zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/ReservedTimeWindow.java
New file @@ -0,0 +1,23 @@ package com.zy.acs.manager.core.domain; import lombok.Data; /** * Created by vincent on 11/1/2024 */ @Data public class ReservedTimeWindow { private String twKey; private TimeWindow timeWindow; public ReservedTimeWindow() { } public ReservedTimeWindow(String twKey, TimeWindow timeWindow) { this.twKey = twKey; this.timeWindow = timeWindow; } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TimeWindow.java
@@ -8,11 +8,20 @@ @Data public class TimeWindow { private long startTime; // 开始时间 private long startTime; private long endTime; // 结束时间 private long endTime; private String agvId; // 预定的AGV private String agvNo; public TimeWindow() { } public TimeWindow(long startTime, long endTime, String agvNo) { this.startTime = startTime; this.endTime = endTime; this.agvNo = agvNo; } public boolean isConflict(TimeWindow other) { return this.endTime > other.startTime && this.startTime < other.endTime; zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TimeWindowService.java
@@ -1,5 +1,7 @@ package com.zy.acs.manager.core.service; import com.zy.acs.framework.common.Cools; import com.zy.acs.manager.core.domain.ReservedTimeWindow; import com.zy.acs.manager.core.domain.TimeWindow; import org.springframework.stereotype.Service; @@ -17,10 +19,46 @@ public static final Map<String, List<TimeWindow>> TIME_WINDOW_MAP = new ConcurrentHashMap<>(); // 预定时间窗口 public synchronized boolean reserve(String key, TimeWindow window, String vehicle) { // reserve -------------------------------------------------------------------- List<TimeWindow> windows = TIME_WINDOW_MAP.getOrDefault(key, new ArrayList<>()); public synchronized boolean reserveTimeWindows(String agvNo, List<String> pathList) { if (Cools.isEmpty(agvNo, pathList)) { return false; } long estimatedTime = System.currentTimeMillis(); List<ReservedTimeWindow> reservedWindows = new ArrayList<>(); for (int i = 0; i < pathList.size() - 1; i++) { String fromCode = pathList.get(i); String toCode = pathList.get(i + 1); String twKey = fromCode + "_" + toCode; long twStartTime = estimatedTime; long twEndTime = estimatedTime + estimateTravelTime(fromCode, toCode, agvNo); TimeWindow timeWindow = new TimeWindow(twStartTime, twEndTime, agvNo); boolean success = reserveTimeWindow(twKey, timeWindow); if (!success) { // 预定失败，释放已预定的时间窗口 releaseReservedTimeWindows(reservedWindows); return false; } reservedWindows.add(new ReservedTimeWindow(twKey, timeWindow)); estimatedTime = twEndTime; } return true; } // 预定时间窗口 public synchronized boolean reserveTimeWindow(String twKey, TimeWindow window) { List<TimeWindow> windows = TIME_WINDOW_MAP.getOrDefault(twKey, new ArrayList<>()); for (TimeWindow reservedWindow : windows) { if (reservedWindow.isConflict(window)) { @@ -29,19 +67,47 @@ } windows.add(window); TIME_WINDOW_MAP.put(key, windows); TIME_WINDOW_MAP.put(twKey, windows); return true; } // 释放时间窗口 public synchronized void release(String key, TimeWindow window, String vehicle) { List<TimeWindow> windows = TIME_WINDOW_MAP.get(key); // release ------------------------------------------------------------------ public synchronized void releasePathTimeWindows(String agvNo, List<String> pathList) { for (int i = 0; i < pathList.size() - 1; i++) { String fromCode = pathList.get(i); String toCode = pathList.get(i + 1); String twKey = fromCode + "_" + toCode; // 查找并释放时间窗口 releaseTimeWindow(twKey, agvNo); } } public synchronized void releaseTimeWindow(String twKey, String agvNo) { List<TimeWindow> windows = TIME_WINDOW_MAP.get(twKey); if (windows != null) { windows.remove(window); windows.removeIf(window -> window.getAgvNo().equals(agvNo)); if (windows.isEmpty()) { TIME_WINDOW_MAP.remove(key); TIME_WINDOW_MAP.remove(twKey); } } } private void releaseReservedTimeWindows(List<ReservedTimeWindow> reservedWindows) { for (ReservedTimeWindow reserved : reservedWindows) { releaseTimeWindow(reserved.getTwKey(), reserved.getTimeWindow().getAgvNo()); } } // util -------------------------------------------------------------------------------------- private long estimateTravelTime(String fromCode, String toCode, String agvNo) { // 根据距离和AGV速度估算行驶时间 double distance = 1000; double speed = 2; // 获取AGV速度，单位：米/秒 return (long) (distance / speed * 1000); // 转换为毫秒 } } zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.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; @@ -26,7 +23,10 @@ import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.ArrayList; import java.util.Arrays; import java.util.Date; import java.util.List; /** * Wavefront @@ -188,28 +188,6 @@ } } public void callback(List<Segment> segmentList) { Date now = new Date(); segmentList.stream().max(Comparator.comparingInt(Segment::getSerial)).ifPresent(segment -> { Segment nextSegment = segmentService.getNextStepOfInit(segment.getTravelId(), segment.getSerial()); if (null != nextSegment) { nextSegment.setState(SegmentStateType.WAITING.toString()); nextSegment.setUpdateTime(now); if (!segmentService.updateById(nextSegment)) { log.error("Segment [{}] 更新失败 ！！！", nextSegment.getGroupId() + " - " + nextSegment.getSerial()); } } else { travelService.checkFinish(segment.getTravelId()); } }); } private List<String> checkoutPath(Agv agv, Code startCode, Code endCode, Segment segment) { Integer lev = null; String agvNo = agv.getUuid(); @@ -223,6 +201,41 @@ List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false); // 避让解 List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true); if (Cools.isEmpty(lockPathList)) { return pathList; } pathList = lockPathList; long currentTime = System.currentTimeMillis(); long estimatedTime = currentTime; for (int i = 0; i < pathList.size() - 1; i++) { String fromCode = pathList.get(i); String toCode = pathList.get(i + 1); String key = fromCode + "_" + toCode; } 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 @@ -451,24 +464,6 @@ } 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; } /**
