From 0628aaf9aa7c172cd5288f553ef045f8077ea9e4 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 12 十一月 2024 10:16:37 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 296 +++++++++++++++++++++++++----------------------------------
1 files changed, 126 insertions(+), 170 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
index 03ca92f..d9e99d5 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java
@@ -6,12 +6,11 @@
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.BlockVehicleDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
-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;
@@ -23,7 +22,11 @@
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;
+import java.util.stream.Collectors;
/**
* Wavefront
@@ -35,7 +38,7 @@
public static final Integer MIN_SLICE_PATH_LENGTH = 3;
- public static final Integer timeoutDuration = 5 * 1000;
+ public static final Integer MAX_JAM_TIMEOUT = 5 * 1000;
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@@ -68,9 +71,6 @@
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
-
- // todo
- // 1.鏁呴殰
@Transactional
public synchronized void trigger(Segment segment) {
try {
@@ -150,7 +150,7 @@
insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
insertSeg.setState(SegmentStateType.WAITING.toString());
if (!segmentService.save(insertSeg)) {
- log.error("Segment [{}] 淇濆瓨澶辫触 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+ log.error("Segment [{}] failed to save 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
}
segmentList.add(insertSeg);
@@ -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 [{}] 鏇存柊澶辫触 锛侊紒锛�", 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();
@@ -232,13 +210,16 @@
} else {
// 鍙蛋琛岃矾寰勯泦鍚堣绠�
- List<String> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
+ List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
if (!Cools.isEmpty(pathList)) {
- if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
- String blockAgvNo = blockVehicleList.get(0);
- if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+ if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
+ assert !Cools.isEmpty(blockVehicleList);
+
+ 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();
}
}
@@ -246,38 +227,76 @@
// 鏃犲彲璧拌璺緞
} else {
- // 闃诲杞﹁締鍒楄〃
assert !Cools.isEmpty(blockVehicleList);
+ Integer maxJamTimeoutFactor = null;
- String blockAgvNo = blockVehicleList.get(0);
+ // persist jam data
+ jam = this.createOrUpdateJam(agv, startCode, segment, jam);
- 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("{}鍙疯溅杈嗗湪{}瀹氫綅琚樆濉烇紝璁板綍闃诲鐘舵�佸け璐ワ紒锛侊紒", agvNo, startCode.getData());
- return pathList;
+ // ? has unAvoidable block vehicles
+ if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
+
+ // set factor of jam timeout
+ maxJamTimeoutFactor = 1;
+ } else {
+
+ // ? already do notify to avoid
+ if (!Cools.isEmpty(jam.getAvoAgv())
+ && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
+
+ maxJamTimeoutFactor = 10;
+
+ } else {
+
+ // select optimal block vehicle
+ String blockAgvNo = blockVehicleList.stream()
+ .filter(BlockVehicleDto::isAvoidable)
+ .map(BlockVehicleDto::getVehicle)
+ .findFirst().orElse(null);
+
+ // block vehicle info
+ Agv blockAgv = agvService.selectByUuid(blockAgvNo);
+ String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
+
+ do {
+
+ // 闃诲杞﹁締姝ｅ湪鍘熷湴浣滀笟锛岀瓑寰� ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺�
