#

luxiaotao1123

2024-11-01 c720e1ca147093cac0137e4bd9d053e5e04c8e7a

#

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

New file
@@ -0,0 +1,21 @@
package com.zy.acs.manager.core.domain;

import lombok.Data;

/**
 * Created by vincent on 11/1/2024
 */
@Data
public class TimeWindow {

    private long startTime; // 开始时间

    private long endTime;   // 结束时间

    private String agvId;   // 预定的AGV

    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/MainService.java

@@ -110,7 +110,7 @@
        taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());

        // 校验
        List<Task> taskList = validService.validBusDto(taskDtoList);
        List<Task> taskList = validService.validTaskDtoList(taskDtoList);

        // 保存总线
        Date now = new Date();

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

File was deleted

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

New file
@@ -0,0 +1,47 @@
package com.zy.acs.manager.core.service;

import com.zy.acs.manager.core.domain.TimeWindow;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

/**
 * dynamic time window
 * Created by vincent on 11/1/2024
 */
@Service
public class TimeWindowService {

    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) {

        List<TimeWindow> windows = TIME_WINDOW_MAP.getOrDefault(key, new ArrayList<>());

        for (TimeWindow reservedWindow : windows) {
            if (reservedWindow.isConflict(window)) {
                return false;
            }
        }

        windows.add(window);
        TIME_WINDOW_MAP.put(key, 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);
        if (windows != null) {
            windows.remove(window);
            if (windows.isEmpty()) {
                TIME_WINDOW_MAP.remove(key);
            }
        }
    }

}

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

New file
@@ -0,0 +1,534 @@
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;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;

/**
 * Wavefront
 * Created by vincent on 6/25/2024
 */
@Slf4j
@Component
public class TwTrafficService {

    public static final Integer MIN_SLICE_PATH_LENGTH = 3;

    public static final Integer timeoutDuration = 5 * 1000;

    private final RedisSupport redis = RedisSupport.defaultRedisSupport;

    @Autowired
    private AgvService agvService;
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private CodeService codeService;
    @Autowired
    private TravelService travelService;
    @Autowired
    private SegmentService segmentService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MapService mapService;
    @Autowired
    private MapDataDispatcher mapDataDispatcher;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private ActionService actionService;
    @Autowired
    private RetreatNavigateService retreatNavigateService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private JamService jamService;
    @Autowired
    private AvoidWaveCalculator avoidWaveCalculator;

    @Transactional
    public synchronized void trigger(Segment segment) {
        try {
            Date now = new Date();
            Travel travel = travelService.getById(segment.getTravelId());
            Agv agv = agvService.getById(travel.getAgvId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
            long endNode = segment.getEndNode();

            // valid ----------------------------------------------------
            if (!agvService.judgeEnable(agv.getId())) {
                return;
            }
            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                return;
            }
            List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
            if (!Cools.isEmpty(waitingSegList)) {
                for (Segment waitingSeg : waitingSegList) {
                    if (!waitingSeg.getId().equals(segment.getId())) {
                        return;
                    }
                }
            }
            if (jamService.count(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getJamSeg, segment.getId())
                    .eq(Jam::getCycleAvo, 1)
                    .eq(Jam::getCycleCode, endNode)
                    .eq(Jam::getState, JamStateType.RUNNING.toString())
            ) > 0) {
                return;
            }

            // execute -----------------------------------------------
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            // get path list
            avoidWaveCalculator.calcWaveScope();    // * sync wave scope

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
            if (Cools.isEmpty(pathList)) {
                return;
            }

            List<Segment> segmentList = new ArrayList<>();
            segmentList.add(segment);

            String lastCodeData = pathList.get(pathList.size() - 1);
            if (!endCode.getData().equals(lastCodeData)) {
                // slice
                Code lastCode = codeService.selectByData(lastCodeData);

//                if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
//                    return;
//                }

                // revert
                segment.setState(SegmentStateType.INIT.toString());
                segment.setUpdateTime(now);
                if (!segmentService.updateById(segment)) {
                    log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
                }
                segmentList.clear();

                // new move seg
                Segment insertSeg = new Segment();
                insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                insertSeg.setTravelId(travel.getId());
                insertSeg.setAgvId(agv.getId());
                insertSeg.setTaskId(segment.getTaskId());
                insertSeg.setSerial(segment.getSerial() - 1);
                insertSeg.setEndNode(lastCode.getId());
                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
                insertSeg.setState(SegmentStateType.WAITING.toString());
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                }
                segmentList.add(insertSeg);

            } else {

                // complete first segment then merge behind segment
                int serial = segment.getSerial();
                boolean interrupt = false;
                while (!interrupt) {

                    Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
                    serial ++;
                    if (null == nextStep) {
                        interrupt = true;
                    } else {
                        if (nextStep.getEndNode() == endNode) {

                            segmentList.add(nextStep);
                        } else {
                            interrupt = true;
                        }
                    }

                }
            }

            mapService.lockPath(null, pathList, agv.getUuid());

            mainService.generateAction(segment.getAgvId(), segmentList, pathList);

        } catch (Exception e) {
            log.error("TrafficService.trigger", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();

        }
    }

    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();
        Date now = new Date();
        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());

        // 结果集
        List<String> pathList = new ArrayList<>();

        // 无障碍解
        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) && // 存在避让解
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
        ) {

            pathList = lockPathList;
        } else {

            // 可走行路径集合计算
            List<String> jamVehicleList = this.getSliceAndReturnJamVehicleList(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) {
                        pathList.clear();
                    }
                }

