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luxiaotao1123

2024-11-26 80d8b0ed5a43ba329c31b557fff81eceb42b022c

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 zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java

New file
@@ -0,0 +1,26 @@
package com.zy.acs.manager.core.domain.type;

public enum BlockSeverityType {

//    NONE(0),
    NONE(0),
    SEVERE(20000),
    ;

    public long duration;

    BlockSeverityType(long duration) {
        this.duration = duration;
    }

    public static BlockSeverityType query(Long duration) {
        if (null == duration) {
            return BlockSeverityType.NONE;
        }
        if (duration > SEVERE.duration) {
            return BlockSeverityType.SEVERE;
        }
        return BlockSeverityType.NONE;
    }

}

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

@@ -4,6 +4,7 @@
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
@@ -45,7 +46,7 @@
     * 寻址 ===>> A Star
     */
    public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
            , Boolean lock, List<String> blackList, Segment segment) {
            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
        int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -53,7 +54,7 @@
        NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
        NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());

        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment, blockSeverity);

        if (null == finishNode) {
            log.warn("{} 号AGV检索[{}] ===>> [{}]路径失败......", agvNo, startCode.getData(), endCode.getData());

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

@@ -9,6 +9,7 @@
import com.zy.acs.manager.common.utils.MapDataUtils;
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.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
@@ -199,6 +200,7 @@
        String agvNo = agv.getUuid();
        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
        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
@@ -207,9 +209,9 @@
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, null);
        // 避让解
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment, null);

        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
@@ -218,8 +220,10 @@
            pathList = lockPathList;
        } else {

            // preview path
            List<String> draftPath = new ArrayList<>(unlockPathList);
            // 可走行路径集合计算
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave
            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList);    // jamAgvNo may was wave

            if (!Cools.isEmpty(pathList)) {

@@ -252,8 +256,7 @@
                    Integer maxJamTimeoutFactor = null;

                    // persist jam data
                    ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);
                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, draftPath);

                    // ? has unAvoidable block vehicles
                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -271,10 +274,6 @@
                        } else {

                            // select optimal block vehicle
//                            String blockAgvNo = blockVehicleList.stream()
//                                    .filter(BlockVehicleDto::isAvoidable)
//                                    .map(BlockVehicleDto::getVehicle)
//                                    .findFirst().orElse(null);
                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
                            if (Cools.isEmpty(blockAgvNo)) {

@@ -306,7 +305,7 @@
                                    }

                                    // notify block vehicle to avoid
                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, agvNo, jam)) {
                                        if (jam.getCycleAvo() == 1) {
                                            jam.setCycleCode(endCode.getId());
                                        }

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

@@ -4,6 +4,7 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.Lane;
import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.LaneService;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.Route;
@@ -43,7 +44,7 @@
    private ConfigService configService;

    public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
            , Boolean lock, List<String> blackList, Segment segment) {
            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
        if (start.getX() == end.getX() && start.getY() == end.getY()) {
            return end;
        }
@@ -59,32 +60,15 @@
        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);

//        List<String> included = new ArrayList<>();
//        if (!Cools.isEmpty(whiteList)) {
//            included.addAll(whiteList);
//        }
//        included.add(agvNo);
//        List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);

        while (openQueue.size() > 0) {
            // 取优先队列顶部元素并且把这个元素从Open表中删除，取F值最小的节点
            NavigateNode currentNode = openQueue.poll();
            // 对当前结点进行扩展，得到一个四周结点的数组

            ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
            // 对这个结点遍历，看是否有目标结点出现
            label: for (NavigateNode node : neighbourNodes) {
            for (NavigateNode node : neighbourNodes) {
                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();

                int weight = 0;
                // 节点存在其他车辆
//                for (VehicleDto vehicleDto : vehicleDtoList) {
//                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
//                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
//                            continue label;
//                        }
//                        if (lock) {
//                            continue label;
//                        }
//                    }
//                }

                if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                    continue;
@@ -155,7 +139,7 @@


                //找到目标结点就返回
                if (node.getX() == end.getX() && node.getY() == end.getY()) {
                if (isEndNode) {
                    //并且计算出G， F， H等值
                    node.initNode(currentNode, end);
                    return node;