#

luxiaotao1123

2024-11-01 a681fcad83bfcaec7c79a273659c53ba9c5502ae

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

@@ -1,15 +1,12 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.domain.TrafficJamDto;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
@@ -26,7 +23,10 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Date;
import java.util.List;

/**
 * Wavefront
@@ -188,28 +188,6 @@
        }
    }

    public void callback(List<Segment> segmentList) {
        Date now = new Date();

        segmentList.stream().max(Comparator.comparingInt(Segment::getSerial)).ifPresent(segment -> {
            Segment nextSegment = segmentService.getNextStepOfInit(segment.getTravelId(), segment.getSerial());

            if (null != nextSegment) {

                nextSegment.setState(SegmentStateType.WAITING.toString());
                nextSegment.setUpdateTime(now);
                if (!segmentService.updateById(nextSegment)) {
                    log.error("Segment [{}] 更新失败 ！！！", nextSegment.getGroupId() + " - " + nextSegment.getSerial());
                }

            } else {

                travelService.checkFinish(segment.getTravelId());
            }
        });

    }

    private List<String> checkoutPath(Agv agv, Code startCode, Code endCode, Segment segment) {
        Integer lev = null;
        String agvNo = agv.getUuid();
@@ -223,6 +201,41 @@
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);

        if (Cools.isEmpty(lockPathList)) {
            return pathList;
        }

        pathList = lockPathList;


        long currentTime = System.currentTimeMillis();
        long estimatedTime = currentTime;

        for (int i = 0; i < pathList.size() - 1; i++) {
            String fromCode = pathList.get(i);
            String toCode = pathList.get(i + 1);
            String key = fromCode + "_" + toCode;



        }

















        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
@@ -451,24 +464,6 @@
        }

        return jamVehicleList;
    }

    private String hasEvent(String agvNo) {
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
        for (Agv agv : agvList) {
            if (agvNo.equals(agv.getUuid())) {
                continue;
            }
            String jamStr = redis.getValue(RedisConstant.AGV_TRAFFIC_JAM_FLAG, agv.getUuid());
            if (!Cools.isEmpty(jamStr)) {

                TrafficJamDto jamDto = JSON.parseObject(jamStr, TrafficJamDto.class);



            }
        }
        return null;
    }

    /**