zy-acs-flow/.env
@@ -1,5 +1,5 @@ # VITE_BASE_IP=localhost # VITE_BASE_PORT=8088 VITE_BASE_IP=localhost VITE_BASE_PORT=8088 VITE_BASE_IP=192.168.1.100 VITE_BASE_PORT=8080 # VITE_BASE_IP=192.168.1.100 # VITE_BASE_PORT=8080 zy-acs-flow/src/page/jam/JamList.jsx
@@ -251,7 +251,7 @@ rowClick={(id, resource, record) => false} // expand={() => <JamPanel />} // expandSingle={true} omit={['id', 'uuid', 'cycleCode', 'updateBy', 'updateTime', 'createTime', 'createBy', 'statusBool', 'memo']} omit={['id', 'endTime', 'uuid', 'cycleCode', 'updateBy', 'updateTime', 'createTime', 'createBy', 'statusBool', 'memo']} > <NumberField source="id" /> <TextField source="uuid" label="table.field.jam.uuid" /> zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -15,6 +15,7 @@ import com.zy.acs.common.enums.AgvCompleteType; import com.zy.acs.common.enums.AgvDirectionType; import com.zy.acs.common.enums.AgvSpeedType; import com.zy.acs.common.utils.GsonUtils; import com.zy.acs.common.utils.Utils; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.common.SnowflakeIdWorker; @@ -560,7 +561,7 @@ travel.setTravelId(String.valueOf(snowflakeIdWorker.nextId()).substring(3)); travel.setAgvId(agv.getId()); // travel.setTaskContent(JSON.toJSONString(list)); travel.setTaskIds(JSON.toJSONString(Collections.singletonList(task.getId()))); travel.setTaskIds(GsonUtils.toJson(Utils.singletonList(task.getId()))); travel.setState(TravelStateType.RUNNING.toString()); if (!travelService.save(travel)) { throw new BusinessException("travel failed to save"); @@ -606,6 +607,7 @@ } else { if (null != jam && i == 0) { jam.setAvoSeg(next.getId()); jam.setAvoCode(endCode.getId()); } } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/RetreatNavigateService.java
@@ -1,5 +1,6 @@ package com.zy.acs.manager.core.service; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.utils.RedisSupport; import com.zy.acs.common.utils.Utils; import com.zy.acs.framework.common.Cools; @@ -8,12 +9,12 @@ import com.zy.acs.manager.core.domain.Lane; import com.zy.acs.manager.core.service.astart.*; import com.zy.acs.manager.core.service.astart.domain.DynamicNode; import com.zy.acs.manager.manager.entity.Code; import com.zy.acs.manager.manager.entity.Jam; import com.zy.acs.manager.manager.entity.Route; import com.zy.acs.manager.manager.service.AgvModelService; import com.zy.acs.manager.manager.service.AgvService; import com.zy.acs.manager.manager.service.CodeService; import com.zy.acs.manager.manager.service.RouteService; import com.zy.acs.manager.manager.entity.Segment; import com.zy.acs.manager.manager.enums.JamStateType; import com.zy.acs.manager.manager.service.*; import com.zy.acs.manager.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; @@ -49,6 +50,10 @@ private LaneService laneService; @Autowired private ConfigService configService; @Autowired private SegmentService segmentService; @Autowired private JamService jamService; /** * avoidPathList ===>> [ minor vehicle ] [wave] [ curr vehicle ] [ code2 ] [ code3 ] ...... @@ -91,6 +96,7 @@ boolean pointOfTurn = neighborNodes.size() >= 2; label: for (RetreatNavigateNode node : neighborNodes) { if (node.getCodeData().equals(breakPoint)) { continue; } Code code = codeService.selectByData(node.getCodeData()); int weight = 0; @@ -105,7 +111,7 @@ continue label; } if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) { phaseSecond = false; // there is a way to go phaseSecond = false; // there is a running way continue label; } else { weight += WEIGHT_CALC_FACTOR; @@ -139,7 +145,7 @@ } if (lanVehicleSet.size() + 1 > maxAgvCountInLane) { phaseSecond = false; // there is a way to