From adaf4e51f496b069feb39866149fb404d12b96de Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 30 十二月 2024 09:35:33 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 22 +++++++++++++++++-----
1 files changed, 17 insertions(+), 5 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 3cd06a6..76a5f58 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
@@ -20,6 +20,7 @@
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.*;
+import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -65,7 +66,7 @@
@Autowired
private RetreatNavigateService retreatNavigateService;
@Autowired
- private TaskService taskService;
+ private ConfigService configService;
@Autowired
private JamService jamService;
@Autowired
@@ -75,6 +76,14 @@
public synchronized void trigger(Segment segment) {
try {
Date now = new Date();
+
+ // temporary -----------------
+ Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
+ if (null != algoExtensionTime && algoExtensionTime > 0) {
+ Thread.sleep(algoExtensionTime);
+ }
+ // ---------------------------
+
Travel travel = travelService.getById(segment.getTravelId());
Agv agv = agvService.getById(travel.getAgvId());
AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
@@ -117,8 +126,11 @@
// execute -----------------------------------------------
// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
- // get path list
- avoidWaveCalculator.calcWaveScope(); // * sync wave scope
+ // * sync wave scope
+ if (!avoidWaveCalculator.calcWaveScope()) {
+ log.error("failed to calculate avoid wave matrix ...");
+ return;
+ }
// checkout path
Code startCode = codeService.getById(agvDetail.getRecentCode());
@@ -188,7 +200,7 @@
mapService.lockPath(null, pathList, agv.getUuid());
- mainService.generateAction(segment.getAgvId(), segmentList, pathList);
+ mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
} catch (Exception e) {
log.error("TrafficService.trigger", e);
@@ -279,7 +291,7 @@
if (!Cools.isEmpty(jam.getAvoAgv())
&& BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- maxJamTimeoutFactor = 5;
+ maxJamTimeoutFactor = 4;
} else {
--
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