#

luxiaotao1123

2024-11-14 819bef1aeacf77eaaac809f87971db1056d18ee5

#

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

@@ -220,11 +220,19 @@
                if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                    assert !Cools.isEmpty(blockVehicleList);

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

                    boolean hasCycleJam = blockVehicleList.stream().anyMatch(
                            blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
                    );
                    if (hasCycleJam) {
                        log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
                        pathList.clear();
                    }
                }

            // 无可走行路径

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/JamService.java

@@ -10,6 +10,8 @@

    Jam getJam(Long agvId, Long jamCode, Long jamSeg);

    Jam getCycleJam(Long jamAgv, Long jamSeg, String avoAgvNo);

    List<Jam> queryByAvoid(Long avoAgv, JamStateType jamState);

    Boolean checkIfFinish(Long avoAgv, String currCodeData);

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java

@@ -7,6 +7,7 @@
import com.zy.acs.manager.manager.entity.Jam;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.mapper.JamMapper;
import com.zy.acs.manager.manager.service.AgvService;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.JamService;
import lombok.extern.slf4j.Slf4j;
@@ -22,6 +23,8 @@

    @Autowired
    private CodeService codeService;
    @Autowired
    private AgvService agvService;

    @Override
    public Jam getJam(Long agvId, Long jamCode, Long jamSeg) {
@@ -38,6 +41,21 @@
    }

    @Override
    public Jam getCycleJam(Long jamAgv, Long jamSeg, String avoAgvNo) {
        List<Jam> jams = this.list(new LambdaQueryWrapper<Jam>()
                .eq(Jam::getJamAgv, jamAgv)
                .eq(Jam::getJamSeg, jamSeg)
                .eq(Jam::getAvoAgv, agvService.selectByUuid(avoAgvNo).getId())
                .eq(Jam::getCycleAvo, 1)
//                .eq(Jam::getState, JamStateType.RUNNING.toString())
        );
        if (!Cools.isEmpty(jams)) {
            return jams.stream().findFirst().orElse(null);
        }
        return null;
    }

    @Override
    public List<Jam> queryByAvoid(Long avoAgv, JamStateType jamState) {
        if (null == avoAgv) {
            return null;