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luxiaotao1123

2024-11-04 7f70cb15d035f0c233b9e62b9e43aa985317c908

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

@@ -1,15 +1,12 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
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.domain.TaskPosDto;
import com.zy.acs.manager.core.domain.TrafficJamDto;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
@@ -235,13 +232,13 @@
        } else {

            // 可走行路径集合计算
            List<String> jamVehicleList = this.getSliceAndReturnJamVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave
            List<String> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave

            if (!Cools.isEmpty(pathList)) {

                if (!Cools.isEmpty(jamVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                    String jamAgvNo = jamVehicleList.get(0);
                    if (mapDataDispatcher.queryCodeListFromDynamicNode(null, jamAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                    String blockAgvNo = blockVehicleList.get(0);
                    if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                        pathList.clear();
                    }
                }
@@ -250,9 +247,9 @@
            } else {

                // 阻塞车辆列表
                assert !Cools.isEmpty(jamVehicleList);
                assert !Cools.isEmpty(blockVehicleList);

                String jamAgvNo = jamVehicleList.get(0);
                String blockAgvNo = blockVehicleList.get(0);

                boolean initJamCache = false;
                if (null == jam) {
@@ -272,14 +269,14 @@
                long previousTimestamp = jam.getStartTime().getTime();

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

                // jam vehicle dynamic on map matrix
                List<String> jamCodeList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgvNo);
                List<String> blockDynamicList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, blockAgvNo);

                // 路径阻塞
                if (jamCodeList.size() > 1) {
                if (blockDynamicList.size() > 1) {
                    if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {

                        if (!Cools.isEmpty(lockPathList)) {
@@ -290,7 +287,7 @@
                                    , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
                        }
                    } else {
                        log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                        log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                    }

                // 车辆阻塞
@@ -309,7 +306,7 @@
                    do {

                        // 阻塞车辆正在作业，等待 ===>> 超过等待时间，绕路
                        List<Segment> runningSegList = segmentService.getByAgvAndState(jamAgv.getId(), SegmentStateType.RUNNING.toString());
                        List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
                        if (!Cools.isEmpty(runningSegList)) {

                            if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
@@ -321,18 +318,18 @@
                                            , agvNo, startCode.getData(), endCode.getData(), "车辆阻塞超时");
                                }
                            } else {
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                            }

                            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(jamAgv.getId());
                        Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                        if (null != waitingSeg) {

                            // 如果阻塞车辆待执行任务处于原地，则不能通知它避让
                            if (waitingSeg.getEndNode().equals(codeService.selectByData(jamAgvCode).getId())) {
                            if (waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {

                                if (System.currentTimeMillis() - previousTimestamp > Math.max((timeoutDuration / 30), (5 * 1000))) {

@@ -343,7 +340,7 @@
                                                , agvNo, startCode.getData(), endCode.getData(), "车辆阻塞超时");
                                    }
                                } else {
                                    log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                                    log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                                }

                                break;
@@ -351,12 +348,12 @@
                        }

                        // 通知阻塞车辆避让
                        if (this.notifyVehicleAvoid(jamAgvNo, jamAgvCode, unlockPathList, agvNo, jam)) {
                        if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {

                            if (jam.getCycleAvo() == 1) {
                                jam.setCycleCode(endCode.getId());
                            }
                            jam.setAvoAgv(jamAgv.getId());
                            jam.setAvoAgv(blockAgv.getId());
                            jam.setNotifyTime(new Date());
                            if (!jamService.updateById(jam)) {
//                                log.error("{}编号阻塞记录更新失败！！！", jam.getUuid());
@@ -373,7 +370,7 @@
                                            , agvNo, startCode.getData(), endCode.getData(), "车辆阻塞超时");
                                }
                            } else {
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                            }
                        }

@@ -419,8 +416,8 @@
        return pathList;
    }

    private List<String> getSliceAndReturnJamVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> input) {
        List<String> jamVehicleList = new ArrayList<>();
    private List<String> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
        List<String> blockVehicleList = new ArrayList<>();

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -433,7 +430,7 @@
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    jamVehicleList.addAll(otherWaveList);
                    blockVehicleList.addAll(otherWaveList);
                    break;
                }
            }
@@ -442,36 +439,18 @@
            String vehicle = dynamicNode.getVehicle();
            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
                jamVehicleList.add(vehicle);
                blockVehicleList.add(vehicle);
                break;
            }

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

        if (input.size() <= 1) {
            input.clear();
        if (pathList.size() <= 1) {
            pathList.clear();
        }

        return jamVehicleList;
    }

    private String hasEvent(String agvNo) {
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
        for (Agv agv : agvList) {
            if (agvNo.equals(agv.getUuid())) {
                continue;
            }
            String jamStr = redis.getValue(RedisConstant.AGV_TRAFFIC_JAM_FLAG, agv.getUuid());
            if (!Cools.isEmpty(jamStr)) {

                TrafficJamDto jamDto = JSON.parseObject(jamStr, TrafficJamDto.class);



            }
        }
        return null;
        return blockVehicleList;
    }

    /**

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

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