go phaseSecond = false; // there is a running way continue; } if (lanVehicleSet.contains(sponsor)) { @@ -148,6 +154,19 @@ } } // judge whether the node has already been marked as a retreat node? // This is a very troublesome matter, if the node be repeatedly mark as a retreat node List<Segment> runningSegments = segmentService.getRunningByEndCode(code.getId()); for (Segment runningSeg : runningSegments) { if (0 < jamService.count(new LambdaQueryWrapper<Jam>() .eq(Jam::getAvoSeg, runningSeg.getId()) .ne(Jam::getState, JamStateType.DEPRECATED.toString()))) { weight += WEIGHT_CALC_FACTOR * 3; } else { weight += WEIGHT_CALC_FACTOR; } } // enable if (!avoidPathListWave.contains(node.getCodeData())) { enableNodes.add(node); zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -2,6 +2,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.acs.common.utils.GsonUtils; import com.zy.acs.common.utils.Utils; import com.zy.acs.framework.common.Cools; import com.zy.acs.framework.common.SnowflakeIdWorker; import com.zy.acs.framework.exception.CoolException; @@ -107,6 +108,13 @@ return; } // deprecate jam if (this.isJamBeDeprecatedByAvo(segment.getId())) { if (this.skipCurrSegment(segment)) { return; } } // execute ----------------------------------------------- // ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {}); @@ -196,7 +204,7 @@ 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 // judge avoid of jam 如果已经在避让点（因为当前车执行了避让任务），那么则不能再去检索之前的阻塞路径 List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId()); List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv); @@ -277,7 +285,7 @@ } else { // select optimal block vehicle String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList); String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList, segment); if (Cools.isEmpty(blockAgvNo)) { maxJamTimeoutFactor = 2; @@ -287,6 +295,11 @@ // block vehicle info Agv blockAgv = agvService.selectByUuid(blockAgvNo); String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData(); // create new jam if already notify the avoid vehicle if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgv.getId().equals(jam.getAvoAgv())) { jam = this.setupNewJam(jam, agv, startCode, segment, draftPath); } do { @@ -356,10 +369,32 @@ if (!Cools.isEmpty(pathList)) { if (null != jam) { boolean beDeprecate = false; if (blockSeverity.equals(BlockSeverityType.SEVERE) && !Cools.isEmpty(jam.getJamPath())) { List<String> jamPath = GsonUtils.fromJsonToList(jam.getJamPath(), String.class); if (!this.comparePathLists(jamPath, pathList)) { // jamPath >= pathList beDeprecate = true; } } jam.setEndTime(now); jam.setUpdateTime(now); jam.setState(JamStateType.FINISH.toString()); if (!jamService.updateById(jam)) { jam.setState(beDeprecate ? JamStateType.DEPRECATED.toString() : JamStateType.FINISH.toString()); if (jamService.updateById(jam)) { if (beDeprecate) { // search previous jam that jamSeg from this segment List<Jam> previousJams = jamService.list(new LambdaQueryWrapper<Jam>() .eq(Jam::getJamSeg, segment.getId()) .eq(Jam::getState, JamStateType.FINISH.toString()) ); for (Jam previousJam : previousJams) { previousJam.setState(JamStateType.DEPRECATED.toString()); previousJam.setUpdateTime(now); if (!jamService.updateById(previousJam)) { log.error("Jam[{}] failed to update！！！", previousJam.getUuid()); } } } } else { log.error("Jam[{}] failed to update！！！", jam.getUuid()); } } @@ -369,7 +404,7 @@ .eq(Jam::getState, JamStateType.RUNNING.toString()))) { expiredJam.setEndTime(now); expiredJam.setUpdateTime(now); expiredJam.setState(JamStateType.FINISH.toString()); expiredJam.setState(JamStateType.DEPRECATED.toString()); if (!jamService.updateById(expiredJam)) { log.error("Jam[{}] failed to update！！！", expiredJam.getUuid()); } @@ -445,7 +480,6 @@ String endCodeData = finalNode.getCodeData(); Code endCode = codeService.selectByData(endCodeData); jam.setAvoCode(endCode.getId()); List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString()); if (!Cools.isEmpty(waitingSegList)) { @@ -479,6 +513,7 @@ return false; } else { jam.setAvoSeg(insertSeg.getId()); jam.setAvoCode(endCode.getId()); } } else { @@ -512,6 +547,23 @@ return jam; } private Jam setupNewJam(Jam originJam, Agv agv, Code startCode, Segment segment, List<String> draftPath) { originJam.setUpdateTime(new Date()); originJam.setState(JamStateType.FINISH.toString()); if (!jamService.updateById(originJam)) { log.error("Jam[{}] failed to update", originJam.getUuid()); return originJam; } else { return this.createOrUpdateJam( agv , startCode , segment , null , draftPath ); } } private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) { List<String> blackPathList = new ArrayList<>(); Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV; @@ -530,16 +582,16 @@ int idx = list.indexOf(firstCodeNode); if (idx != -1) { list = new ArrayList<>(list.subList(idx, list.size())); } // the wave of first node Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance( agvModelService.getById(jamAgv.getAgvModel()).getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR ); List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance) .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList()); list.addAll(waveCodeList); // the wave of first node Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance( agvModelService.getById(jamAgv.getAgvModel()).getDiameter(), MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR ); List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance) .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList()); list.addAll(waveCodeList); } } blackPathList.addAll(list); @@ -549,18 +601,48 @@ return blackPathList.stream().distinct().collect(Collectors.toList()); } private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList) { private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList, Segment segment) { assert !Cools.isEmpty(blockVehicleList); for (BlockVehicleDto blockVehicleDto : blockVehicleList) { if (!blockVehicleDto.isAvoidable()) { continue; } // 没有避让中的任务 if (Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) { return blockVehicleDto.getVehicle(); // 当前vehicle正在进行避让作业 if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) { continue; } return blockVehicleDto.getVehicle(); } return null; } public boolean comparePathLists(List<String> list1, List<String> list2) { if (list1.equals(list2)) { return true; } if (list1.containsAll(list2)) { return true; } return false; } private boolean isJamBeDeprecatedByAvo(Long avoSeg) { return 0 < jamService.count(new LambdaQueryWrapper<Jam>() // .eq(Jam::getAvoAgv, avoAgv) .eq(Jam::getAvoSeg, avoSeg) .eq(Jam::getState, JamStateType.DEPRECATED.toString()) ); } private boolean skipCurrSegment(Segment currSegment) { currSegment.setState(SegmentStateType.FINISH.toString()); currSegment.setUpdateTime(new Date()); if (!segmentService.updateById(currSegment)) { log.error("Segment [{}] failed to update ！！！", currSegment.getTravelId() + " - " + currSegment.getSerial()); return false; } segmentService.processNext(Utils.singletonList(currSegment)); return true; } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -72,6 +72,14 @@ if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) { continue; } // 