#

vincentlu

2025-01-13 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f

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

@@ -135,7 +135,9 @@
            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);
            long startTime = System.currentTimeMillis();
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
//            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
            if (Cools.isEmpty(pathList)) {
                return;
            }
@@ -146,7 +148,7 @@
            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;
@@ -200,7 +202,9 @@

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

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

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -325,7 +329,7 @@
                                    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;
@@ -355,7 +359,7 @@

                    // handle jam timeout
                    if (null != maxJamTimeoutFactor) {
                        if (System.currentTimeMillis() - jam.getStartTime().getTime() > MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
                        if (System.currentTimeMillis() - jam.getStartTime().getTime() > (long) MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {

                            if (!Cools.isEmpty(lockPathList)) {

@@ -441,7 +445,7 @@
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    for (String otherWave : otherWaveList) {
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            blockVehicleList.add(new BlockVehicleDto(otherWave, false));
                        } else {
                            blockVehicleList.add(new BlockVehicleDto(otherWave, true));
@@ -473,8 +477,8 @@
     * 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;
        }
@@ -490,9 +494,9 @@
        }

        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) {
@@ -513,7 +517,7 @@
            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());
@@ -529,7 +533,7 @@

        } else {

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

        return true;
@@ -585,7 +589,7 @@
                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);

                    Agv jamAgv = agvService.getById(jam.getJamAgv());
                    List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
                    List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
                    // jamDynamicNodes has sorted
                    String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);