#

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;
@@ -55,6 +56,8 @@
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
    @Autowired
    private MapService mapService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
@@ -91,10 +94,13 @@
            if (!Cools.isEmpty(waitingSegList)) {
                for (Segment waitingSeg : waitingSegList) {
                    if (!waitingSeg.getId().equals(segment.getId())) {
//                        log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
                        return;
                    }
                }
            }

            // dead lane
            if (jamService.count(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getJamSeg, segment.getId())
@@ -150,7 +156,7 @@
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                    log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
                }
                segmentList.add(insertSeg);

@@ -193,14 +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
@@ -217,9 +226,17 @@
                if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                    assert !Cools.isEmpty(blockVehicleList);

                    boolean hasUnavoidableBlocks  = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
                    boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
                    if (hasUnavoidableBlocks && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                        log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
                        pathList.clear();
                    }

                    boolean hasCycleJam = blockVehicleList.stream().anyMatch(
                            blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
                    );
                    if (hasCycleJam) {
                        log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        pathList.clear();
                    }
                }
@@ -227,94 +244,100 @@
            // 无可走行路径
            } else {

                assert !Cools.isEmpty(blockVehicleList);
                Integer maxJamTimeoutFactor = null;

                // persist jam data
                jam = this.createOrUpdateJam(agv, startCode, segment, jam);

                // ? has unAvoidable block vehicles
                if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {

                    // set factor of jam timeout
                    maxJamTimeoutFactor = 1;
                if (Cools.isEmpty(blockVehicleList)) {
                    log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                } else {

                    // ? already do notify to avoid
                    if (!Cools.isEmpty(jam.getAvoAgv())
                            && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
                    assert !Cools.isEmpty(blockVehicleList);
                    Integer maxJamTimeoutFactor = null;

                        maxJamTimeoutFactor = 10;
                    // persist jam data
                    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())) {

                        // set factor of jam timeout
                        maxJamTimeoutFactor = 1;
                    } else {

                        // select optimal block vehicle
                        String blockAgvNo = blockVehicleList.stream()
                                .filter(BlockVehicleDto::isAvoidable)
                                .map(BlockVehicleDto::getVehicle)
                                .findFirst().orElse(null);
                        // ? already do notify to avoid
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                        // block vehicle info
                        Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                        String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
                            maxJamTimeoutFactor = 10;

                        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());
                            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
                            Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                            if (null != waitingSeg && waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
                                maxJamTimeoutFactor = 1;
                                break;
                            }

                            // notify block vehicle to avoid
                            if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
                                if (jam.getCycleAvo() == 1) {
                                    jam.setCycleCode(endCode.getId());
                                }
                                jam.setAvoAgv(blockAgv.getId());
                                jam.setNotifyTime(new Date());
                                if (!jamService.updateById(jam)) {
                                    throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
                                }
                            } else {

                                maxJamTimeoutFactor = 1;
                            }

                        } while (false);
                    }

                }

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

                        if (!Cools.isEmpty(lockPathList)) {

                            pathList = lockPathList;
                        } else {
                            log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                    , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");

                            // select optimal block vehicle
                            String blockAgvNo = blockVehicleList.stream()
                                    .filter(BlockVehicleDto::isAvoidable)
                                    .map(BlockVehicleDto::getVehicle)
                                    .findFirst().orElse(null);

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

                            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());
                                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
                                Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                                if (null != waitingSeg && waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
                                    maxJamTimeoutFactor = 1;
                                    break;
                                }

                                // notify block vehicle to avoid
                                if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
                                    if (jam.getCycleAvo() == 1) {
                                        jam.setCycleCode(endCode.getId());
                                    }
                                    jam.setAvoAgv(blockAgv.getId());
                                    jam.setNotifyTime(new Date());
                                    if (!jamService.updateById(jam)) {
                                        throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
                                    }
                                } else {

                                    maxJamTimeoutFactor = 1;
                                }

                            } while (false);
                        }
                    } else {
                        log.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
                                , agvNo
                                , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
                        );

                    }

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

                            if (!Cools.isEmpty(lockPathList)) {

                                pathList = lockPathList;
                            } else {
                                log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                        , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
                            }
                        } else {
                            log.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
                                    , agvNo
                                    , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
                            );
                        }
                    }

                }

            }

        }

        if (!Cools.isEmpty(pathList)) {
@@ -437,23 +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 mainService.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)) {
@@ -469,4 +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());
    }

}