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] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 138 ++++++++++++++++++---------------------------
1 files changed, 55 insertions(+), 83 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 7922cee..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.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.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;
@@ -26,10 +23,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Comparator;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
/**
* Wavefront
@@ -84,24 +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())
@@ -112,23 +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;
@@ -138,11 +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();
@@ -157,7 +152,6 @@
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 {
@@ -231,21 +225,21 @@
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<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();
-// return pathList;
}
}
@@ -253,9 +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) {
@@ -275,14 +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)) {
@@ -293,7 +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
@@ -312,7 +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) {
@@ -324,18 +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))) {
@@ -346,7 +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;
@@ -354,12 +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());
@@ -376,7 +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);
}
}
@@ -422,8 +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);
@@ -436,7 +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;
}
}
@@ -445,71 +439,49 @@
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;
}
/**
* 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);
--
Gitblit v1.9.1