#

luxiaotao1123

2025-01-06 b9eef68cc85d30b892a1cd50829341d3dae743b9

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

@@ -20,6 +20,7 @@
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -65,7 +66,7 @@
    @Autowired
    private RetreatNavigateService retreatNavigateService;
    @Autowired
    private TaskService taskService;
    private ConfigService configService;
    @Autowired
    private JamService jamService;
    @Autowired
@@ -75,6 +76,20 @@
    public synchronized void trigger(Segment segment) {
        try {
            Date now = new Date();

            // deprecate jam
            if (this.isExpiredJamByAvo(segment.getId())) {
                mainService.settleSegmentList(Utils.singletonList(segment), null);
                return;
            }

            // temporary -----------------
            Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
            if (null != algoExtensionTime && algoExtensionTime > 0) {
                Thread.sleep(algoExtensionTime);
            }
            // ---------------------------

            Travel travel = travelService.getById(segment.getTravelId());
            Agv agv = agvService.getById(travel.getAgvId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
@@ -108,17 +123,14 @@
                return;
            }

            // deprecate jam
            if (this.isJamBeDeprecatedByAvo(segment.getId())) {
                mainService.settleSegmentList(Utils.singletonList(segment), null);
                return;
            }

            // execute -----------------------------------------------
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // get path list
            avoidWaveCalculator.calcWaveScope();    // * sync wave scope
            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope()) {
                log.error("failed to calculate avoid wave matrix ...");
                return;
            }

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
@@ -188,7 +200,7 @@

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

            mainService.generateAction(segment.getAgvId(), segmentList, pathList);
            mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -279,7 +291,7 @@
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                            maxJamTimeoutFactor = 5;
                            maxJamTimeoutFactor = 4;

                        } else {

@@ -292,25 +304,25 @@
                            } else {

                                // block vehicle info
                                Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                                String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
                                Long blockAgvId = agvService.getAgvId(blockAgvNo);
                                String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgvId).getRecentCode()).getData();

                                // create new jam if already notify the avoid vehicle
                                if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgv.getId().equals(jam.getAvoAgv())) {
                                if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgvId.equals(jam.getAvoAgv())) {
                                    jam = this.setupNewJam(jam, agv, startCode, segment, draftPath);
                                }

                                do {

                                    // 阻塞车辆正在原地作业，等待 ===>> 超过等待时间，绕路
                                    List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
                                    List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgvId, SegmentStateType.RUNNING.toString());
                                    if (!Cools.isEmpty(runningSegList)) {
                                        maxJamTimeoutFactor = 1;
                                        break;
                                    }

                                    // 判断下个任务是否为原地任务，如果是则等待 ===>> 超过等待时间，绕路；如果不是，让阻塞车辆避让
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgvId);
                                    if (null != waitingSegList
                                            && waitingSegList.stream().anyMatch(
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
@@ -324,7 +336,7 @@
                                        if (jam.getCycleAvo() == 1) {
                                            jam.setCycleCode(endCode.getId());
                                        }
                                        jam.setAvoAgv(blockAgv.getId());
                                        jam.setAvoAgv(blockAgvId);
                                        jam.setNotifyTime(new Date());
                                        if (!jamService.updateById(jam)) {
                                            throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
@@ -590,6 +602,9 @@
                            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<>();
                        }
                    }

@@ -625,12 +640,31 @@
        return false;
    }

    private boolean isJamBeDeprecatedByAvo(Long avoSeg) {
        return 0 < jamService.count(new LambdaQueryWrapper<Jam>()
    /**
     * 1. the jam was deprecated
     * 2. the jam segment is finished
     *
     * all these by avoid segment
     */
    private boolean isExpiredJamByAvo(Long avoSeg) {
        List<Jam> jamList = jamService.list(new LambdaQueryWrapper<Jam>()
//                .eq(Jam::getAvoAgv, avoAgv)
                .eq(Jam::getAvoSeg, avoSeg)
                .eq(Jam::getState, JamStateType.DEPRECATED.toString())
        );
                .eq(Jam::getAvoSeg, avoSeg));
        if (Cools.isEmpty(jamList)) {
            return false;
        }
        if (jamList.size() > 1) {
            log.error("AvoSeg[id = {}] seg data has exception, result in two jams", avoSeg);
        }
        Jam jam = jamList.get(0);
        if (jam.getState().equals(JamStateType.DEPRECATED.toString())) {
            return true;
        }
        Segment jamSegment = segmentService.getById(jam.getJamSeg());
        if (jamSegment.getState().equals(SegmentStateType.FINISH.toString())) {
            return true;
        }
        return false;
    }

}