#

vincentlu

4 天以前 1ce8c694a364916fa45c60cabedb7a9215003055

#

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

@@ -16,6 +16,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import java.util.concurrent.TimeoutException;

@@ -36,7 +37,7 @@
    public BaseResult<?> executeAgvActionCmd(AgvAction agvAction) {

        // todo 1: 记录日志 2：发送任务  3：同步响应
//        log.info(JSON.toJSONString(agvAction));
//        News.info(JSON.toJSONString(agvAction));

        String serialNo = agvAction.getSerialNo();

@@ -50,7 +51,7 @@
    public BaseResult<?> executeAgvCommand(AgvCommand agvCommand) {

        // todo 1: 记录日志 2：发送任务  3：同步响应
        log.info(JSON.toJSONString(agvCommand));
        News.info(JSON.toJSONString(agvCommand));

        String serialNo = agvCommand.getSerialNo();

@@ -70,7 +71,7 @@
                return BaseResult.error();
            }
        } catch (TimeoutException e){
            log.error("AgvCmdService.requestProcess", e);
            News.error("AgvCmdService.requestProcess", e);
            return BaseResult.error();
        }
    }

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

@@ -19,6 +19,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import java.util.ArrayList;
import java.util.Date;
@@ -65,7 +66,7 @@

        Long agvId = agvService.getAgvId(protocol.getAgvNo());
        if (null == agvId) {
            log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            News.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            return;
        }
        AgvDetail detail = agvDetailService.selectByAgvId(agvId);
@@ -73,7 +74,7 @@
            detail = new AgvDetail();
            detail.setAgvId(agvId);
            if (!agvDetailService.save(detail)) {
                log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
                News.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
                return;
            }
        }
@@ -95,7 +96,7 @@
            this.sync(agv_12_up, detail);
//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_12_up);
            if (PRINT_LOG) {
                log.info("Agv [{}] 有码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up));
                News.info("Agv [{}] 有码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_12_up));
            }
        }
        // 无码实时数据包
@@ -105,7 +106,7 @@
            this.sync(agv_13_up, detail);
//            redis.setObject(RedisConstant.DIGITAL_AGV_FLAG, agv.getUuid(), agv_13_up);
            if (PRINT_LOG) {
                log.info("Agv [{}] 无码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
                News.info("Agv [{}] 无码实时数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_13_up));
            }
        }
        // 心跳包
@@ -113,20 +114,20 @@
            AGV_03_UP agv_03_up = (AGV_03_UP) msgBody;
            this.sync(agv_03_up, detail);
            if (PRINT_LOG) {
                log.info("Agv [{}] 心跳包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up));
                News.info("Agv [{}] 心跳包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_03_up));
            }
        }
        // 登陆包
        if (msgBody instanceof AGV_F0_UP) {
            AGV_F0_UP agv_f0_up = (AGV_F0_UP) msgBody;
            this.sync(agv_f0_up, detail);
            log.info("Agv [{}] 登陆包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up));
            News.info("Agv [{}] 登陆包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_f0_up));
        }
        // 故障数据包
        if (msgBody instanceof AGV_04_UP) {
            AGV_04_UP agv_04_up = (AGV_04_UP) msgBody;
            AgvErrorType errorType = AgvErrorType.query(agv_04_up.getHexFaultId());
            log.info("Agv [{}] 故障数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up));
            News.info("Agv [{}] 故障数据包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_04_up));

            // save
            faultProcessor.execute(new VehicleFaultDto<>(protocol.getAgvNo(), protocol.getTimestamp(), agv_04_up));
@@ -145,7 +146,7 @@
            }
        }
        if (!agvDetailService.updateById(detail)) {
            log.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
            News.error("Agv [{}] 详情更新失败 ！！！", protocol.getAgvNo());
        }

    }
@@ -160,10 +161,10 @@
            detail.setLastCode(null);
            detail.setPos(1);
//            if (!agvDetailService.updatePosCode(detail.getId(), code.getId())) {
//                log.error("Agv [{}] 更新定位数据失败 ！！！", agvService.getById(detail.getAgvId()).getUuid());
//                News.error("Agv [{}] 更新定位数据失败 ！！！", agvService.getById(detail.getAgvId()).getUuid());
//            }
        } else {
            log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
            News.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
        }

        // 地面码偏移
@@ -217,7 +218,7 @@


        } else {
            log.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
            News.error("Agv [{}] 更新定位数据失败 ！！！上传条码：{}", agvService.getById(detail.getAgvId()).getUuid(), mesBody.getQrCode());
        }

        detail.setStraightVal((double) mesBody.getStraightDirectionPosition());

