From 80d8b0ed5a43ba329c31b557fff81eceb42b022c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 26 十一月 2024 10:26:55 +0800
Subject: [PATCH] #

---
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java              |   19 ++++-----
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java       |   26 +++++++++++++
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java |   30 +++-----------
 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java                  |    5 +-
 4 files changed, 45 insertions(+), 35 deletions(-)

diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java
new file mode 100644
index 0000000..13fa31f
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java
@@ -0,0 +1,26 @@
+package com.zy.acs.manager.core.domain.type;
+
+public enum BlockSeverityType {
+
+//    NONE(0),
+    NONE(0),
+    SEVERE(20000),
+    ;
+
+    public long duration;
+
+    BlockSeverityType(long duration) {
+        this.duration = duration;
+    }
+
+    public static BlockSeverityType query(Long duration) {
+        if (null == duration) {
+            return BlockSeverityType.NONE;
+        }
+        if (duration > SEVERE.duration) {
+            return BlockSeverityType.SEVERE;
+        }
+        return BlockSeverityType.NONE;
+    }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index d67e920..25a3aa7 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -4,6 +4,7 @@
 import com.zy.acs.common.enums.AgvDirectionType;
 import com.zy.acs.framework.common.Cools;
 import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.domain.type.BlockSeverityType;
 import com.zy.acs.manager.core.service.astart.*;
 import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
 import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
@@ -45,7 +46,7 @@
      * 瀵诲潃 ===>> A Star
      */
     public synchronized List<String> checkoutPath(String agvNo, Code startCode, Code endCode
-            , Boolean lock, List<String> blackList, Segment segment) {
+            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
 
         int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, startCode.getData());
         int[] endMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, endCode.getData());
@@ -53,7 +54,7 @@
         NavigateNode startNode = new NavigateNode(startMapIdx[0], startMapIdx[1], startCode.getData());
         NavigateNode endNode = new NavigateNode(endMapIdx[0], endMapIdx[1], endCode.getData());
 
-        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment);
+        NavigateNode finishNode = aStarNavigateService.execute(agvNo, startNode, endNode, lock, blackList, segment, blockSeverity);
 
         if (null == finishNode) {
             log.warn("{} 鍙稟GV妫�绱{}] ===>> [{}]璺緞澶辫触......", agvNo, startCode.getData(), endCode.getData());
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 f57cbd4..6ca2b01 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
@@ -9,6 +9,7 @@
 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.type.BlockSeverityType;
 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;
@@ -199,6 +200,7 @@
         String agvNo = agv.getUuid();
         Date now = new Date();
         Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
+        BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
         // judge avoid of jam
         List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
         List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
@@ -207,9 +209,9 @@
         List<String> pathList = new ArrayList<>();
 
         // 鏃犻殰纰嶈В
-        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
+        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment, null);
         // 閬胯瑙�
-        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
+        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment, null);
 
         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
@@ -218,8 +220,10 @@
             pathList = lockPathList;
         } else {
 
+            // preview path
+            List<String> draftPath = new ArrayList<>(unlockPathList);
             // 鍙蛋琛岃矾寰勯泦鍚堣绠�
-            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave
+            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList);    // jamAgvNo may was wave
 
             if (!Cools.isEmpty(pathList)) {
 
@@ -252,8 +256,7 @@
                     Integer maxJamTimeoutFactor = null;
 
                     // persist jam data
-                    ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
-                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);
+                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, draftPath);
 
                     // ? has unAvoidable block vehicles
                     if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -271,10 +274,6 @@
                         } else {
 
                             // select optimal block vehicle
-//                            String blockAgvNo = blockVehicleList.stream()
-//                                    .filter(BlockVehicleDto::isAvoidable)
-//                                    .map(BlockVehicleDto::getVehicle)
-//                                    .findFirst().orElse(null);
                             String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
                             if (Cools.isEmpty(blockAgvNo)) {
 
@@ -306,7 +305,7 @@
                                     }
 
                                     // notify block vehicle to avoid
-                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
+                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, agvNo, jam)) {
                                         if (jam.getCycleAvo() == 1) {
                                             jam.setCycleCode(endCode.getId());
                                         }
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
index ce7c2ab..cfd22a3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/astart/AStarNavigateService.java
@@ -4,6 +4,7 @@
 import com.zy.acs.framework.common.Cools;
 import com.zy.acs.manager.common.utils.MapDataUtils;
 import com.zy.acs.manager.core.domain.Lane;
+import com.zy.acs.manager.core.domain.type.BlockSeverityType;
 import com.zy.acs.manager.core.service.LaneService;
 import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
 import com.zy.acs.manager.manager.entity.Route;
@@ -43,7 +44,7 @@
     private ConfigService configService;
 
     public synchronized NavigateNode execute(String agvNo, NavigateNode start, NavigateNode end
-            , Boolean lock, List<String> blackList, Segment segment) {
+            , Boolean lock, List<String> blackList, Segment segment, BlockSeverityType blockSeverity) {
         if (start.getX() == end.getX() && start.getY() == end.getY()) {
             return end;
         }
@@ -59,32 +60,15 @@
         DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(null);
         String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(null);
 
-//        List<String> included = new ArrayList<>();
-//        if (!Cools.isEmpty(whiteList)) {
-//            included.addAll(whiteList);
-//        }
-//        included.add(agvNo);
-//        List<VehicleDto> vehicleDtoList = agvService.getVehicleDtoList(included);
-
         while (openQueue.size() > 0) {
             // 鍙栦紭鍏堥槦鍒楅《閮ㄥ厓绱犲苟涓旀妸杩欎釜鍏冪礌浠嶰pen琛ㄤ腑鍒犻櫎锛屽彇F鍊兼渶灏忕殑鑺傜偣
             NavigateNode currentNode = openQueue.poll();
-            // 瀵瑰綋鍓嶇粨鐐硅繘琛屾墿灞曪紝寰楀埌涓�涓洓鍛ㄧ粨鐐圭殑鏁扮粍
+
             ArrayList<NavigateNode> neighbourNodes = this.getNeighborNodes(currentNode, mapMatrix, existNodes);
-            // 瀵硅繖涓粨鐐归亶鍘嗭紝鐪嬫槸鍚︽湁鐩爣缁撶偣鍑虹幇
-            label: for (NavigateNode node : neighbourNodes) {
+            for (NavigateNode node : neighbourNodes) {
+                boolean isEndNode = node.getX() == end.getX() && node.getY() == end.getY();
+
                 int weight = 0;
-                // 鑺傜偣瀛樺湪鍏朵粬杞﹁締
-//                for (VehicleDto vehicleDto : vehicleDtoList) {
-//                    if (node.getCodeData().equals(vehicleDto.getPosCode())) {
-//                        if (!Cools.isEmpty(blackList) && blackList.contains(vehicleDto.getVehicle())) {
-//                            continue label;
-//                        }
-//                        if (lock) {
-//                            continue label;
-//                        }
-//                    }
-//                }
 
                 if (!Cools.isEmpty(blackList) && blackList.contains(node.getCodeData())) {
                     continue;
@@ -155,7 +139,7 @@
 
 
                 //鎵惧埌鐩爣缁撶偣灏辫繑鍥�
-                if (node.getX() == end.getX() && node.getY() == end.getY()) {
+                if (isEndNode) {
                     //骞朵笖璁$畻鍑篏锛� F锛� H绛夊��
                     node.initNode(currentNode, end);
                     return node;

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