From 6b246faa2e12b5a0212f7411039df03fac014071 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 14 十一月 2024 14:47:34 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 153 ++++++++++++++++++++++++++------------------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java | 12 ++--
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java | 3 -
3 files changed, 85 insertions(+), 83 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
index af11655..853b7c2 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/AvoidWaveCalculator.java
@@ -66,12 +66,12 @@
this.calcDynamicNodeWhenBoot();
- while (!Thread.currentThread().isInterrupted()) {
-
- this.calcWaveScope();
-
- try { Thread.sleep(500); } catch (InterruptedException ignore) {}
- }
+// while (!Thread.currentThread().isInterrupted()) {
+//
+// this.calcWaveScope();
+//
+// try { Thread.sleep(500); } catch (InterruptedException ignore) {}
+// }
});
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
index 2dc8122..012b4b9 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/PatrolService.java
@@ -90,7 +90,6 @@
}
/**
- * buildMinorTask 娌℃湁璁剧疆lane锛宭ane鍙渶瑕佸叧娉ㄨ捣濮嬬偣锛堣蛋琛屽彧闇�瑕佸叧娉ㄧ粓鐐癸級
* 4涓湴鏂硅皟鐢ㄤ簡buildMinorTask锛屽湪浠�涔堟椂鍊欍�佸摢閲岃缃畉ask鐨刲ane
* (
* HandlerController, 鎵嬪姩 锛堟墜鍔ㄦ槸鍚﹂渶瑕佸垽鏂璴ane锛�
@@ -99,8 +98,6 @@
* TrafficService, 鑷姩 锛堝鍧�鏃跺凡缁忓鐞嗚繃 lane锛� 鉁�
* )
* 璇勪及HandlerController娌℃湁璋冪敤buildMajorTask锛屾墜鍔ㄥ垱寤簍ask鐨勫彲琛屾��
- * patrolOfMove娌℃湁鍒ゆ柇lane鐨勫閲�
- * 鎶㈠崰寰呮満浣�
* agv鍦板浘鍥炬爣鍙樺寲
*/
public Code getDestinationCode(Agv agv, AgvDetail agvDetail) {
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 428c9f0..70dec0e 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
@@ -238,94 +238,99 @@
// 鏃犲彲璧拌璺緞
} else {
- assert !Cools.isEmpty(blockVehicleList);
- Integer maxJamTimeoutFactor = null;
-
- // persist jam data
- jam = this.createOrUpdateJam(agv, startCode, segment, jam);
-
- // ? has unAvoidable block vehicles
- if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
-
- // set factor of jam timeout
- maxJamTimeoutFactor = 1;
+ if (Cools.isEmpty(blockVehicleList)) {
+ log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
} else {
- // ? already do notify to avoid
- if (!Cools.isEmpty(jam.getAvoAgv())
- && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
+ assert !Cools.isEmpty(blockVehicleList);
+ Integer maxJamTimeoutFactor = null;
- maxJamTimeoutFactor = 10;
+ // persist jam data
+ jam = this.createOrUpdateJam(agv, startCode, segment, jam);
+ // ? has unAvoidable block vehicles
+ if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
+
+ // set factor of jam timeout
+ maxJamTimeoutFactor = 1;
} else {
- // select optimal block vehicle
- String blockAgvNo = blockVehicleList.stream()
- .filter(BlockVehicleDto::isAvoidable)
- .map(BlockVehicleDto::getVehicle)
- .findFirst().orElse(null);
+ // ? already do notify to avoid
+ if (!Cools.isEmpty(jam.getAvoAgv())
+ && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- // block vehicle info
- Agv blockAgv = agvService.selectByUuid(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
+ maxJamTimeoutFactor = 10;
- 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);
- }
-
- }
-
- // handle jam timeout
- if (null != maxJamTimeoutFactor) {
- if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
-
- 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(), "璺緞闃诲瓒呮椂");
+
+ // 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);
}
- } else {
- 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()
- );
+
}
+
+ // handle jam timeout
+ if (null != maxJamTimeoutFactor) {
+ if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
+
+ 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(), "璺緞闃诲瓒呮椂");
+ }
+ } else {
+ 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()
+ );
+ }
+ }
+
}
}
-
}
if (!Cools.isEmpty(pathList)) {
--
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