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

@@ -15,6 +15,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import com.zy.acs.common.utils.News;

import java.util.*;
import java.util.stream.Collectors;
@@ -162,7 +163,7 @@
        List<String> availableAgvNos = this.getAvailableAgvNos(agvAreaDispatcher.getAgvIdsByTask(task), false);
//        List<String> availableAgvNos = this.getAvailableAgvNos(null);
        if (Cools.isEmpty(availableAgvNos)) {
//            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
//            News.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;
        }

@@ -325,16 +326,16 @@

        // valid
        if (Cools.isEmpty(availableAgvNosByOriLane)) {
            log.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
            News.warn("No available agv to assign the task origin[{}]", task.getSeqNum());
            return null;
        }
        if (Cools.isEmpty(availableAgvNosByDestLane)) {
            log.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
            News.warn("No available agv to assign the task destination[{}]", task.getSeqNum());
            return null;
        }
        List<String> actualAvailableAgvNos = Cools.getIntersection(availableAgvNosByOriLane, availableAgvNosByDestLane);
        if (Cools.isEmpty(actualAvailableAgvNos)) {
            log.warn("No available agv to assign the task[{}]", task.getSeqNum());
            News.warn("No available agv to assign the task[{}]", task.getSeqNum());
            return null;
        }


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

@@ -26,6 +26,7 @@
import org.springframework.core.io.ClassPathResource;
import org.springframework.core.io.Resource;
import org.springframework.stereotype.Component;
import com.zy.acs.common.utils.News;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
@@ -92,7 +93,7 @@

        try {
            if (!(lockAcquired = lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                log.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
                News.warn("AvoidWaveCalculator execute fail, cause can not acquire lock ...");
                return false;
            }

@@ -101,7 +102,7 @@

        } catch (Exception e) {

            log.error(this.getClass().getSimpleName(), e);
            News.error(this.getClass().getSimpleName(), e);
            return false;
        } finally {

@@ -111,14 +112,14 @@

            long during = System.currentTimeMillis() - startTime;
            if (during > 50) {
                log.info("滤波函数花费时间为：{}毫秒......", during);
                News.info("滤波函数花费时间为：{}毫秒......", during);
            }
        }
    }

//    private boolean calcWaveScopeByPython(Integer lev, AgvModel agvModel) throws Exception {
//        if (null == agvModel.getDiameter() || agvModel.getDiameter() <= 0) {
//            log.warn("There is no diameter or diameter value was wrong...");
//            News.warn("There is no diameter or diameter value was wrong...");
//        }
//
//        // python
@@ -151,8 +152,8 @@
//
//        int exitCode = process.waitFor();
//        if (exitCode != 0) {
//            log.error("Python script exited with error code: {}", exitCode);
//            log.error("python error:{}", builder.toString());
//            News.error("Python script exited with error code: {}", exitCode);
//            News.error("python error:{}", builder.toString());
//            return false;
//        }
//        reader.close();
@@ -167,7 +168,7 @@
//            return false;
//        }
//        if (!"1".equals(result)) {
//            log.error("Failed to call python");
//            News.error("Failed to call python");
//            return false;
//        }
//

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

@@ -15,6 +15,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import java.util.Date;

@@ -57,11 +58,11 @@
            vehFaultRec.setProtocol(RadixTools.bytesToHexStr(agv_04_up.writeToBytes()));

            if (!vehFaultRecService.save(vehFaultRec)) {
                log.error("{}号车辆故障！记录故障信息失败......", dto.getVehicle());
                News.error("{}号车辆故障！记录故障信息失败......", dto.getVehicle());
            }

        } catch (Exception e) {
            log.error("FaultProcessor", e);
            News.error("FaultProcessor", e);
        }
    }


