#

vincentlu

2025-05-13 ebd2f4397a92c6a5096de1b86d59154363344720

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

@@ -2,15 +2,17 @@

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.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.*;
@@ -18,6 +20,7 @@
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -37,12 +40,6 @@
@Slf4j
@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;
@@ -65,20 +62,38 @@
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private ActionService actionService;
    private AgvModelService agvModelService;
    @Autowired
    private RetreatNavigateService retreatNavigateService;
    @Autowired
    private TaskService taskService;
    private ConfigService configService;
    @Autowired
    private JamService jamService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;
    @Autowired
    private TaskService taskService;
    @Autowired
    private FuncStaService funcStaService;

    @Transactional
    public synchronized void trigger(Segment segment) {
        try {
            Date now = new Date();

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

            // temporary -----------------
            Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
            if (null != algoExtensionTime && algoExtensionTime > 0) {
                Thread.sleep(algoExtensionTime);
            }
            // ---------------------------

            Travel travel = travelService.getById(segment.getTravelId());
            Agv agv = agvService.getById(travel.getAgvId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
@@ -88,6 +103,77 @@
            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;
            }
@@ -115,13 +201,18 @@
            // execute -----------------------------------------------
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // get path list
            avoidWaveCalculator.calcWaveScope();    // * sync wave scope
            // * sync wave scope
            if (!avoidWaveCalculator.calcWaveScope()) {
                log.error("failed to calculate avoid wave matrix ...");
                return;
            }

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);
            Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
            Code endCode = codeService.getCacheById(endNode);
            long startTime = System.currentTimeMillis();
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
//            System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
            if (Cools.isEmpty(pathList)) {
                return;
            }
@@ -132,7 +223,7 @@
            String lastCodeData = pathList.get(pathList.size() - 1);
            if (!endCode.getData().equals(lastCodeData)) {
                // slice
                Code lastCode = codeService.selectByData(lastCodeData);
                Code lastCode = codeService.getCacheByData(lastCodeData);

//                if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
//                    return;
@@ -186,7 +277,9 @@

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

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

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
@@ -201,7 +294,7 @@
        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
        // 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);

@@ -209,9 +302,9 @@
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, null);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment, null);
        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
@@ -225,8 +318,10 @@
            if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
                unlockPathList.remove(endCode.getData());
                blackPath.addAll(unlockPathList);
                List<String> list = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, blockSeverity);
                System.out.println(list.size());
                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, draftPath, agvNo, pathList);    // jamAgvNo may was wave
@@ -237,7 +332,7 @@
                    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();
                    }
@@ -275,12 +370,12 @@
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                            maxJamTimeoutFactor = 10;
                            maxJamTimeoutFactor = 4;

                        } else {

                            // select optimal block vehicle
                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList, segment);
                            if (Cools.isEmpty(blockAgvNo)) {

                                maxJamTimeoutFactor = 2;
@@ -288,23 +383,28 @@
                            } else {

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

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

                                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());
                                    List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgvId, 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
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgvId);
                                    if (null != waitingSegList
                                            && waitingSegList.stream().anyMatch(
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.getCacheByData(blockAgvCode).getId())
                                    )) {
                                        maxJamTimeoutFactor = 1;
                                        break;
@@ -315,7 +415,7 @@
                                        if (jam.getCycleAvo() == 1) {
                                            jam.setCycleCode(endCode.getId());
                                        }
                                        jam.setAvoAgv(blockAgv.getId());
                                        jam.setAvoAgv(blockAgvId);
                                        jam.setNotifyTime(new Date());
                                        if (!jamService.updateById(jam)) {
                                            throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
@@ -334,7 +434,7 @@

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

                            if (!Cools.isEmpty(lockPathList)) {

@@ -359,10 +459,32 @@
        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());
                }
            }
@@ -372,7 +494,7 @@
                    .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());
                }
@@ -386,19 +508,20 @@
    private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
        List<BlockVehicleDto> blockVehicleList = new ArrayList<>();

//        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
        for (String code : fullPathList) {
            int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
        List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, fullPathList);
        for (int i = 0; i < fullPathList.size(); i++) {
            String codeData = fullPathList.get(i);
            int[] codeMatrixIdx = codeMatrixIdxList.get(i);

            String waveNode = waveMatrix[node[0]][node[1]];
            String waveNode = waveMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
            assert !waveNode.equals(WaveNodeType.DISABLE.val);
            if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    for (String otherWave : otherWaveList) {
                        if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
                        if (mapService.isWalkingByVehicle(lev, otherWave)) {
                            blockVehicleList.add(new BlockVehicleDto(otherWave, false));
                        } else {
                            blockVehicleList.add(new BlockVehicleDto(otherWave, true));
@@ -408,15 +531,7 @@
                }
            }

//            DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
//            String vehicle = dynamicNode.getVehicle();
//            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
//            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
//                blockVehicleList.add(vehicle);
//                break;
//            }

            pathList.add(code);
            pathList.add(codeData);
        }

        if (pathList.size() <= 1) {
@@ -430,8 +545,8 @@
     * avoidPathList include wave node and dynamic node
     */
    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
        Agv agv = agvService.selectByUuid(agvNo);
        if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
        Long agvId = agvService.getAgvId(agvNo);
        if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
            log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }
@@ -447,10 +562,9 @@
        }

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

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

            if (waitingSegList.size() > 1) {
@@ -471,7 +585,7 @@
            Segment insertSeg = new Segment();
            insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            insertSeg.setTravelId(segment.getTravelId());
            insertSeg.setAgvId(agv.getId());
            insertSeg.setAgvId(agvId);
            insertSeg.setTaskId(segment.getTaskId());
            insertSeg.setSerial(segment.getSerial() - 1);
            insertSeg.setEndNode(endCode.getId());
@@ -482,11 +596,12 @@
                return false;
            } else {
                jam.setAvoSeg(insertSeg.getId());
                jam.setAvoCode(endCode.getId());
            }

        } else {

            return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
            return mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, endCodeData, jam);
        }

        return true;
@@ -515,8 +630,26 @@
        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())) {
@@ -524,7 +657,7 @@
                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);

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

@@ -532,6 +665,18 @@
                        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<>();
                        }
                    }

@@ -542,18 +687,56 @@
        return blackPathList.stream().distinct().collect(Collectors.toList());
    }

    private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList) {
    private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList, Segment segment) {
        assert !Cools.isEmpty(blockVehicleList);
        for (BlockVehicleDto blockVehicleDto : blockVehicleList) {
            if (!blockVehicleDto.isAvoidable()) {
                continue;
            }
            // 没有避让中的任务
            if (Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
                return blockVehicleDto.getVehicle();
            // 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;
    }

}