#

luxiaotao1123

2024-12-17 d3d3857cda8b4307d8f03bf15ec9fb2c98c34b64

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

@@ -1,14 +1,18 @@
package com.zy.acs.manager.core.service;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.BlockVehicleDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.NavigateNode;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
import com.zy.acs.manager.manager.entity.*;
@@ -36,12 +40,6 @@
@Component
public class TrafficService {

    public static final Integer MIN_SLICE_PATH_LENGTH = 3;

    public static final Integer MAX_JAM_TIMEOUT = 5 * 1000;

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
    @Autowired
@@ -63,7 +61,7 @@
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private ActionService actionService;
    private AgvModelService agvModelService;
    @Autowired
    private RetreatNavigateService retreatNavigateService;
    @Autowired
@@ -98,6 +96,8 @@
                    }
                }
            }

            // dead lane
            if (jamService.count(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getJamSeg, segment.getId())
@@ -105,6 +105,12 @@
                    .eq(Jam::getCycleCode, endNode)
                    .eq(Jam::getState, JamStateType.RUNNING.toString())
            ) > 0) {
                return;
            }

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

@@ -196,14 +202,18 @@
        String agvNo = agv.getUuid();
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
        BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
        // judge avoid of jam 如果已经在避让点（因为当前车执行了避让任务），那么则不能再去检索之前的阻塞路径
        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
@@ -212,8 +222,18 @@
            pathList = lockPathList;
        } else {

            // preview path
            List<String> draftPath = new ArrayList<>(unlockPathList);
            if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
                unlockPathList.remove(endCode.getData());
                blackPath.addAll(unlockPathList);
                List<String> newUnlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
                if (!Cools.isEmpty(newUnlockPathList)) {
                    draftPath = newUnlockPathList;
                }
            }
            // 可走行路径集合计算
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList);    // jamAgvNo may was wave

            if (!Cools.isEmpty(pathList)) {

@@ -221,7 +241,7 @@
                    assert !Cools.isEmpty(blockVehicleList);

                    boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
                    if (hasUnavoidableBlocks && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                    if (hasUnavoidableBlocks && pathList.size() <= MapDataConstant.MIN_SLICE_PATH_LENGTH) {
                        log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
                        pathList.clear();
                    }
@@ -246,7 +266,7 @@
                    Integer maxJamTimeoutFactor = null;

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

                    // ? has unAvoidable block vehicles
                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -259,59 +279,71 @@
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                            maxJamTimeoutFactor = 10;
                            maxJamTimeoutFactor = 4;

                        } else {

                            // select optimal block vehicle
                            String blockAgvNo = blockVehicleList.stream()
                                    .filter(BlockVehicleDto::isAvoidable)
                                    .map(BlockVehicleDto::getVehicle)
                                    .findFirst().orElse(null);
                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList, segment);
                            if (Cools.isEmpty(blockAgvNo)) {

                            // block vehicle info
                            Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                            String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
                                maxJamTimeoutFactor = 2;

                            do {
                            } else {

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

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

                                // 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;
                                }
                                do {

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

                                    // 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());
                                    if (null != waitingSegList
                                            && waitingSegList.stream().anyMatch(
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
                                    )) {
                                        maxJamTimeoutFactor = 1;
                                        break;
                                    }
                                } else {

                                    maxJamTimeoutFactor = 1;
                                }
                                    // notify block vehicle to avoid
                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, 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 {

                            } while (false);
                                        maxJamTimeoutFactor = 1;
                                    }

