From a4948137774a499da38fe184a6bbd0c57336e6f6 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 19 十一月 2024 09:48:07 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 140 ++++++++++++++++++++++++++++++++++------------
1 files changed, 103 insertions(+), 37 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 45c6fb4..f57cbd4 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
@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.utils.GsonUtils;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
@@ -98,6 +99,8 @@
}
}
}
+
+ // dead lane
if (jamService.count(new LambdaQueryWrapper<Jam>()
.eq(Jam::getJamAgv, agv.getId())
.eq(Jam::getJamSeg, segment.getId())
@@ -196,14 +199,17 @@
String agvNo = agv.getUuid();
Date now = new Date();
Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
+ // judge avoid of jam
+ List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
+ List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
// 缁撴灉闆�
List<String> pathList = new ArrayList<>();
// 鏃犻殰纰嶈В
- List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
+ List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
// 閬胯瑙�
- List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);
+ List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
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
@@ -246,7 +252,8 @@
Integer maxJamTimeoutFactor = null;
// persist jam data
- jam = this.createOrUpdateJam(agv, startCode, segment, jam);
+ ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
+ jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);
// ? has unAvoidable block vehicles
if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
@@ -264,47 +271,58 @@
} 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);
+ if (Cools.isEmpty(blockAgvNo)) {
- // block vehicle info
- Agv blockAgv = agvService.selectByUuid(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
+ maxJamTimeoutFactor = 2;
- do {
+ } else {
- // 闃诲杞﹁締姝ｅ湪鍘熷湴浣滀笟锛岀瓑寰� ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺�
- List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
- if (!Cools.isEmpty(runningSegList)) {
- maxJamTimeoutFactor = 1;
- break;
- }
+ // block vehicle info
+ Agv blockAgv = agvService.selectByUuid(blockAgvNo);
+ String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
- // 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())) {
- maxJamTimeoutFactor = 1;
- break;
- }
+ do {
- // notify block vehicle to avoid
- if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {
- if (jam.getCycleAvo() == 1) {
- jam.setCycleCode(endCode.getId());
+ // 闃诲杞﹁締姝ｅ湪鍘熷湴浣滀笟锛岀瓑寰� ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺�
+ List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
+ if (!Cools.isEmpty(runningSegList)) {
+ maxJamTimeoutFactor = 1;
+ break;
}
- jam.setAvoAgv(blockAgv.getId());
- jam.setNotifyTime(new Date());
- if (!jamService.updateById(jam)) {
- throw new CoolException(jam.getUuid() + "-jam failed to update锛侊紒锛�");
+
+ // 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
+ List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
+ if (null != waitingSegList
+ && waitingSegList.stream().anyMatch(
+ waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
+ )) {
+ maxJamTimeoutFactor = 1;
+ break;
}
- } else {
- maxJamTimeoutFactor = 1;
- }
+ // notify block vehicle to avoid
+ if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, jamPath, agvNo, jam)) {
+ if (jam.getCycleAvo() == 1) {
+ jam.setCycleCode(endCode.getId());
+ }
+ jam.setAvoAgv(blockAgv.getId());
+ jam.setNotifyTime(new Date());
+ if (!jamService.updateById(jam)) {
+ throw new CoolException(jam.getUuid() + "-jam failed to update锛侊紒锛�");
+ }
+ } else {
- } while (false);
+ maxJamTimeoutFactor = 1;
+ }
+
+ } while (false);
+ }
+
}
}
@@ -430,6 +448,10 @@
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) {
@@ -453,23 +475,26 @@
if (!segmentService.save(insertSeg)) {
log.error("Segment [{}] 淇濆瓨澶辫触 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
return false;
+ } else {
+ jam.setAvoSeg(insertSeg.getId());
}
} else {
- return mainLockWrapService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
+ return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
}
return true;
}
- private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam) {
+ private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam, List<String> jamPath) {
if (jam == null) {
jam = new Jam();
jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
jam.setJamAgv(agv.getId());
jam.setJamCode(startCode.getId());
jam.setJamSeg(segment.getId());
+ jam.setJamPath(GsonUtils.toJson(jamPath));
jam.setStartTime(new Date());
jam.setState(JamStateType.RUNNING.toString());
if (!jamService.save(jam)) {
@@ -485,4 +510,45 @@
return jam;
}
+ private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
+ List<String> blackPathList = new ArrayList<>();
+ if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
+ for (Jam jam : unfinishedOriginJamByCurrAgv) {
+ if (!Cools.isEmpty(jam.getJamPath())) {
+
+ List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
+
+ Agv jamAgv = agvService.getById(jam.getJamAgv());
+ List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(null, jamAgv.getUuid());
+ // jamDynamicNodes has sorted
+ String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
+
+ if (!Cools.isEmpty(firstCodeNode)) {
+ int idx = list.indexOf(firstCodeNode);
+ if (idx != -1) {
+ list = new ArrayList<>(list.subList(idx, list.size()));
+ }
+ }
+
+ blackPathList.addAll(list);
+ }
+ }
+ }
+ 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;
+ }
+
}
--
Gitblit v1.9.1