From 233ff9e9e82c67ac33695b479fd31df6ffb77b22 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 02 十二月 2024 15:44:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 154 +++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 124 insertions(+), 30 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 f57cbd4..b1afab4 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
@@ -2,14 +2,17 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.GsonUtils;
-import com.zy.acs.common.utils.RedisSupport;
+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;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.domain.BlockVehicleDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
+import com.zy.acs.manager.core.domain.type.BlockSeverityType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
+import com.zy.acs.manager.core.service.astart.NavigateNode;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
import com.zy.acs.manager.manager.entity.*;
@@ -37,12 +40,6 @@
@Component
public class TrafficService {
- public static final Integer MIN_SLICE_PATH_LENGTH = 3;
-
- public static final Integer MAX_JAM_TIMEOUT = 5 * 1000;
-
- private final RedisSupport redis = RedisSupport.defaultRedisSupport;
-
@Autowired
private AgvService agvService;
@Autowired
@@ -64,7 +61,7 @@
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
- private ActionService actionService;
+ private AgvModelService agvModelService;
@Autowired
private RetreatNavigateService retreatNavigateService;
@Autowired
@@ -109,6 +106,13 @@
.eq(Jam::getState, JamStateType.RUNNING.toString())
) > 0) {
return;
+ }
+
+ // deprecate jam
+ if (this.isJamBeDeprecatedByAvo(segment.getId())) {
+ if (this.skipCurrSegment(segment)) {
+ return;
+ }
}
// execute -----------------------------------------------
@@ -199,7 +203,8 @@
String agvNo = agv.getUuid();
Date now = new Date();
Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
- // judge avoid of jam
+ BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
+ // judge avoid of jam 濡傛灉宸茬粡鍦ㄩ伩璁╃偣锛堝洜涓哄綋鍓嶈溅鎵ц浜嗛伩璁╀换鍔★級锛岄偅涔堝垯涓嶈兘鍐嶅幓妫�绱箣鍓嶇殑闃诲璺緞
List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
@@ -218,8 +223,18 @@
pathList = lockPathList;
} else {
+ // preview path
+ List<String> draftPath = new ArrayList<>(unlockPathList);
+ if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
+ unlockPathList.remove(endCode.getData());
+ blackPath.addAll(unlockPathList);
+ List<String> newUnlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
+ if (!Cools.isEmpty(newUnlockPathList)) {
+ draftPath = newUnlockPathList;
+ }
+ }
// 鍙蛋琛岃矾寰勯泦鍚堣绠�
- List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
+ List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList); // jamAgvNo may was wave
if (!Cools.isEmpty(pathList)) {
@@ -227,7 +242,7 @@
assert !Cools.isEmpty(blockVehicleList);
boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
- if (hasUnavoidableBlocks && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+ if (hasUnavoidableBlocks && pathList.size() <= MapDataConstant.MIN_SLICE_PATH_LENGTH) {
log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
pathList.clear();
}
@@ -252,8 +267,7 @@
Integer maxJamTimeoutFactor = null;
// persist jam data
- ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
- jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);
+ jam = this.createOrUpdateJam(agv, startCode, segment, jam, draftPath);
// ? has unAvoidable block vehicles
if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -266,16 +280,12 @@
if (!Cools.isEmpty(jam.getAvoAgv())
&& BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- maxJamTimeoutFactor = 10;
+ maxJamTimeoutFactor = 5;
} else {
// select optimal block vehicle
-// String blockAgvNo = blockVehicleList.stream()
-// .filter(BlockVehicleDto::isAvoidable)
-// .map(BlockVehicleDto::getVehicle)
-// .findFirst().orElse(null);
- String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
+ String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList, segment);
if (Cools.isEmpty(blockAgvNo)) {
maxJamTimeoutFactor = 2;
@@ -285,6 +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 {
@@ -306,7 +321,7 @@
}
// notify block vehicle to avoid
- if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
+ if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, agvNo, jam)) {
if (jam.getCycleAvo() == 1) {
jam.setCycleCode(endCode.getId());
}
@@ -329,7 +344,7 @@
// handle jam timeout
if (null != maxJamTimeoutFactor) {
- if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
+ if (System.currentTimeMillis() - jam.getStartTime().getTime() > MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
if (!Cools.isEmpty(lockPathList)) {
@@ -354,10 +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锛侊紒锛�", previousJam.getUuid());
+ }
+ }
+ }
+ } else {
log.error("Jam[{}] failed to update锛侊紒锛�", jam.getUuid());
}
}
@@ -367,7 +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锛侊紒锛�", expiredJam.getUuid());
}
@@ -443,7 +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)) {
@@ -477,6 +513,7 @@
return false;
} else {
jam.setAvoSeg(insertSeg.getId());
+ jam.setAvoCode(endCode.getId());
}
} else {
@@ -510,8 +547,26 @@
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;
if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
for (Jam jam : unfinishedOriginJamByCurrAgv) {
if (!Cools.isEmpty(jam.getJamPath())) {
@@ -519,7 +574,7 @@
List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
Agv jamAgv = agvService.getById(jam.getJamAgv());
- List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(null, jamAgv.getUuid());
+ List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
// jamDynamicNodes has sorted
String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
@@ -527,6 +582,15 @@
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);
}
}
@@ -537,18 +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;
}
- // 娌℃湁閬胯涓殑浠诲姟
- if (Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
- return blockVehicleDto.getVehicle();
+ // 褰撳墠vehicle姝ｅ湪杩涜閬胯浣滀笟
+ 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 锛侊紒锛�", currSegment.getTravelId() + " - " + currSegment.getSerial());
+ return false;
+ }
+ segmentService.processNext(Utils.singletonList(currSegment));
+ return true;
+ }
+
}
--
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