                                } while (false);
                            }

                        }

                    }

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

                            if (!Cools.isEmpty(lockPathList)) {

@@ -336,10 +368,32 @@
        if (!Cools.isEmpty(pathList)) {

            if (null != jam) {
                boolean beDeprecate = false;
                if (blockSeverity.equals(BlockSeverityType.SEVERE) && !Cools.isEmpty(jam.getJamPath())) {
                    List<String> jamPath = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
                    if (!this.comparePathLists(jamPath, pathList)) {    // jamPath >= pathList
                        beDeprecate = true;
                    }
                }
                jam.setEndTime(now);
                jam.setUpdateTime(now);
                jam.setState(JamStateType.FINISH.toString());
                if (!jamService.updateById(jam)) {
                jam.setState(beDeprecate ? JamStateType.DEPRECATED.toString() : JamStateType.FINISH.toString());
                if (jamService.updateById(jam)) {
                    if (beDeprecate) {
                        // search previous jam that jamSeg from this segment
                        List<Jam> previousJams = jamService.list(new LambdaQueryWrapper<Jam>()
                                .eq(Jam::getJamSeg, segment.getId())
                                .eq(Jam::getState, JamStateType.FINISH.toString())
                        );
                        for (Jam previousJam : previousJams) {
                            previousJam.setState(JamStateType.DEPRECATED.toString());
                            previousJam.setUpdateTime(now);
                            if (!jamService.updateById(previousJam)) {
                                log.error("Jam[{}] failed to update！！！", previousJam.getUuid());
                            }
                        }
                    }
                } else {
                    log.error("Jam[{}] failed to update！！！", jam.getUuid());
                }
            }
@@ -349,7 +403,7 @@
                    .eq(Jam::getState, JamStateType.RUNNING.toString()))) {
                expiredJam.setEndTime(now);
                expiredJam.setUpdateTime(now);
                expiredJam.setState(JamStateType.FINISH.toString());
                expiredJam.setState(JamStateType.DEPRECATED.toString());
                if (!jamService.updateById(expiredJam)) {
                    log.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
                }
@@ -425,11 +479,14 @@

        String endCodeData = finalNode.getCodeData();
        Code endCode = codeService.selectByData(endCodeData);
        jam.setAvoCode(endCode.getId());

        List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
        if (!Cools.isEmpty(waitingSegList)) {

            if (waitingSegList.size() > 1) {
                log.error("避让通知失败，{}号车辆存在多个等待中的Segment！！！", agvNo);
                return false;
            }
            // revert
            Date now = new Date();
            for (Segment seg : waitingSegList) {
@@ -453,23 +510,27 @@
            if (!segmentService.save(insertSeg)) {
                log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                return false;
            } else {
                jam.setAvoSeg(insertSeg.getId());
                jam.setAvoCode(endCode.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 +546,113 @@
        return jam;
    }

    private Jam setupNewJam(Jam originJam, Agv agv, Code startCode, Segment segment, List<String> draftPath) {
        originJam.setUpdateTime(new Date());
        originJam.setState(JamStateType.FINISH.toString());
        if (!jamService.updateById(originJam)) {
            log.error("Jam[{}] failed to update", originJam.getUuid());
            return originJam;
        } else {
            return this.createOrUpdateJam(
                    agv
                    , startCode
                    , segment
                    , null
                    , draftPath
            );
        }
    }

    private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
        List<String> blackPathList = new ArrayList<>();
        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
        if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
            for (Jam jam : unfinishedOriginJamByCurrAgv) {
                if (!Cools.isEmpty(jam.getJamPath())) {

                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);

                    Agv jamAgv = agvService.getById(jam.getJamAgv());
                    List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
                    // jamDynamicNodes has sorted
                    String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);

                    if (!Cools.isEmpty(firstCodeNode)) {
                        int idx = list.indexOf(firstCodeNode);
                        if (idx != -1) {
                            list = new ArrayList<>(list.subList(idx, list.size()));

                            // the wave of first node
                            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
                                    agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
                                    MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
                            );
                            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<>();
                        }
                    }

                    blackPathList.addAll(list);
                }
            }
        }
        return blackPathList.stream().distinct().collect(Collectors.toList());
    }

    private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList, Segment segment) {
        assert !Cools.isEmpty(blockVehicleList);
        for (BlockVehicleDto blockVehicleDto : blockVehicleList) {
            if (!blockVehicleDto.isAvoidable()) {
                continue;
            }
            // 当前vehicle正在进行避让作业
            if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
                continue;
            }
            return blockVehicleDto.getVehicle();
        }
        return null;
    }

    public boolean comparePathLists(List<String> list1, List<String> list2) {
        if (list1.equals(list2)) {
            return true;
        }
        if (list1.containsAll(list2)) {
            return true;
        }
        return false;
    }

    /**
     * 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));
        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;
    }

}