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

@@ -12,6 +12,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import java.time.LocalDateTime;
import java.util.ArrayList;
@@ -37,7 +38,7 @@
    public void prepare(Guarantee plan, LocalDateTime targetTime) {
        int requiredCount = plan.getRequiredCount() == null ? 0 : plan.getRequiredCount();
        if (requiredCount <= 0) {
            log.warn("Guarantee[{}] requiredCount is not configured, skip", plan.getName());
            News.warn("Guarantee[{}] requiredCount is not configured, skip", plan.getName());
            return;
        }
        int minSoc = plan.getMinSoc();
@@ -63,7 +64,6 @@
            }
        }
        if (available >= requiredCount) {
//            log.debug("Guarantee[{}] already has {} vehicles >= {}% SOC for {}", plan.getName(), available, minSoc, targetTime);
            return;
        }
        int shortage = requiredCount - available;   // 还差多少辆
@@ -73,13 +73,13 @@
            if (scheduled >= shortage) {
                break;
            }
            log.info("Guarantee[{}] schedule AGV {} charging (soc={}%) for target {}",
            News.info("Guarantee[{}] schedule AGV {} charging (soc={}%) for target {}",
                    plan.getName(), candidate.getAgv().getName(), candidate.getSoc(), targetTime);
            mainLockWrapService.buildMinorTask(candidate.getAgv().getId(), TaskTypeType.TO_CHARGE, null, null);
            scheduled++;
        }
        if (scheduled < shortage) {
            log.warn("Guarantee[{}] still short of {} vehicles for {} (only {} idle low-soc AGVs)",
            News.warn("Guarantee[{}] still short of {} vehicles for {} (only {} idle low-soc AGVs)",
                    plan.getName(), shortage - scheduled, targetTime, candidates.size());
        }
    }
@@ -128,7 +128,7 @@
            try {
                wrapper.eq(Agv::getAgvModel, Long.valueOf(plan.getScopeValue()));
            } catch (NumberFormatException ignore) {
                log.warn("Guarantee[{}] invalid scopeValue {}", plan.getName(), plan.getScopeValue());
                News.warn("Guarantee[{}] invalid scopeValue {}", plan.getName(), plan.getScopeValue());
            }
        }
        return agvService.list(wrapper);

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

@@ -17,6 +17,7 @@
import org.springframework.boot.context.event.ApplicationReadyEvent;
import org.springframework.context.event.EventListener;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import java.security.MessageDigest;
import java.security.NoSuchAlgorithmException;
@@ -105,7 +106,7 @@
            stopWatch.start();
            this.initLaneData();
            stopWatch.stop();
            log.info("the rcs system calculated lane data which has spend {} millisecond......", stopWatch.getTime());
            News.info("the rcs system calculated lane data which has spend {} millisecond......", stopWatch.getTime());

            if (!Cools.isEmpty(this.laneDtoList)) {
                laneService.batchSaveByLaneDtoList(null, this.laneDtoList);
@@ -118,7 +119,7 @@
    }

    private void initLaneData() {
        log.info("the rcs system is starting to initialize lane data...");
        News.info("the rcs system is starting to initialize lane data...");

        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, StatusType.ENABLE.val));

@@ -134,7 +135,7 @@

        this.generateLaneHash();

        log.info("the lane data initialization has been completed in rcs system.");
        News.info("the lane data initialization has been completed in rcs system.");
    }

    private void fillAdjacencyCodeMap(List<Code> codeList) {
@@ -421,7 +422,7 @@
        try {
            md = MessageDigest.getInstance("SHA-256");
        } catch (NoSuchAlgorithmException e) {
            log.error("generateDigest", e);
            News.error("generateDigest", e);
            throw new RuntimeException(e);
        }
        String combined = list.stream().sorted().collect(Collectors.joining(","));
@@ -435,7 +436,7 @@
    }

    public void generateLaneCodeIdx(Integer lev) {
        log.info("There is initializing Lane CodeIdxMap......");
        News.info("There is initializing Lane CodeIdxMap......");
        if (Cools.isEmpty(this.laneDtoList)) {
            return;
        }

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

@@ -9,6 +9,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import com.zy.acs.common.utils.News;

import java.util.List;
import java.util.concurrent.TimeUnit;
@@ -37,7 +38,7 @@
            mainService.buildMajorTask(agvId, taskList);
        } catch (Exception e) {

            log.error("MainLockWrapService.buildMajorTask[task]", e);
            News.error("MainLockWrapService.buildMajorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        } finally {
            if (lockAcquired) {
@@ -52,11 +53,11 @@
            if (!(lockAcquired = this.lock.tryLock(LOCK_TIMEOUT, TimeUnit.SECONDS))) {
                throw new CoolException("failed to generate [minor task] actions, cause can not acquire lock ...");
            }
//            log.info("buildMinorTask AGV[{}] lock time: {}", agv.getUuid(), System.currentTimeMillis());
//            News.info("buildMinorTask AGV[{}] lock time: {}", agv.getUuid(), System.currentTimeMillis());

            return mainService.buildMinorTask(agvId, taskType, destination, jam);
        } catch (Exception e) {
            log.error("MainLockWrapService.buildMinorTask[task]", e);
            News.error("MainLockWrapService.buildMinorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            return false;
@@ -65,7 +66,7 @@
            if (lockAcquired) {
                this.lock.unlock();
            }
//            log.info("buildMinorTask AGV[{}] unlock time: {}", agv.getUuid(), System.currentTimeMillis());
//            News.info("buildMinorTask AGV[{}] unlock time: {}", agv.getUuid(), System.currentTimeMillis());
        }
    }


