optimal block vehicle
//                            String blockAgvNo = blockVehicleList.stream()
//                                    .filter(BlockVehicleDto::isAvoidable)
//                                    .map(BlockVehicleDto::getVehicle)
//                                    .findFirst().orElse(null);
                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
                            if (Cools.isEmpty(blockAgvNo)) {

@@ -306,7 +305,7 @@
                                    }

                                    // notify block vehicle to avoid
                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, agvNo, jam)) {
                                        if (jam.getCycleAvo() == 1) {
                                            jam.setCycleCode(endCode.getId());
                                        }