            // 无可走行路径
            } else {

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

                String jamAgvNo = jamVehicleList.get(0);

                boolean initJamCache = false;
                if (null == jam) {
                    jam = new Jam();
                    jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
                    jam.setJamAgv(agv.getId());
                    jam.setJamCode(startCode.getId());
                    jam.setJamSeg(segment.getId());
                    jam.setStartTime(now);
                    jam.setState(JamStateType.RUNNING.toString());
                    if (!jamService.save(jam)) {
                        log.error("{}号车辆在{}定位被阻塞，记录阻塞状态失败！！！", agvNo, startCode.getData());
                        return pathList;
                    }
                    initJamCache = true;
                }
                long previousTimestamp = jam.getStartTime().getTime();

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

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

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

                        if (!Cools.isEmpty(lockPathList)) {

                            pathList = lockPathList;
                        } else {
                            log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                    , 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);
                    }

                // 车辆阻塞
                } else {

                    // 已经通知车辆避让
                    if (!Cools.isEmpty(jam.getAvoAgv())) {
                        assert !Cools.isEmpty(jam.getNotifyTime());

                        if (System.currentTimeMillis() - jam.getNotifyTime().getTime() > timeoutDuration) {
                            log.warn("{}号车辆阻塞时间过长！！！已通知避让车辆【{}】...", agvNo, jam.getAvoAgv$());
                        }
                        return pathList;
                    }

                    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());
                        if (!Cools.isEmpty(runningSegList)) {

                            if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {

                                if (!Cools.isEmpty(lockPathList)) {
                                    pathList = lockPathList;
                                } else {
                                    log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                            , 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);
                            }

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

                                    if (!Cools.isEmpty(lockPathList)) {
                                        pathList = lockPathList;
                                    } else {
                                        log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                                , 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);
                                }

                                break;
                            }
                        }

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

                            if (jam.getCycleAvo() == 1) {
                                jam.setCycleCode(endCode.getId());
                            }
                            jam.setAvoAgv(jamAgv.getId());
                            jam.setNotifyTime(new Date());
                            if (!jamService.updateById(jam)) {
//                                log.error("{}编号阻塞记录更新失败！！！", jam.getUuid());
                                throw new CoolException(jam.getUuid() + "编号阻塞记录更新失败！！！");
                            }
                        } else {

                            if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {

                                if (!Cools.isEmpty(lockPathList)) {
                                    pathList = lockPathList;
                                } else {
                                    log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
                                            , 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);
                            }
                        }

                    } while (false);

                }

                if (!initJamCache) {
                    jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
                    if (!jamService.updateById(jam)) {
                        log.error("{}编号阻塞记录更新失败！！！", jam.getUuid());
                    }
                }

            }

        }

        if (!Cools.isEmpty(pathList)) {

            if (null != jam) {
                jam.setEndTime(now);
                jam.setUpdateTime(now);
                jam.setState(JamStateType.FINISH.toString());
                if (!jamService.updateById(jam)) {
                    log.error("{}编号阻塞记录完成修改失败！！！", jam.getUuid());
                }
            }
            // expired jam
            for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getState, JamStateType.RUNNING.toString()))) {
                expiredJam.setEndTime(now);
                expiredJam.setUpdateTime(now);
                expiredJam.setState(JamStateType.FINISH.toString());
                if (!jamService.updateById(expiredJam)) {
                    log.error("{}编号阻塞记录完成修改失败！！！", expiredJam.getUuid());
                }
            }

        }

        return pathList;
    }

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

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
        for (String code : fullPathList) {
            int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);

            String waveNode = waveMatrix[node[0]][node[1]];
            assert !waveNode.equals(WaveNodeType.DISABLE.val);
            if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    jamVehicleList.addAll(otherWaveList);
                    break;
                }
            }

            DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
            String vehicle = dynamicNode.getVehicle();
            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
                jamVehicleList.add(vehicle);
                break;
            }

            input.add(code);
        }

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

    /**
     * avoidPathList include wave node and dynamic node
     */
    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
        Agv agv = agvService.selectByUuid(agvNo);
        if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
            log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, agvPosCode);
        RetreatNavigateNode startNode = new RetreatNavigateNode(startMapIdx[0], startMapIdx[1], agvPosCode);

        assert avoidPathList.size() >= 2;
        RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
        if (null == finalNode) {
            log.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
            return false;
        }

        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)) {

            // revert
            Date now = new Date();
            for (Segment seg : waitingSegList) {
                seg.setState(SegmentStateType.INIT.toString());
                seg.setUpdateTime(now);
                if (!segmentService.updateById(seg)) {
                    log.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
                }
            }
            Segment segment = waitingSegList.get(0);

            Segment insertSeg = new Segment();
            insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
            insertSeg.setTravelId(segment.getTravelId());
            insertSeg.setAgvId(agv.getId());
            insertSeg.setTaskId(segment.getTaskId());
            insertSeg.setSerial(segment.getSerial() - 1);
            insertSeg.setEndNode(endCode.getId());
            insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
            insertSeg.setState(SegmentStateType.WAITING.toString());
            if (!segmentService.save(insertSeg)) {
                log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                return false;
            }

        } else {

            return mainService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
        }

        return true;
    }

}

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

@@ -37,7 +37,7 @@
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;

    public List<Task> validBusDto(List<TaskDto> taskDtoList) {
    public List<Task> validTaskDtoList(List<TaskDto> taskDtoList) {
        List<Task> taskList = new ArrayList<>();
        for (TaskDto taskDto : taskDtoList) {
            if (Cools.isEmpty(taskDto.getSeqNum())) {