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

@@ -34,6 +34,7 @@
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import com.zy.acs.common.utils.News;

import java.util.*;
import java.util.stream.Collectors;
@@ -241,7 +242,7 @@
                    bus.setBusSts(BusStsType.PROGRESS.val());
                    bus.setUpdateTime(now);
                    if (!busService.updateById(bus)) {
                        log.error("Bus [{}] failed to Update ！！！", bus.getUuid());
                        News.error("Bus [{}] failed to Update ！！！", bus.getUuid());
                    }
                }
                return;
@@ -289,7 +290,7 @@
                            currSeg.setState(SegmentStateType.INIT.toString());
                            currSeg.setUpdateTime(now);
                            if (!segmentService.updateById(currSeg)) {
//                                log.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
//                                News.error("Segment [{}] failed to update ！！！", currSeg.getGroupId() + " - " + currSeg.getSerial());
                                throw new CoolException("failed to update segment [" + currSeg.getGroupId() + "-" + currSeg.getSerial() + "] failed");
                            }

@@ -307,7 +308,7 @@
                            loadSeg.setCreateTime(now);
                            loadSeg.setUpdateTime(now);
                            if (!segmentService.save(loadSeg)) {
//                                log.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
//                                News.error("Segment [{}] failed to save ！！！", loadSeg.getTravelId() + " - " + loadSeg.getSerial());
                                throw new CoolException("failed to save segment [" + loadSeg.getGroupId() + "-" + loadSeg.getSerial() + "] failed");
                            }

@@ -431,7 +432,7 @@
                            placeSeg.setCreateTime(now);
                            placeSeg.setUpdateTime(now);
                            if (!segmentService.save(placeSeg)) {
//                                log.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
//                                News.error("Segment [{}] failed to save ！！！", placeSeg.getTravelId() + " - " + placeSeg.getSerial());
                                throw new CoolException("failed to save segment [" + placeSeg.getGroupId() + "-" + placeSeg.getSerial() + "] failed");
                            }

@@ -461,7 +462,7 @@
                            staReserveService.allocateCallBack(task, agvId);
                        });
//                if (Cools.isEmpty(agvNo)) {
////                    log.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
////                    News.warn("Task[{}] has an issue， because it failed to check out agv which is idle...", task.getSeqNum());
//                    continue;
//                }
//                task.setAgvId(agvService.getAgvId(agvNo));
@@ -473,7 +474,7 @@
//                }
            }
        } catch (Exception e) {
            log.error("mainService.infuseAgvForTask", e);
            News.error("mainService.infuseAgvForTask", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }
@@ -650,7 +651,7 @@
                    dropGroups.add(group);
                } else {
                    // import tip: the list must only contain ORIGIN and DESTINATION
                    log.error("the list must only contain ORIGIN and DESTINATION");
                    News.error("the list must only contain ORIGIN and DESTINATION");
                }
            }

@@ -726,7 +727,7 @@

        } catch (Exception e) {

            log.error("mainService.buildMajorTask[task]", e);
            News.error("mainService.buildMajorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }
@@ -763,7 +764,7 @@
                        endCode = codeService.getCacheById(funcSta.getCode());
                    }
                    if (null == endCode) {
                        log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString());
                        News.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", agvNo, taskType.toString());
                    }
                    break;
                case MOVE:
@@ -869,7 +870,7 @@
                    destFuncSta.setState(FuncStaStateType.OCCUPIED.toString());
                    destFuncSta.setUpdateTime(now);
                    if (!funcStaService.updateById(destFuncSta)) {
                        log.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
                        News.error("FuncSta [{}] failed to update ！！！", destFuncSta.getName());
                    }
                    break;
                case MOVE:
@@ -880,7 +881,7 @@

            return true;
        } catch (Exception e) {
            log.error("mainService.buildMinorTask[task]", e);
            News.error("mainService.buildMinorTask[task]", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            return false;
@@ -1565,7 +1566,7 @@
            News.info("{}号Agv动作组装完成，指令数量：{}", agvNo, newActionList.size());
            return pathTrace;
        } catch (Exception e) {
            log.error("mainService.generateAction", e);
            News.error("mainService.generateAction", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            if (!Cools.isEmpty(pathList)) {
@@ -1739,13 +1740,13 @@

