From a96d6e291e5f4b3f455e9f2230a28d1834550ad1 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 14 十一月 2024 14:58:42 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 168 ++++++++++++++++++++++++++++++-------------------------
1 files changed, 92 insertions(+), 76 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 d9e99d5..45c6fb4 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;
}
}
@@ -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();
}
}
@@ -227,94 +238,99 @@
// 鏃犲彲璧拌璺緞
} else {
- assert !Cools.isEmpty(blockVehicleList);
- Integer maxJamTimeoutFactor = null;
-
- // persist jam data
- jam = this.createOrUpdateJam(agv, startCode, segment, jam);
-
- // ? has unAvoidable block vehicles
- if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
-
- // set factor of jam timeout
- maxJamTimeoutFactor = 1;
+ if (Cools.isEmpty(blockVehicleList)) {
+ log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
} else {
- // ? already do notify to avoid
- if (!Cools.isEmpty(jam.getAvoAgv())
- && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
+ assert !Cools.isEmpty(blockVehicleList);
+ Integer maxJamTimeoutFactor = null;
- maxJamTimeoutFactor = 10;
+ // persist jam data
+ jam = this.createOrUpdateJam(agv, startCode, segment, jam);
+ // ? has unAvoidable block vehicles
+ if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
+
+ // set factor of jam timeout
+ maxJamTimeoutFactor = 1;
} else {
- // select optimal block vehicle
- String blockAgvNo = blockVehicleList.stream()
- .filter(BlockVehicleDto::isAvoidable)
- .map(BlockVehicleDto::getVehicle)
- .findFirst().orElse(null);
+ // ? already do notify to avoid
+ if (!Cools.isEmpty(jam.getAvoAgv())
+ && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- // block vehicle info
- Agv blockAgv = agvService.selectByUuid(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
+ maxJamTimeoutFactor = 10;
- do {
-
- // 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;
- }
-
- // 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;
- }
-
- // notify block vehicle to avoid
- if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, 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 {
-
- maxJamTimeoutFactor = 1;
- }
-
- } while (false);
- }
-
- }
-
- // handle jam timeout
- if (null != maxJamTimeoutFactor) {
- if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
-
- if (!Cools.isEmpty(lockPathList)) {
-
- pathList = lockPathList;
} else {
- log.error("{}鍙疯溅杈嗘绱{}] ===>> [{}]璺緞澶辫触锛屽師鍥狅細{}"
- , agvNo, startCode.getData(), endCode.getData(), "璺緞闃诲瓒呮椂");
+
+ // select optimal block vehicle
+ String blockAgvNo = blockVehicleList.stream()
+ .filter(BlockVehicleDto::isAvoidable)
+ .map(BlockVehicleDto::getVehicle)
+ .findFirst().orElse(null);
+
+ // block vehicle info
+ Agv blockAgv = agvService.selectByUuid(blockAgvNo);
+ String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
+
+ do {
+
+ // 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;
+ }
+
+ // 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;
+ }
+
+ // notify block vehicle to avoid
+ if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, 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 {
+
+ maxJamTimeoutFactor = 1;
+ }
+
+ } while (false);
}
- } else {
- log.warn("{}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
- , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
- );
+
}
+
+ // handle jam timeout
+ if (null != maxJamTimeoutFactor) {
+ if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
+
+ if (!Cools.isEmpty(lockPathList)) {
+
+ pathList = lockPathList;
+ } else {
+ log.error("{}鍙疯溅杈嗘绱{}] ===>> [{}]璺緞澶辫触锛屽師鍥狅細{}"
+ , agvNo, startCode.getData(), endCode.getData(), "璺緞闃诲瓒呮椂");
+ }
+ } else {
+ log.warn("{}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
+ , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
+ );
+ }
+ }
+
}
}
-
}
if (!Cools.isEmpty(pathList)) {
@@ -441,7 +457,7 @@
} else {
- return mainService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
+ return mainLockWrapService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
}
return true;
--
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