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luxiaotao1123

2024-11-14 6b246faa2e12b5a0212f7411039df03fac014071

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

@@ -66,12 +66,12 @@

            this.calcDynamicNodeWhenBoot();

            while (!Thread.currentThread().isInterrupted()) {

                this.calcWaveScope();

                try { Thread.sleep(500); } catch (InterruptedException ignore) {}
            }
//            while (!Thread.currentThread().isInterrupted()) {
//
//                this.calcWaveScope();
//
//                try { Thread.sleep(500); } catch (InterruptedException ignore) {}
//            }

        });
    }

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

@@ -90,7 +90,6 @@
    }

    /**
     * buildMinorTask 没有设置lane，lane只需要关注起始点（走行只需要关注终点）
     * 4个地方调用了buildMinorTask，在什么时候、哪里设置task的lane
     * (
         * HandlerController, 手动  （手动是否需要判断lane）
@@ -99,8 +98,6 @@
         * TrafficService,    自动  （寻址时已经处理过 lane） ✔
     * )
     * 评估HandlerController没有调用buildMajorTask，手动创建task的可行性
     * patrolOfMove没有判断lane的容量
     * 抢占待机位
     * agv地图图标变化
     */
    public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {

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

@@ -238,94 +238,99 @@
            // 无可走行路径
            } else {

                assert !Cools.isEmpty(blockVehicleList);
                Integer maxJamTimeoutFactor = null;

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

                // ? has unAvoidable block vehicles
                if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {

                    // set factor of jam timeout
                    maxJamTimeoutFactor = 1;
                if (Cools.isEmpty(blockVehicleList)) {
                    log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
                } else {

                    // ? already do notify to avoid
                    if (!Cools.isEmpty(jam.getAvoAgv())
                            && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
                    assert !Cools.isEmpty(blockVehicleList);
                    Integer maxJamTimeoutFactor = null;

                        maxJamTimeoutFactor = 10;
                    // persist jam data
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam);

                    // ? has unAvoidable block vehicles
                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {

                        // set factor of jam timeout
                        maxJamTimeoutFactor = 1;
                    } else {

                        // select optimal block vehicle
                        String blockAgvNo = blockVehicleList.stream()
                                .filter(BlockVehicleDto::isAvoidable)
                                .map(BlockVehicleDto::getVehicle)
                                .findFirst().orElse(null);
                        // ? already do notify to avoid
                        if (!Cools.isEmpty(jam.getAvoAgv())
                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {

                        // block vehicle info
                        Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                        String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
                            maxJamTimeoutFactor = 10;

                        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());
                            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
                            Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                            if (null != waitingSeg && waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
                                maxJamTimeoutFactor = 1;
                                break;
                            }

                            // notify block vehicle to avoid
                            if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, 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 {

                                maxJamTimeoutFactor = 1;
                            }

                        } while (false);
                    }

                }

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

                        if (!Cools.isEmpty(lockPathList)) {

                            pathList = lockPathList;
                        } else {
                            log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                    , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");

                            // select optimal block vehicle
                            String blockAgvNo = blockVehicleList.stream()
                                    .filter(BlockVehicleDto::isAvoidable)
                                    .map(BlockVehicleDto::getVehicle)
                                    .findFirst().orElse(null);

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

                            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());
                                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
                                Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                                if (null != waitingSeg && waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
                                    maxJamTimeoutFactor = 1;
                                    break;
                                }

                                // notify block vehicle to avoid
                                if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, 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 {

                                    maxJamTimeoutFactor = 1;
                                }

                            } while (false);
                        }
                    } 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()
                        );

                    }

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

                            if (!Cools.isEmpty(lockPathList)) {

                                pathList = lockPathList;
                            } else {
                                log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                        , 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()
                            );
                        }
                    }

                }

            }

        }

        if (!Cools.isEmpty(pathList)) {