+ List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
+ if (!Cools.isEmpty(runningSegList)) {
+ maxJamTimeoutFactor = 1;
+ break;
+ }
+
+ // 鍒ゆ柇涓嬩釜浠诲姟鏄惁涓哄師鍦颁换鍔★紝濡傛灉鏄垯绛夊緟 ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺紱濡傛灉涓嶆槸锛岃闃诲杞﹁締閬胯
+ Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
+ if (null != waitingSeg && waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
+ maxJamTimeoutFactor = 1;
+ break;
+ }
+
+ // notify block vehicle to avoid
+ if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
+ if (jam.getCycleAvo() == 1) {
+ jam.setCycleCode(endCode.getId());
+ }
+ jam.setAvoAgv(blockAgv.getId());
+ jam.setNotifyTime(new Date());
+ if (!jamService.updateById(jam)) {
+ throw new CoolException(jam.getUuid() + "-jam failed to update锛侊紒锛�");
+ }
+ } else {
+
+ maxJamTimeoutFactor = 1;
+ }
+
+ } while (false);
}
- initJamCache = true;
+
}
- long previousTimestamp = jam.getStartTime().getTime();
- // jam vehicle info
- Agv blockAgv = agvService.selectByUuid(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
-
- // jam vehicle dynamic on map matrix
- List<String> blockDynamicList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, blockAgvNo);
-
- // 璺緞闃诲
- if (blockDynamicList.size() > 1) {
- if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
+ // handle jam timeout
+ if (null != maxJamTimeoutFactor) {
+ if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
if (!Cools.isEmpty(lockPathList)) {
@@ -287,101 +306,10 @@
, agvNo, startCode.getData(), endCode.getData(), "璺緞闃诲瓒呮椂");
}
} else {
- log.info("{}鍙疯溅杈嗘鍦ㄧ瓑寰呬氦閫氬牭濉烇紝闃诲杞﹁締锛氥�恵}銆�", agvNo, blockAgvNo);
- }
-
- // 杞﹁締闃诲
- } else {
-
- // 宸茬粡閫氱煡杞﹁締閬胯
- if (!Cools.isEmpty(jam.getAvoAgv())) {
- assert !Cools.isEmpty(jam.getNotifyTime());
-
- if (System.currentTimeMillis() - jam.getNotifyTime().getTime() > timeoutDuration) {
- log.warn("{}鍙疯溅杈嗛樆濉炴椂闂磋繃闀匡紒锛侊紒宸查�氱煡閬胯杞﹁締銆恵}銆�...", agvNo, jam.getAvoAgv$());
- }
- return pathList;
- }
-
- do {
-
- // 闃诲杞﹁締姝ｅ湪浣滀笟锛岀瓑寰� ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺�
- List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
- if (!Cools.isEmpty(runningSegList)) {
-
- if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
-
- if (!Cools.isEmpty(lockPathList)) {
- pathList = lockPathList;
- } else {
- log.error("{}鍙疯溅杈嗘绱{}] ===>> [{}]璺緞澶辫触锛屽師鍥狅細{}"
- , agvNo, startCode.getData(), endCode.getData(), "杞﹁締闃诲瓒呮椂");
- }
- } else {
- log.info("{}鍙疯溅杈嗘鍦ㄧ瓑寰呬氦閫氬牭濉烇紝闃诲杞﹁締锛氥�恵}銆�", agvNo, blockAgvNo);
- }
-
- break;
- }
-
- // 鍒ゆ柇涓嬩釜浠诲姟鏄惁涓哄師鍦颁换鍔★紝濡傛灉鏄垯绛夊緟 ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺紱濡傛灉涓嶆槸锛岃闃诲杞﹁締閬胯
- Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
- if (null != waitingSeg) {
-
- // 濡傛灉闃诲杞﹁締寰呮墽琛屼换鍔″浜庡師鍦帮紝鍒欎笉鑳介�氱煡瀹冮伩璁�
- if (waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
-
- if (System.currentTimeMillis() - previousTimestamp > Math.max((timeoutDuration / 30), (5 * 1000))) {
-
- if (!Cools.isEmpty(lockPathList)) {
- pathList = lockPathList;
- } else {
- log.error("{}鍙疯溅杈嗘绱{}] ===>> [{}]璺緞澶辫触锛屽師鍥狅細{}"
- , agvNo, startCode.getData(), endCode.getData(), "杞﹁締闃诲瓒呮椂");
- }
- } else {
- log.info("{}鍙疯溅杈嗘鍦ㄧ瓑寰呬氦閫氬牭濉烇紝闃诲杞﹁締锛氥�恵}銆�", agvNo, blockAgvNo);
- }
-
- break;
- }
- }
-
- // 閫氱煡闃诲杞﹁締閬胯
- if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
-
- if (jam.getCycleAvo() == 1) {
- jam.setCycleCode(endCode.getId());
- }
- jam.setAvoAgv(blockAgv.getId());
