From 337746fee651f91e9c63bd1c33a474c236d51889 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 06 十一月 2024 10:33:34 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 143 ++++++++++++++++++-----------------------------
1 files changed, 56 insertions(+), 87 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 3953bb6..0325a9c 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
@@ -1,16 +1,13 @@
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.BlockVehicleDto;
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;
@@ -27,6 +24,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
+import java.util.stream.Collectors;
/**
* Wavefront
@@ -191,28 +189,6 @@
}
}
- 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();
@@ -235,13 +211,15 @@
} else {
// 鍙蛋琛岃矾寰勯泦鍚堣绠�
- List<String> jamVehicleList = this.getSliceAndReturnJamVehicleList(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(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) {
+ if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
+
+ assert !Cools.isEmpty(blockVehicleList);
+ if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())
+ && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
pathList.clear();
}
}
@@ -250,11 +228,17 @@
} else {
// 闃诲杞﹁締鍒楄〃
- assert !Cools.isEmpty(jamVehicleList);
+ assert !Cools.isEmpty(blockVehicleList);
- String jamAgvNo = jamVehicleList.get(0);
+ String blockAgvNo = blockVehicleList.stream()
+ .filter(BlockVehicleDto::isAvoidable)
+ .map(BlockVehicleDto::getVehicle)
+ .findFirst().orElse(null);
+ // 濡傛灉鍏ㄦ槸杩愯涓殑闃诲agv锛屽垯涓嶈繘琛岄伩璁╅�昏緫 todo
+ if (Cools.isEmpty(blockAgvNo)) {
+ return pathList;
+ }
- boolean initJamCache = false;
if (null == jam) {
jam = new Jam();
jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
@@ -267,19 +251,23 @@
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;
}
- initJamCache = true;
+ } else {
+ 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());
+ }
}
long previousTimestamp = jam.getStartTime().getTime();
// jam vehicle info
- Agv jamAgv = agvService.selectByUuid(jamAgvNo);
- String jamAgvCode = codeService.getById(agvDetailService.selectByAgvId(jamAgv.getId()).getRecentCode()).getData();
+ Agv blockAgv = agvService.selectByUuid(blockAgvNo);
+ String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
// jam vehicle dynamic on map matrix
- List<String> jamCodeList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgvNo);
+ List<String> blockDynamicList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, blockAgvNo);
// 璺緞闃诲
- if (jamCodeList.size() > 1) {
+ if (blockDynamicList.size() > 1) {
if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
if (!Cools.isEmpty(lockPathList)) {
@@ -290,7 +278,7 @@
, 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, jamAgvNo);
+ 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
@@ -309,7 +297,7 @@
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(jamAgv.getId(), SegmentStateType.RUNNING.toString());
+ List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
if (!Cools.isEmpty(runningSegList)) {
if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
@@ -321,18 +309,18 @@
, 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, jamAgvNo);
+ 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(jamAgv.getId());
+ 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(jamAgvCode).getId())) {
+ if (waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
if (System.currentTimeMillis() - previousTimestamp > Math.max((timeoutDuration / 30), (5 * 1000))) {
@@ -343,7 +331,7 @@
, 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, jamAgvNo);
+ 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;
@@ -351,12 +339,12 @@
}
// 閫氱煡闃诲杞﹁締閬胯
- if (this.notifyVehicleAvoid(jamAgvNo, jamAgvCode, unlockPathList, agvNo, jam)) {
+ if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
if (jam.getCycleAvo() == 1) {
jam.setCycleCode(endCode.getId());
}
- jam.setAvoAgv(jamAgv.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());
@@ -373,19 +361,12 @@
, 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, jamAgvNo);
+ 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());
- }
}
}
@@ -402,7 +383,7 @@
log.error("{}缂栧彿闃诲璁板綍瀹屾垚淇敼澶辫触锛侊紒锛�", 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()))) {
@@ -419,8 +400,8 @@
return pathList;
}
- private List<String> getSliceAndReturnJamVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> input) {
- List<String> jamVehicleList = 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);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -433,45 +414,33 @@
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- jamVehicleList.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)) {
- jamVehicleList.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;
+// }
- input.add(code);
+ pathList.add(code);
}
- if (input.size() <= 1) {
- input.clear();
+ if (pathList.size() <= 1) {
+ pathList.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;
+ return blockVehicleList.stream().distinct().collect(Collectors.toList());
}
/**
--
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