From 819bef1aeacf77eaaac809f87971db1056d18ee5 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 14 十一月 2024 13:57:55 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 17 ++++++++++++++---
1 files changed, 14 insertions(+), 3 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 fe6f6da..428c9f0 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
@@ -55,6 +55,8 @@
@Autowired
private MainService mainService;
@Autowired
+ private MainLockWrapService mainLockWrapService;
+ @Autowired
private MapService mapService;
@Autowired
private MapDataDispatcher mapDataDispatcher;
@@ -91,6 +93,7 @@
if (!Cools.isEmpty(waitingSegList)) {
for (Segment waitingSeg : waitingSegList) {
if (!waitingSeg.getId().equals(segment.getId())) {
+ log.error("AGV[{}] 浠诲姟寮傚父锛屾湇鍔″櫒閿欒锛侊紒锛�", agv.getUuid());
return;
}
}
@@ -150,7 +153,7 @@
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);
@@ -217,9 +220,17 @@
if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
assert !Cools.isEmpty(blockVehicleList);
- boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
+ 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();
+ }
+
+ boolean hasCycleJam = blockVehicleList.stream().anyMatch(
+ blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
+ );
+ if (hasCycleJam) {
+ log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
pathList.clear();
}
}
@@ -441,7 +452,7 @@
} else {
- return mainService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
+ return mainLockWrapService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
}
return true;
--
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