1

zhangc

30 分钟以前 fa1d5f09f583d49e888d15066d74d47920663113

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

@@ -96,7 +96,6 @@

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

            // valid ----------------------------------------------------
@@ -202,15 +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)) {
@@ -248,7 +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);

@@ -265,8 +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;
                        }
@@ -277,7 +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));

@@ -285,6 +287,7 @@
            log.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

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

@@ -669,7 +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)
@@ -694,8 +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();