            BaseResult<?> result = agvCmdService.executeAgvActionCmd(agvAction);
            if (result.success()) {
                log.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
                News.info("任务组 [{}] 动作指令已下发 ===>> 指令数量：{}", actionGroupId, actionList.size());
            } else {
                log.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
                News.error("任务组 [{}] 动作指令下发失败 ！！！", actionGroupId);
                throw new CoolException("任务组 [{" + actionGroupId + "}] 动作指令下发失败 ！！！");
            }
        } catch (Exception e) {
            log.error("mainService.publishAction", e);
            News.error("mainService.publishAction", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }

@@ -1757,7 +1758,7 @@

        Agv agv = agvService.selectByUuid(protocol.getAgvNo());
        if (null == agv) {
            log.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            News.warn("Agv [{}] 尚未鉴权 ！！！", protocol.getAgvNo());
            return;
        }

@@ -1769,7 +1770,7 @@
            AGV_11_UP agv_11_up = (AGV_11_UP) msgBody;
            String serialNo = agv_11_up.getSerialNo();

            log.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));
            News.info("Agv [{}] 动作完成包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_11_up));

            // 入库放货
            if (agv_11_up.getCompleteType().equals(AgvCompleteType.RELEASE_FROM_SHELVES_COMPLETE)) {
@@ -1777,7 +1778,7 @@

                Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
                if (null == loc) {
                    log.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                    News.warn("Agv [{}] 上报往货架放货完成时，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                } else {
                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
                    for (Long taskId : taskIds) {
@@ -1795,7 +1796,7 @@
                                action.setEndTime(now);
                                action.setUpdateTime(now);
                                if (!actionService.updateById(action)) {
                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                    News.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                }
                            }

@@ -1810,7 +1811,7 @@

                Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>().eq(Loc::getBarcode, String.valueOf(Integer.parseInt(agv_11_up.getLocCode()))));
                if (null == loc) {
                    log.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                    News.warn("Agv [{}] 上报从货架取货完成，库位码[{}]无效。", protocol.getAgvNo(), agv_11_up.getLocCode());
                } else {

                    List<Long> taskIds = actionService.selectTaskIdsByGroupId(serialNo);
@@ -1828,7 +1829,7 @@
                                action.setEndTime(now);
                                action.setUpdateTime(now);
                                if (!actionService.updateById(action)) {
                                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                    News.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                                }
                            }
                        }
@@ -1850,7 +1851,7 @@
                // settlement
                this.settleSegmentList(segmentList, serialNo);

                log.info("Agv [{}] {}作业完毕 ==========>> ", protocol.getAgvNo(), serialNo);
                News.info("Agv [{}] {} 路径作业已完成", protocol.getAgvNo(), serialNo);

            }
        }
@@ -1858,7 +1859,7 @@
        // 取放货请求包
        if (msgBody instanceof AGV_06_UP) {
            AGV_06_UP agv_06_up = (AGV_06_UP) msgBody;
            log.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));
            News.info("Agv [{}] 取放货请求包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_06_up));

            boolean success = false;

@@ -1868,14 +1869,14 @@
                // query current segment
                Segment currSeg = segmentService.getCurrRunningSeg(null, agv.getId(), code.getId());
                if (null == currSeg) {
                    log.error("failed to find curr segment [{}]", agv.getUuid());
                    News.error("failed to find curr segment [{}]", agv.getUuid());
                } else {

                    // query current task
                    Task currTask = taskService.getById(currSeg.getTaskId());
                    if (currTask == null || !currTask.getTaskSts().equals(TaskStsType.PROGRESS.val())) {

                        log.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                        News.error("agv[{}] task invalid, task={}", protocol.getAgvNo(), currSeg.getTaskId());
                    } else {

                        Sta sta;
@@ -1899,7 +1900,7 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.OUT);
                                    break;
                                }
                                log.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                News.info("AGV [{}] load permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            case DEST_STA:
@@ -1915,18 +1916,18 @@
                                    staReserveService.rollbackWaitingToReserved(sta, currTask, StaReserveType.IN);
                                    break;
                                }
                                log.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                News.info("AGV [{}] unload permitted at conveyor station [{}]", protocol.getAgvNo(), sta.getStaNo());
                                success = true;
                                break;
                            default:
                                log.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                News.error("AGV [{}] has wrong posType [{}], segment [{}]", protocol.getAgvNo(), posType.toString(), currSeg.getId());
                                break;
                        }
                    }
                }

            } catch (Exception e) {
                log.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
                News.error("agv[{}] failed to deal with action request, qrCode={}", agv.getUuid(), agv_06_up.getVal(), e);
            }

            AGV_06_DOWN agv_06_down = new AGV_06_DOWN();
@@ -1940,7 +1941,7 @@
        if (msgBody instanceof AGV_70_UP) {
            AGV_70_UP agv_70_up = (AGV_70_UP) msgBody;

            log.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
            News.info("Agv [{}] 料仓信息包 ===>> {}", protocol.getAgvNo(), JSON.toJSONString(agv_70_up));
        }
    }

