From ac0ba5423f9d0206d5a637ed8338e80d37333972 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 29 十一月 2024 15:19:26 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 64 ++++++++++++++++++++++---------
1 files changed, 45 insertions(+), 19 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 a778a8a..11d5fb2 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
@@ -2,14 +2,16 @@
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;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.constant.MapDataConstant;
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.NavigateNode;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
import com.zy.acs.manager.manager.entity.*;
@@ -37,12 +39,6 @@
@Component
public class TrafficService {
- public static final Integer MIN_SLICE_PATH_LENGTH = 3;
-
- public static final Integer MAX_JAM_TIMEOUT = 5 * 1000;
-
- private final RedisSupport redis = RedisSupport.defaultRedisSupport;
-
@Autowired
private AgvService agvService;
@Autowired
@@ -64,7 +60,7 @@
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
- private ActionService actionService;
+ private AgvModelService agvModelService;
@Autowired
private RetreatNavigateService retreatNavigateService;
@Autowired
@@ -199,6 +195,7 @@
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);
@@ -218,8 +215,18 @@
pathList = lockPathList;
} else {
+ // preview path
+ List<String> draftPath = new ArrayList<>(unlockPathList);
+ if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
+ unlockPathList.remove(endCode.getData());
+ blackPath.addAll(unlockPathList);
+ List<String> newUnlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
+ if (!Cools.isEmpty(newUnlockPathList)) {
+ draftPath = newUnlockPathList;
+ }
+ }
// 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)) {
@@ -227,7 +234,7 @@
assert !Cools.isEmpty(blockVehicleList);
boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
- if (hasUnavoidableBlocks && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+ if (hasUnavoidableBlocks && pathList.size() <= MapDataConstant.MIN_SLICE_PATH_LENGTH) {
log.info("AGV[{}] waiting in place, because the path list is too short...", agvNo);
pathList.clear();
}
@@ -252,8 +259,7 @@
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())) {
@@ -266,15 +272,11 @@
if (!Cools.isEmpty(jam.getAvoAgv())
&& BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- maxJamTimeoutFactor = 10;
+ maxJamTimeoutFactor = 5;
} 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 +308,7 @@
}
// 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());
}
@@ -329,7 +331,7 @@
// handle jam timeout
if (null != maxJamTimeoutFactor) {
- if (System.currentTimeMillis() - jam.getStartTime().getTime() > MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
+ if (System.currentTimeMillis() - jam.getStartTime().getTime() > MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
if (!Cools.isEmpty(lockPathList)) {
@@ -512,10 +514,34 @@
private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
List<String> blackPathList = new ArrayList<>();
+ Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
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(lev, 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()));
+ }
+
+ // the wave of first node
+ Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
+ agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
+ MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
+ );
+ List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
+ .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
+ list.addAll(waveCodeList);
+ }
+
blackPathList.addAll(list);
}
}
--
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