#

luxiaotao1123

2024-11-16 bb3b18aa4627e24e3428f89c90b867bad5eb40f6

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

@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -98,6 +99,8 @@
                    }
                }
            }

            // dead lane
            if (jamService.count(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getJamSeg, segment.getId())
@@ -196,14 +199,17 @@
        String agvNo = agv.getUuid();
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
        // judge avoid of jam
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);

        // 结果集
        List<String> pathList = new ArrayList<>();

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

        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
@@ -246,7 +252,8 @@
                    Integer maxJamTimeoutFactor = null;

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

                    // ? has unAvoidable block vehicles
                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -290,7 +297,7 @@
                                }

                                // notify block vehicle to avoid
                                if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
                                if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
                                    if (jam.getCycleAvo() == 1) {
                                        jam.setCycleCode(endCode.getId());
                                    }
@@ -453,23 +460,26 @@
            if (!segmentService.save(insertSeg)) {
                log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                return false;
            } else {
                jam.setAvoSeg(insertSeg.getId());
            }

        } else {

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

        return true;
    }

    private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam) {
    private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam, List<String> jamPath) {
        if (jam == null) {
            jam = new Jam();
            jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            jam.setJamAgv(agv.getId());
            jam.setJamCode(startCode.getId());
            jam.setJamSeg(segment.getId());
            jam.setJamPath(GsonUtils.toJson(jamPath));
            jam.setStartTime(new Date());
            jam.setState(JamStateType.RUNNING.toString());
            if (!jamService.save(jam)) {
@@ -485,4 +495,17 @@
        return jam;
    }

    private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
        List<String> blackPathList = new ArrayList<>();
        if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            for (Jam jam : unfinishedOriginJamByCurrAgv) {
                if (!Cools.isEmpty(jam.getJamPath())) {
                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
                    blackPathList.addAll(list);
                }
            }
        }
        return blackPathList.stream().distinct().collect(Collectors.toList());
    }

}