@@ -1987,10 +1988,10 @@
                task.setEndTime(now);
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                    News.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                } else {
                    taskService.maintainLocAndSta(task);
                    log.info("Task [{}] 作业完毕 ==========>> ", task.getSeqNum());
                    News.info("Task [{}] 任务运行完成.", task.getSeqNum());
                }

            }
@@ -2007,7 +2008,7 @@
                action.setEndTime(now);
                action.setUpdateTime(now);
                if (!actionService.updateById(action)) {
                    log.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                    News.error("Action [{}] 更新失败 ！！！", action.getPriority() + " - " + action.getName());
                }
            }
        }
@@ -2018,7 +2019,7 @@
            segment.setEndTime(now);
            segment.setUpdateTime(now);
            if (!segmentService.updateById(segment)) {
                log.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
                News.error("Segment [{}] 更新失败 ！！！", segment.getGroupId() + " - " + segment.getSerial());
            }
        }


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

@@ -26,6 +26,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import com.zy.acs.common.utils.News;

import java.util.*;
import java.util.concurrent.ConcurrentLinkedQueue;
@@ -267,7 +268,7 @@
//            }

        } catch (InterruptedException e) {
            log.error("unlockTaskQueue", e);
            News.error("unlockTaskQueue", e);
        }
    }


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

@@ -8,6 +8,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
@@ -50,7 +51,7 @@
                        if (tasks.size() == 1) {
                            resetCodeIdxList = this.getResetCodeList(lev, tasks.get(0));
                        } else if (tasks.size() > 1) {
//                            log.info("consumer task count:{}", tasks.size());
//                            News.info("consumer task count:{}", tasks.size());
                            resetCodeIdxList = this.getResetCodeList(lev, tasks);
                        }

@@ -58,15 +59,15 @@
                            this.dealResetCodeList(lev, resetCodeIdxList);
                        }

//                        log.info("consumer unlock path spend time:{}", System.currentTimeMillis() - startTime);
//                        News.info("consumer unlock path spend time:{}", System.currentTimeMillis() - startTime);
                    }

                } catch (InterruptedException e) {
                    Thread.currentThread().interrupt();
                    log.error("PathQueueConsumer[Thread.currentThread.interrupt]", e);
                    News.error("PathQueueConsumer[Thread.currentThread.interrupt]", e);
                    break;
                } catch (Exception e) {
                    log.error("PathQueueConsumer", e);
                    News.error("PathQueueConsumer", e);
                }
            }
        });
@@ -204,7 +205,7 @@
                if (!this.consumerExecutor.awaitTermination(5, TimeUnit.SECONDS)) {
                    this.consumerExecutor.shutdownNow();
                    if (!this.consumerExecutor.awaitTermination(5, TimeUnit.SECONDS)) {
                        log.error("this.consumerExecutor failed to shutdown");
                        News.error("this.consumerExecutor failed to shutdown");
                    }
                }
            } catch (InterruptedException ie) {

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

@@ -19,6 +19,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import javax.annotation.PostConstruct;
import javax.annotation.PreDestroy;
@@ -135,7 +136,7 @@
                }
                break;
            default:
                log.warn("AGV {}: 未知阶段: {}", agvNo, jobType);
                News.warn("AGV {}: 未知阶段: {}", agvNo, jobType);
                break;
        }
        if (Cools.isEmpty(destinationCodeData)) {
@@ -143,7 +144,7 @@
        }

        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
            log.info( "{}开始作业演示...", agvNo);
            News.info( "{}开始作业演示...", agvNo);

            CoreCache.AGV_MOCK_STEP_CACHE.put(agvId, CodeStepDto.build(destinationCodeData, jobType));
        }
@@ -198,7 +199,7 @@
            return;
        }
        if (mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, destinationCodeData, null)) {
            log.info( "{}开始走行演示...", agvNo);
            News.info( "{}开启自动巡逻...", agvNo);
        }
    }

@@ -265,14 +266,14 @@
                executePatrolLogic(agvNo);
//                executeUShapeConveyor(agvNo);
            } catch (Exception e) {
                log.error("执行AGV{}跑库任务时发生异常", agvNo, e);
                News.error("执行AGV{}跑库任务时发生异常", agvNo, e);
            }
        };

        ScheduledFuture<?> scheduledFuture = scheduler.scheduleAtFixedRate(patrolTask, 0, SCHEDULE_TIME_INTERVAL, TimeUnit.MILLISECONDS);

