算法集成

zhang

2 天以前 f6df128b575bdb9d0f2512b5fa5a126edfce2799

 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 ----------------------------------------------------
@@ -202,16 +201,21 @@
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope()) {
                log.error("failed to calculate avoid wave matrix ...");
                return;
            }
//            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();
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
//            long startTime = System.currentTimeMillis();
            List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
            List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
            List<String> pathList = mapService.checkoutPath(agv.getUuid(), startCode, endCode, false, blackPath, segment);


            //List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
//            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
            if (Cools.isEmpty(pathList)) {
                return;
@@ -248,7 +252,7 @@
                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 +269,11 @@
                        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;
                        }
@@ -275,9 +282,9 @@
                }
            }

            mapService.lockPath(null, pathList, agv.getUuid());
            //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 +292,7 @@
            log.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

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

@@ -307,7 +315,7 @@
        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
                Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
        ) {

            pathList = lockPathList;
@@ -346,7 +354,7 @@
                    }
                }

            // 无可走行路径
                // 无可走行路径
            } else {

                if (Cools.isEmpty(blockVehicleList)) {
@@ -491,6 +499,7 @@
            // 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);
@@ -668,7 +677,7 @@

                            // 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)
@@ -693,10 +702,18 @@
            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 (travelService.hasRollerWaiting(agvId)) {
                continue;
            }
//            if (segmentService.isRollerWaiting(agvId)) {
//                continue;
//            }
            return blockVehicleDto.getVehicle();
        }
        return null;