From 5ed7d2941573d4b89a52457483717335e26e605a Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 08 十一月 2024 14:44:09 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 381 ++++++++++++++++++++++--------------------------------
1 files changed, 155 insertions(+), 226 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 f593aa1..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
@@ -1,20 +1,16 @@
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.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.common.constant.RedisConstant;
-import com.zy.acs.common.utils.RedisSupport;
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;
-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;
@@ -27,11 +23,13 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.ArrayList;
-import java.util.Comparator;
+import java.util.Arrays;
import java.util.Date;
import java.util.List;
+import java.util.stream.Collectors;
/**
+ * Wavefront
* Created by vincent on 6/25/2024
*/
@Slf4j
@@ -40,7 +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;
@@ -73,9 +71,6 @@
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
-
- // todo
- // 1.鏁呴殰
@Transactional
public synchronized void trigger(Segment segment) {
try {
@@ -83,24 +78,23 @@
Travel travel = travelService.getById(segment.getTravelId());
Agv agv = agvService.getById(travel.getAgvId());
AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
-
long endNode = segment.getEndNode();
- Code startCode = codeService.getById(agvDetail.getRecentCode());
- Code endCode = codeService.getById(endNode);
+ // 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 seg : waitingSegList) {
- if (!seg.getId().equals(segment.getId())) {
+ 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())
@@ -111,23 +105,27 @@
return;
}
+ // execute -----------------------------------------------
// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
-
- List<Segment> segmentList = new ArrayList<>();
- segmentList.add(segment);
// get path list
avoidWaveCalculator.calcWaveScope(); // * sync wave scope
- List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
+ // 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;
}
- String lastCodeData = pathList.get(pathList.size() - 1);
+ List<Segment> segmentList = new ArrayList<>();
+ segmentList.add(segment);
- // slice
+ 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;
@@ -137,11 +135,9 @@
segment.setState(SegmentStateType.INIT.toString());
segment.setUpdateTime(now);
if (!segmentService.updateById(segment)) {
- log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+ log.error("Segment [{}] failed to update 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
}
segmentList.clear();
-
- Code lastCode = codeService.selectByData(lastCodeData);
// new move seg
Segment insertSeg = new Segment();
@@ -154,9 +150,8 @@
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);
} else {
@@ -193,28 +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();
@@ -230,59 +203,100 @@
List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);
if (!Cools.isEmpty(lockPathList) && // 瀛樺湪閬胯瑙�
- Math.abs(lockPathList.size() - unlockPathList.size()) <= Math.max((mapDataDispatcher.getCodeMatrix(lev)[0].length / 2), 5)) {
+ Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
+ ) {
pathList = lockPathList;
} 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);
+
+ 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();
-// return pathList;
}
}
// 鏃犲彲璧拌璺緞
} else {
- // 闃诲杞﹁締鍒楄〃
- assert !Cools.isEmpty(jamVehicleList);
+ assert !Cools.isEmpty(blockVehicleList);
+ Integer maxJamTimeoutFactor = null;
- String jamAgvNo = jamVehicleList.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 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);
-
- // 璺緞闃诲
- if (jamCodeList.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)) {
@@ -292,101 +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, jamAgvNo);
- }
-
- // 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(jamAgv.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, jamAgvNo);
- }
-
- 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());
- 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 (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, jamAgvNo);
- }
-
- break;
- }
- }
-
- // 閫氱煡闃诲杞﹁締閬胯
- 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("{}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, jamAgvNo);
- }
- }
-
- } 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()
+ );
}
}
@@ -401,10 +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()))) {
@@ -412,7 +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());
}
}
@@ -421,10 +344,10 @@
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);
+// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
for (String code : fullPathList) {
int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
@@ -435,80 +358,64 @@
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());
}
/**
* avoidPathList include wave node and dynamic node
*/
private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
-
- assert avoidPathList.size() >= 2;
+ Agv agv = agvService.selectByUuid(agvNo);
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
+ log.warn("{}鍙疯溅杈嗛伩璁╁け璐ワ紝瀛樺湪杩涜涓换鍔★紒锛侊紒", 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("{}鍙疯溅杈嗛伩璁╁け璐ワ紝妫�绱㈤伩璁╃偣澶辫触锛侊紒锛�", agvNo);
return false;
}
- Date now = new Date();
String endCodeData = finalNode.getCodeData();
- Agv agv = agvService.selectByUuid(agvNo);
Code endCode = codeService.selectByData(endCodeData);
-
jam.setAvoCode(endCode.getId());
-
- if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
- log.warn("{}鍙疯溅杈嗛伩璁╁け璐ワ紝瀛樺湪杩涜涓换鍔★紒锛侊紒", agvNo);
- return false;
- }
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);
@@ -540,4 +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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