From 7f70cb15d035f0c233b9e62b9e43aa985317c908 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 04 十一月 2024 10:22:45 +0800
Subject: [PATCH] #
---
/dev/null | 529 ------------------------------------------------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 75 ++----
2 files changed, 27 insertions(+), 577 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..03ca92f 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
@@ -1,15 +1,12 @@
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.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;
@@ -235,13 +232,13 @@
} 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<String> 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 (!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) {
pathList.clear();
}
}
@@ -250,9 +247,9 @@
} else {
// 闃诲杞﹁締鍒楄〃
- assert !Cools.isEmpty(jamVehicleList);
+ assert !Cools.isEmpty(blockVehicleList);
- String jamAgvNo = jamVehicleList.get(0);
+ String blockAgvNo = blockVehicleList.get(0);
boolean initJamCache = false;
if (null == jam) {
@@ -272,14 +269,14 @@
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 +287,7 @@
, 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 +306,7 @@
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 +318,18 @@
, 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 +340,7 @@
, 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 +348,12 @@
}
// 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());
@@ -373,7 +370,7 @@
, 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);
}
}
@@ -419,8 +416,8 @@
return pathList;
}
- private List<String> getSliceAndReturnJamVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> input) {
- List<String> jamVehicleList = new ArrayList<>();
+ private List<String> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
+ List<String> blockVehicleList = new ArrayList<>();
DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -433,7 +430,7 @@
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- jamVehicleList.addAll(otherWaveList);
+ blockVehicleList.addAll(otherWaveList);
break;
}
}
@@ -442,36 +439,18 @@
String vehicle = dynamicNode.getVehicle();
assert !vehicle.equals(DynamicNodeType.BLOCK.val);
if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
- jamVehicleList.add(vehicle);
+ 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;
}
/**
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java
deleted file mode 100644
index dbad95f..0000000
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java
+++ /dev/null
@@ -1,529 +0,0 @@
-package com.zy.acs.manager.core.service;
-
-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.manager.common.utils.MapDataUtils;
-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;
-import com.zy.acs.manager.manager.enums.TaskTypeType;
-import com.zy.acs.manager.manager.service.*;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-import org.springframework.transaction.annotation.Transactional;
-import org.springframework.transaction.interceptor.TransactionAspectSupport;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.List;
-
-/**
- * Wavefront
- * Created by vincent on 6/25/2024
- */
-@Slf4j
-@Component
-public class TwTrafficService {
-
- public static final Integer MIN_SLICE_PATH_LENGTH = 3;
-
- public static final Integer timeoutDuration = 5 * 1000;
-
- private final RedisSupport redis = RedisSupport.defaultRedisSupport;
-
- @Autowired
- private AgvService agvService;
- @Autowired
- private AgvDetailService agvDetailService;
- @Autowired
- private CodeService codeService;
- @Autowired
- private TravelService travelService;
- @Autowired
- private SegmentService segmentService;
- @Autowired
- private MainService mainService;
- @Autowired
- private MapService mapService;
- @Autowired
- private MapDataDispatcher mapDataDispatcher;
- @Autowired
- private SnowflakeIdWorker snowflakeIdWorker;
- @Autowired
- private ActionService actionService;
- @Autowired
- private RetreatNavigateService retreatNavigateService;
- @Autowired
- private TaskService taskService;
- @Autowired
- private JamService jamService;
- @Autowired
- private AvoidWaveCalculator avoidWaveCalculator;
-
- @Transactional
- public synchronized void trigger(Segment segment) {
- try {
- Date now = new Date();
- Travel travel = travelService.getById(segment.getTravelId());
- Agv agv = agvService.getById(travel.getAgvId());
- AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
- long endNode = segment.getEndNode();
-
- // 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 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())
- .eq(Jam::getCycleAvo, 1)
- .eq(Jam::getCycleCode, endNode)
- .eq(Jam::getState, JamStateType.RUNNING.toString())
- ) > 0) {
- return;
- }
-
- // execute -----------------------------------------------
- // ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
-
- // get path list
- avoidWaveCalculator.calcWaveScope(); // * sync wave scope
-
- // 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;
- }
-
- List<Segment> segmentList = new ArrayList<>();
- segmentList.add(segment);
-
- 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;
-// }
-
- // revert
- segment.setState(SegmentStateType.INIT.toString());
