#

vincentlu

昨天 590a64af2cdd33427ed8eda2eb983b07dd60ab8b

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

@@ -71,6 +71,10 @@
    private JamService jamService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private TaskService taskService;
    @Autowired
    private FuncStaService funcStaService;

    @Transactional
    public synchronized void trigger(Segment segment) {
@@ -92,13 +96,83 @@

            Travel travel = travelService.getById(segment.getTravelId());
            Agv agv = agvService.getById(travel.getAgvId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
            long endNode = segment.getEndNode();

            // valid ----------------------------------------------------
            if (!agvService.judgeEnable(agv.getId())) {
                return;
            }

            // resolve deadlock
//            if (configService.getVal("unlockSwitch", Boolean.class)) {
//
//                boolean preSegIsStandbyDeadLock = false;
//                Segment previousSeg = segmentService.getPreviousStepOfFinish(segment.getTravelId(), segment.getSerial(), MapDataConstant.RESOLVE_DEADLOCK);
//                preSegIsStandbyDeadLock = previousSeg != null;
//                if (preSegIsStandbyDeadLock && !jamService.isAvoidSeg(segment.getId())) {
//                    if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
//                            .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString())
//                            .eq(Segment::getMemo, MapDataConstant.RESOLVE_DEADLOCK))) {
//                        return;
//                    }
//                }
//
//                Jam jam = jamService.getJam(agv.getId(), agvDetail.getRecentCode(), segment.getId());
//                if (!preSegIsStandbyDeadLock && (null != jam && null != jam.getDuration() && jam.getDuration() > (BlockSeverityType.SEVERE.duration - MapDataConstant.MAX_JAM_TIMEOUT)
//                        || DateUtils.diffToMilliseconds(segment.getUpdateTime(), now)  > (BlockSeverityType.SEVERE.duration - MapDataConstant.MAX_JAM_TIMEOUT))
//                        && (Cools.isEmpty(segment.getMemo()) || !segment.getMemo().equals(MapDataConstant.RESOLVE_DEADLOCK))) {
//
//                    Task task = taskService.getById(segment.getTaskId());
//                    if (task.getTaskSts().equals(TaskStsType.PROGRESS.val())
//                            && DateUtils.diffToMilliseconds(task.getUpdateTime(), now) > MapDataConstant.DEADLOCK_TASK_TIMEOUT) {
//
//                        Code endCode = null;
//                        List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.STANDBY, segment.getAgvId());
//                        if (!Cools.isEmpty(idleFunStaList)) {
//                            idleFunStaList = idleFunStaList.stream().filter(funcSta -> {
//                                return 0 == segmentService.count(new LambdaQueryWrapper<Segment>()
//                                                .eq(Segment::getEndNode, funcSta.getCode())
//                                                .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString())
//                                                .eq(Segment::getMemo, MapDataConstant.RESOLVE_DEADLOCK)
//                                );
//                            }).collect(Collectors.toList());
//                            FuncSta funcSta = funcStaService.checkoutFurthestFunSta(agvDetailService.getCurrentCode(segment.getAgvId()).getId(), idleFunStaList);
//                            if (null != funcSta) {
//                                endCode = codeService.getCacheById(funcSta.getCode());
//                            }
//                        }
//                        if (null == endCode) {
//                            log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", segment.getAgvId(), FuncStaType.STANDBY);
//                            return;
//                        }
//
//                        segment.setState(SegmentStateType.INIT.toString());
//                        segment.setUpdateTime(now);
//                        if (!segmentService.updateById(segment)) {
//                            log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
//                            return;
//                        }
//
//                        // new move seg
//                        Segment insertSeg = new Segment();
//                        insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
//                        insertSeg.setTravelId(segment.getTravelId());
//                        insertSeg.setAgvId(segment.getAgvId());
//                        insertSeg.setTaskId(segment.getTaskId());
//                        insertSeg.setSerial(segment.getSerial() - 1);
//                        insertSeg.setEndNode(endCode.getId());
//                        insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
//                        insertSeg.setState(SegmentStateType.WAITING.toString());
//                        insertSeg.setMemo(MapDataConstant.RESOLVE_DEADLOCK);
//                        if (!segmentService.save(insertSeg)) {
//                            log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                            return;
//                        }
//                        return;
//                    }
//                }
//            }

            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                return;
            }
@@ -127,15 +201,15 @@
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope()) {
            if (!avoidWaveCalculator.calcWaveScope(agvModelService.getByAgvId(agv.getId()))) {
                log.error("failed to calculate avoid wave matrix ...");
                return;
            }

            // checkout path
            Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
            Code startCode = agvDetailService.getCurrentCode(travel.getAgvId());
            Code endCode = codeService.getCacheById(endNode);
            long startTime = System.currentTimeMillis();
//            long startTime = System.currentTimeMillis();
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
//            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
            if (Cools.isEmpty(pathList)) {
@@ -173,7 +247,7 @@
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
                    log.error("Segment [{}] failed to save ！！！", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
                }
                segmentList.add(insertSeg);

@@ -190,8 +264,11 @@
                        interrupt = true;
                    } else {
                        if (nextStep.getEndNode() == endNode) {

                            segmentList.add(nextStep);
                            // remove sta action seg
                            if (!nextStep.getPosType().equals(TaskPosDto.PosType.ORI_STA.toString())
                                    && !nextStep.getPosType().equals(TaskPosDto.PosType.DEST_STA.toString())) {
                                segmentList.add(nextStep);
                            }
                        } else {
                            interrupt = true;
                        }
@@ -202,7 +279,7 @@

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

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

@@ -210,6 +287,7 @@
            log.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            throw new RuntimeException("trigger method caught an exception", e);
        }
    }

@@ -416,6 +494,7 @@
            // deal expired jam
            for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .ne(Jam::getCycleAvo, 1)
                    .eq(Jam::getState, JamStateType.RUNNING.toString()))) {
                expiredJam.setEndTime(now);
                expiredJam.setUpdateTime(now);
@@ -593,7 +672,7 @@

                            // the wave of first node
                            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
                                    agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
                                    agvModelService.getByAgvId(jamAgv.getId()).getDiameter(),
                                    MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
                            );
                            List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
@@ -618,8 +697,13 @@
            if (!blockVehicleDto.isAvoidable()) {
                continue;
            }
            Long agvId = agvService.getAgvId(blockVehicleDto.getVehicle());
            // 当前vehicle正在进行避让作业
            if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
            if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(agvId, null))) {
                continue;
            }
            // 当前vehicle正在进行滚筒输送线等待
            if (segmentService.isRollerWaiting(agvId)) {
                continue;
            }
            return blockVehicleDto.getVehicle();