        AGV_PATROL_MAP.put(agvNo, scheduledFuture);
        log.info("已启动AGV{}的跑库任务。", agvNo);
        News.info("已启动AGV{}的跑库任务。", agvNo);
        return R.ok();
    }

@@ -290,10 +291,10 @@
            CoreCache.AGV_BACKPACK_USED_CACHE.remove(agvId);
            CoreCache.AGV_MOCK_STEP_CACHE.remove(agvId);
            CoreCache.AGV_MOCK_JOB_CACHE.remove(agvNo);
            log.info("已停止AGV {} 的跑库任务。", agvNo);
            News.info("已停止AGV {} 的跑库任务。", agvNo);
            return R.ok("已停止AGV " + agvNo + " 的跑库任务。");
        } else {
            log.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
            News.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
            return R.error("未能成功停止AGV " + agvNo + " 的跑库任务。");
        }
    }

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

@@ -2,7 +2,6 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.News;
import com.zy.acs.common.utils.Utils;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -28,6 +27,7 @@
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import com.zy.acs.common.utils.News;

import java.util.ArrayList;
import java.util.Arrays;
@@ -144,14 +144,14 @@
//                            }
//                        }
//                        if (null == endCode) {
//                            log.warn("AGV[{}] failed to search destination，there hadn't any idle funSta，TaskTypeType：{}", segment.getAgvId(), FuncStaType.STANDBY);
//                            News.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());
//                            News.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
//                            return;
//                        }
//
@@ -167,7 +167,7 @@
//                        insertSeg.setState(SegmentStateType.WAITING.toString());
//                        insertSeg.setMemo(MapDataConstant.RESOLVE_DEADLOCK);
//                        if (!segmentService.save(insertSeg)) {
//                            log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                            News.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                            return;
//                        }
//                        return;
@@ -182,7 +182,7 @@
            if (!Cools.isEmpty(waitingSegList)) {
                for (Segment waitingSeg : waitingSegList) {
                    if (!waitingSeg.getId().equals(segment.getId())) {
//                        log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
//                        News.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
                        return;
                    }
                }
@@ -204,7 +204,7 @@

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

@@ -234,7 +234,7 @@
                segment.setState(SegmentStateType.INIT.toString());
                segment.setUpdateTime(now);
                if (!segmentService.updateById(segment)) {
                    log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
                    News.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
                }
                segmentList.clear();

@@ -249,7 +249,7 @@
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] failed to save ！！！", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
                    News.error("Segment [{}] failed to save ！！！", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
                }
                segmentList.add(insertSeg);

@@ -286,7 +286,7 @@
            mapService.lockPath(null, pathDtoList, agv.getUuid());

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
            News.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

            throw new RuntimeException("trigger method caught an exception", e);
@@ -338,7 +338,7 @@

                    boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
                    if (hasUnavoidableBlocks && pathList.size() <= MapDataConstant.MIN_SLICE_PATH_LENGTH) {
                        News.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
//                        News.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
                        pathList.clear();
                    }

@@ -346,7 +346,7 @@
                            blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
                    );
                    if (hasCycleJam) {
                        log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        News.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        pathList.clear();
                    }
                }
@@ -355,7 +355,7 @@
            } else {

                if (Cools.isEmpty(blockVehicleList)) {
                    log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                    News.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                } else {

                    assert !Cools.isEmpty(blockVehicleList);
@@ -449,10 +449,10 @@
                                        , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
                            }
                        } else {
                            log.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
                                    , agvNo
                                    , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
                            );
//                            News.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
//                                    , agvNo
//                                    , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
//                            );
                        }
                    }

@@ -485,12 +485,12 @@
                            previousJam.setState(JamStateType.DEPRECATED.toString());
                            previousJam.setUpdateTime(now);
                            if (!jamService.updateById(previousJam)) {
                                log.error("Jam[{}] failed to update！！！", previousJam.getUuid());
                                News.error("Jam[{}] failed to update！！！", previousJam.getUuid());
                            }
                        }
                    }
                } else {
                    log.error("Jam[{}] failed to update！！！", jam.getUuid());
                    News.error("Jam[{}] failed to update！！！", jam.getUuid());
                }
            }
            // deal expired jam
@@ -502,7 +502,7 @@
                expiredJam.setUpdateTime(now);
                expiredJam.setState(JamStateType.DEPRECATED.toString());
                if (!jamService.updateById(expiredJam)) {
                    log.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
                    News.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
                }
            }

@@ -553,7 +553,7 @@
    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
        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);
            News.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }

@@ -563,7 +563,7 @@
        assert avoidPathList.size() >= 2;
        RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
        if (null == finalNode) {
            log.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
            News.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
            return false;
        }