- jam.setNotifyTime(new Date());
- if (!jamService.updateById(jam)) {
-// log.error("{}缂栧彿闃诲璁板綍鏇存柊澶辫触锛侊紒锛�", jam.getUuid());
- throw new CoolException(jam.getUuid() + "缂栧彿闃诲璁板綍鏇存柊澶辫触锛侊紒锛�");
- }
- } else {
-
- if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
-
- if (!Cools.isEmpty(lockPathList)) {
- pathList = lockPathList;
- } else {
- log.error("{}鍙疯溅杈嗘绱{}] ===>> [{}]璺緞澶辫触锛屽師鍥狅細{}"
- , agvNo, startCode.getData(), endCode.getData(), "杞﹁締闃诲瓒呮椂");
- }
- } else {
- log.info("{}鍙疯溅杈嗘鍦ㄧ瓑寰呬氦閫氬牭濉烇紝闃诲杞﹁締锛氥�恵}銆�", agvNo, blockAgvNo);
- }
- }
-
- } while (false);
-
- }
-
- if (!initJamCache) {
- jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
- if (!jamService.updateById(jam)) {
- log.error("{}缂栧彿闃诲璁板綍鏇存柊澶辫触锛侊紒锛�", jam.getUuid());
+ log.warn("{}鍙疯溅杈嗘鍦ㄧ瓑寰呬氦閫氬牭濉烇紝闃诲杞﹁締锛氥�恵}銆�"
+ , agvNo
+ , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
+ );
}
}
@@ -396,10 +324,10 @@
jam.setUpdateTime(now);
jam.setState(JamStateType.FINISH.toString());
if (!jamService.updateById(jam)) {
- log.error("{}缂栧彿闃诲璁板綍瀹屾垚淇敼澶辫触锛侊紒锛�", jam.getUuid());
+ log.error("Jam[{}] failed to update锛侊紒锛�", jam.getUuid());
}
}
- // expired jam
+ // deal expired jam
for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
.eq(Jam::getJamAgv, agv.getId())
.eq(Jam::getState, JamStateType.RUNNING.toString()))) {
@@ -407,7 +335,7 @@
expiredJam.setUpdateTime(now);
expiredJam.setState(JamStateType.FINISH.toString());
if (!jamService.updateById(expiredJam)) {
- log.error("{}缂栧彿闃诲璁板綍瀹屾垚淇敼澶辫触锛侊紒锛�", expiredJam.getUuid());
+ log.error("Jam[{}] failed to update锛侊紒锛�", expiredJam.getUuid());
}
}
@@ -416,10 +344,10 @@
return pathList;
}
- private List<String> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
- List<String> blockVehicleList = new ArrayList<>();
+ private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
+ List<BlockVehicleDto> blockVehicleList = new ArrayList<>();
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
for (String code : fullPathList) {
int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
@@ -430,18 +358,24 @@
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- blockVehicleList.addAll(otherWaveList);
+ for (String otherWave : otherWaveList) {
+ if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ blockVehicleList.add(new BlockVehicleDto(otherWave, false));
+ } else {
+ blockVehicleList.add(new BlockVehicleDto(otherWave, true));
+ }
+ }
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)) {
- blockVehicleList.add(vehicle);
- 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)) {
+// blockVehicleList.add(vehicle);
+// break;
+// }
pathList.add(code);
}
@@ -450,7 +384,7 @@
pathList.clear();
}
- return blockVehicleList;
+ return blockVehicleList.stream().distinct().collect(Collectors.toList());
}
/**
@@ -513,4 +447,26 @@
return true;
}
+ private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam) {
+ if (jam == null) {
+ 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(new Date());
+ jam.setState(JamStateType.RUNNING.toString());
+ if (!jamService.save(jam)) {
+ log.error("AGV[{}] failed to save jam", agv.getUuid());
+ throw new CoolException("failed to save jam");
+ }
+ } else {
+ jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
+ if (!jamService.updateById(jam)) {
+ log.error("AGV[{}] failed to update jam", agv.getUuid());
+ }
+ }
+ return jam;
+ }
+
}
--
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