- segment.setUpdateTime(now);
- if (!segmentService.updateById(segment)) {
- log.error("Segment [{}] failed to update 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
- }
- segmentList.clear();
-
- // new move seg
- Segment insertSeg = new Segment();
- insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- insertSeg.setTravelId(travel.getId());
- insertSeg.setAgvId(agv.getId());
- insertSeg.setTaskId(segment.getTaskId());
- insertSeg.setSerial(segment.getSerial() - 1);
- insertSeg.setEndNode(lastCode.getId());
- 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());
- }
- segmentList.add(insertSeg);
-
- } else {
-
- // complete first segment then merge behind segment
- int serial = segment.getSerial();
- boolean interrupt = false;
- while (!interrupt) {
-
- Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
- serial ++;
- if (null == nextStep) {
- interrupt = true;
- } else {
- if (nextStep.getEndNode() == endNode) {
-
- segmentList.add(nextStep);
- } else {
- interrupt = true;
- }
- }
-
- }
- }
-
- mapService.lockPath(null, pathList, agv.getUuid());
-
- mainService.generateAction(segment.getAgvId(), segmentList, pathList);
-
- } catch (Exception e) {
- log.error("TrafficService.trigger", e);
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-
- }
- }
-
- private List<String> checkoutPath(Agv agv, Code startCode, Code endCode, Segment segment) {
- Integer lev = null;
- String agvNo = agv.getUuid();
- Date now = new Date();
- Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
-
- // 缁撴灉闆�
- List<String> pathList = new ArrayList<>();
-
- // 鏃犻殰纰嶈В
- List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
- // 閬胯瑙�
- List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);
-
- if (Cools.isEmpty(lockPathList)) {
- return pathList;
- }
-
- pathList = lockPathList;
-
-
- long currentTime = System.currentTimeMillis();
- long estimatedTime = currentTime;
-
- for (int i = 0; i < pathList.size() - 1; i++) {
- String fromCode = pathList.get(i);
- String toCode = pathList.get(i + 1);
- String key = fromCode + "_" + toCode;
-
-
-
- }
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- if (!Cools.isEmpty(lockPathList) && // 瀛樺湪閬胯瑙�
- 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
-
- 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) {
- pathList.clear();
- }
- }
-
- // 鏃犲彲璧拌璺緞
- } else {
-
- // 闃诲杞﹁締鍒楄〃
- assert !Cools.isEmpty(jamVehicleList);
-
- String jamAgvNo = jamVehicleList.get(0);
-
- 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;
- }
- 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) {
-
- 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.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());
- }
- }
-
- }
-
- }
-
- if (!Cools.isEmpty(pathList)) {
-
- if (null != jam) {
- jam.setEndTime(now);
- 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());
- }
- }
- // expired jam
- for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
- .eq(Jam::getJamAgv, agv.getId())
- .eq(Jam::getState, JamStateType.RUNNING.toString()))) {
- expiredJam.setEndTime(now);
- 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());
- }
- }
-
- }
-
- return pathList;
- }
-
- private List<String> getSliceAndReturnJamVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> input) {
- List<String> jamVehicleList = new ArrayList<>();
-
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
- String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
- for (String code : fullPathList) {
- int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
-
- String waveNode = waveMatrix[node[0]][node[1]];
- assert !waveNode.equals(WaveNodeType.DISABLE.val);
- if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
- List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
- List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
- if (!Cools.isEmpty(otherWaveList)) {
- jamVehicleList.addAll(otherWaveList);
- 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;
- }
-
- input.add(code);
- }
-
- if (input.size() <= 1) {
- input.clear();
- }
-
- return jamVehicleList;
- }
-
- /**
- * avoidPathList include wave node and dynamic node
- */
- private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
- 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;
- }
-
- 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)) {
-
- // revert
- Date now = new Date();
- for (Segment seg : waitingSegList) {
- seg.setState(SegmentStateType.INIT.toString());
- seg.setUpdateTime(now);
- if (!segmentService.updateById(seg)) {
- log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", seg.getTravelId() + " - " + seg.getSerial());
- }
- }
- Segment segment = waitingSegList.get(0);
-
- Segment insertSeg = new Segment();
- insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- insertSeg.setTravelId(segment.getTravelId());
- insertSeg.setAgvId(agv.getId());
- insertSeg.setTaskId(segment.getTaskId());
- insertSeg.setSerial(segment.getSerial() - 1);
- insertSeg.setEndNode(endCode.getId());
- 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());
- return false;
- }
-
- } else {
-
- return mainService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
- }
-
- return true;
- }
-
-}
--
Gitblit v1.9.1