From 8d425ae26f1070043f4e81e7ebce1e6f39d5d013 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 18 十一月 2024 10:21:52 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 34 ++++++++++++++++++++++++++++------
1 files changed, 28 insertions(+), 6 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 eed8e6a..7729fe5 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
@@ -271,10 +271,11 @@
} else {
// select optimal block vehicle
- String blockAgvNo = blockVehicleList.stream()
- .filter(BlockVehicleDto::isAvoidable)
- .map(BlockVehicleDto::getVehicle)
- .findFirst().orElse(null);
+// String blockAgvNo = blockVehicleList.stream()
+// .filter(BlockVehicleDto::isAvoidable)
+// .map(BlockVehicleDto::getVehicle)
+// .findFirst().orElse(null);
+ String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList);
// block vehicle info
Agv blockAgv = agvService.selectByUuid(blockAgvNo);
@@ -290,8 +291,11 @@
}
// 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())) {
+ List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
+ if (null != waitingSegList
+ && waitingSegList.stream().anyMatch(
+ waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
+ )) {
maxJamTimeoutFactor = 1;
break;
}
@@ -437,6 +441,10 @@
List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
if (!Cools.isEmpty(waitingSegList)) {
+ if (waitingSegList.size() > 1) {
+ log.error("閬胯閫氱煡澶辫触锛寋}鍙疯溅杈嗗瓨鍦ㄥ涓瓑寰呬腑鐨凷egment锛侊紒锛�", agvNo);
+ return false;
+ }
// revert
Date now = new Date();
for (Segment seg : waitingSegList) {
@@ -508,4 +516,18 @@
return blackPathList.stream().distinct().collect(Collectors.toList());
}
+ private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList) {
+ assert !Cools.isEmpty(blockVehicleList);
+ for (BlockVehicleDto blockVehicleDto : blockVehicleList) {
+ if (!blockVehicleDto.isAvoidable()) {
+ continue;
+ }
+ // 娌℃湁閬胯涓殑浠诲姟
+ if (Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
+ return blockVehicleDto.getVehicle();
+ }
+ }
+ return null;
+ }
+
}
--
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