@@ -574,7 +574,7 @@
        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);
                News.error("避让通知失败，{}号车辆存在多个等待中的Segment！！！", agvNo);
                return false;
            }
            // revert
@@ -583,7 +583,7 @@
                seg.setState(SegmentStateType.INIT.toString());
                seg.setUpdateTime(now);
                if (!segmentService.updateById(seg)) {
                    log.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
                    News.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
                }
            }
            Segment segment = waitingSegList.get(0);
@@ -598,7 +598,7 @@
            insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
            insertSeg.setState(SegmentStateType.WAITING.toString());
            if (!segmentService.save(insertSeg)) {
                log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                News.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                return false;
            } else {
                jam.setAvoSeg(insertSeg.getId());
@@ -624,13 +624,13 @@
            jam.setStartTime(new Date());
            jam.setState(JamStateType.RUNNING.toString());
            if (!jamService.save(jam)) {
                log.error("AGV[{}] failed to save jam", agv.getUuid());
                News.error("AGV[{}] failed to save jam", agv.getUuid());
                throw new CoolException("failed to save jam");
            }
        } else {
            jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
            if (!jamService.updateById(jam)) {
                log.error("AGV[{}] failed to update jam", agv.getUuid());
                News.error("AGV[{}] failed to update jam", agv.getUuid());
            }
        }
        return jam;
@@ -640,7 +640,7 @@
        originJam.setUpdateTime(new Date());
        originJam.setState(JamStateType.FINISH.toString());
        if (!jamService.updateById(originJam)) {
            log.error("Jam[{}] failed to update", originJam.getUuid());
            News.error("Jam[{}] failed to update", originJam.getUuid());
            return originJam;
        } else {
            return this.createOrUpdateJam(
@@ -744,7 +744,7 @@
            return false;
        }
        if (jamList.size() > 1) {
            log.error("AvoSeg[id = {}] seg data has exception, result in two jams", avoSeg);
            News.error("AvoSeg[id = {}] seg data has exception, result in two jams", avoSeg);
        }
        Jam jam = jamList.get(0);
        if (jam.getState().equals(JamStateType.DEPRECATED.toString())) {

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

@@ -18,6 +18,7 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import com.zy.acs.common.utils.News;

import javax.annotation.PostConstruct;
import java.util.*;
@@ -229,7 +230,7 @@
    }

    public synchronized DynamicNode[][] initDynamicMatrix(Integer lev) {
        log.info("There is initializing Dynamic Matrix......");
        News.info("There is initializing Dynamic Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
@@ -252,7 +253,7 @@
    }

    public synchronized String[][] initCdaMatrix(Integer lev) {
        log.info("There is initializing Cda Matrix......");
        News.info("There is initializing Cda Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        if (Cools.isEmpty(xIdxList, yIdxList)) {
@@ -288,7 +289,7 @@
    }

    public synchronized int[][] initTurnMatrix(Integer lev) {
        log.info("There is initializing Turn Matrix......");
        News.info("There is initializing Turn Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
@@ -337,7 +338,7 @@
    

    public synchronized int[][] initMapMatrix(Integer lev) {
        log.info("There is initializing Map Matrix......");
        News.info("There is initializing Map Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);

        String[][] codeMatrix = getCodeMatrix(lev);
@@ -370,7 +371,7 @@
    }

    public synchronized void initRouteMap(Integer lev) {
        log.info("There is initializing Route Map......");
        News.info("There is initializing Route Map......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        Set<String> routeKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_HASH_FLAG);
        Set<String> routeCdaKeys = redis.getMapKeys(RedisConstant.AGV_MAP_ROUTE_CDA_HASH_FLAG);
@@ -404,7 +405,7 @@
    }

    public synchronized String[][] initCodeMatrix(Integer lev) {
        log.info("There is initializing Code Matrix......");
        News.info("There is initializing Code Matrix......");
        lev = Optional.ofNullable(lev).orElse(MAP_DEFAULT_LEV);
        List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>()
                .eq(Code::getStatus, 1)

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

@@ -19,6 +19,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import com.zy.acs.common.utils.News;

import javax.annotation.PostConstruct;
import java.util.ArrayList;
@@ -93,7 +94,7 @@
            this.floydMatrix = JSON.parseObject(floydMatrixStr, Double[][].class);
        } else {

            log.info("【FLOYD】正在计算矩阵数据......");
            News.info("【FLOYD】正在计算矩阵数据......");
            List<Code> codeList = codeService.list(new LambdaQueryWrapper<Code>().eq(Code::getStatus, 1).eq(Code::getDeleted, false));

            int size = codeList.size();