特殊情况，当blackList有且只有一个元素且为startNode时 // 说明blackList已经知道当前导航起始点和目标点为相邻节点 // 但是当前blackList的任务是不让系统走相邻的最短路径，所以才会有下面的判断和continue if (blackList.size() == 1 && blackList.get(0).equals(start.getCodeData())) { if (isEndNode && currentNode.getCodeData().equals(start.getCodeData())) { continue; } } // 节点被占用 DynamicNode dynamicNode = dynamicMatrix[node.getX()][node.getY()]; @@ -80,7 +88,7 @@ if (!vehicle.equals(DynamicNodeType.ACCESS.val)) { if (!vehicle.equals(agvNo)) { // 存在车辆，且为已经避让的车，则权重值增加 // vehicle已经为当前segment做过了避让，且避让任务已完成，则权重值增加 if (null != segment) { if (!Cools.isEmpty(jamService.getJamFromSegmentByAvo(segment, vehicle))) { weight += WEIGHT_CALC_FACTOR; zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/SegmentService.java
@@ -20,4 +20,6 @@ List<String> getGroupNo(SegmentStateType state, Long agvId, String groupNo); List<Segment> getRunningByEndCode(Long codeId); } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/JamServiceImpl.java
@@ -58,6 +58,7 @@ .eq(Jam::getJamSeg, jamSeg) .eq(Jam::getAvoAgv, agvService.selectByUuid(avoAgvNo).getId()) .eq(Jam::getCycleAvo, 1) .ne(Jam::getState, JamStateType.DEPRECATED.toString()) // .eq(Jam::getState, JamStateType.RUNNING.toString()) ); if (!Cools.isEmpty(jams)) { zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/SegmentServiceImpl.java
@@ -13,6 +13,7 @@ import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.ArrayList; import java.util.Comparator; import java.util.Date; import java.util.List; @@ -28,7 +29,6 @@ @Override public void processNext(List<Segment> segmentList) { Date now = new Date(); segmentList.stream().max(Comparator.comparingInt(Segment::getSerial)).ifPresent(segment -> { Segment nextSegment = this.getNextStepOfInit(segment.getTravelId(), segment.getSerial()); @@ -36,7 +36,7 @@ if (null != nextSegment) { nextSegment.setState(SegmentStateType.WAITING.toString()); nextSegment.setUpdateTime(now); nextSegment.setUpdateTime(new Date()); if (!this.updateById(nextSegment)) { log.error("Segment [{}] failed to update ！！！", nextSegment.getGroupId() + " - " + nextSegment.getSerial()); } @@ -92,4 +92,15 @@ return this.baseMapper.getGroupNo(state.toString(), agvId, groupNo); } @Override public List<Segment> getRunningByEndCode(Long codeId) { if (null == codeId) { return new ArrayList<>(); } return this.list(new LambdaQueryWrapper<Segment>() .eq(Segment::getEndNode, codeId) .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString()) ); } } zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/TravelServiceImpl.java
@@ -40,7 +40,7 @@ travel.setState(TravelStateType.FINISH.toString()); travel.setUpdateTime(new Date()); if (!this.updateById(travel)) { throw new CoolException("更新Travel失败"); throw new CoolException("Travel failed to update"); } } } zy-acs-manager/src/main/resources/mapper/manager/JamMapper.xml
@@ -30,6 +30,7 @@ LEFT JOIN man_segment jam_seg ON mj.jam_seg = jam_seg.id LEFT JOIN man_segment avo_seg ON mj.avo_seg = avo_seg.id WHERE 1=1 AND mj.state != 'DEPRECATED' AND jam_seg.state in ('INIT', 'WAITING') AND avo_seg.state not in ('INIT', 'WAITING') AND mj.avo_agv = #{avoAgv} @@ -48,6 +49,7 @@ LEFT JOIN man_segment jam_seg ON mj.jam_seg = jam_seg.id LEFT JOIN man_segment avo_seg ON mj.avo_seg = avo_seg.id WHERE 1=1 AND mj.state != 'DEPRECATED' AND avo_seg.state NOT IN ('INIT', 'WAITING') AND mj.jam_seg = #{jamSeg} AND mj.avo_agv = #{avoAgv} @@ -60,6 +62,7 @@ LEFT JOIN man_segment jam_seg ON mj.jam_seg = jam_seg.id LEFT JOIN man_segment avo_seg ON mj.avo_seg = avo_seg.id WHERE 1=1 AND mj.state != 'DEPRECATED' AND avo_seg.state IN ('INIT', 'WAITING') AND mj.avo_agv = #{avoAgv} <if test="currSeg != null">
