From bb3b18aa4627e24e3428f89c90b867bad5eb40f6 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 16 十一月 2024 15:53:28 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 345 ++++++++++++++++++++++++++++-----------------------------
1 files changed, 170 insertions(+), 175 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 03ca92f..eed8e6a 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
@@ -1,17 +1,17 @@
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;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.domain.BlockVehicleDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
-import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
import com.zy.acs.manager.core.service.astart.WaveNodeType;
-import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.JamStateType;
import com.zy.acs.manager.manager.enums.SegmentStateType;
@@ -23,7 +23,11 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.*;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
/**
* Wavefront
@@ -35,7 +39,7 @@
public static final Integer MIN_SLICE_PATH_LENGTH = 3;
- public static final Integer timeoutDuration = 5 * 1000;
+ public static final Integer MAX_JAM_TIMEOUT = 5 * 1000;
private final RedisSupport redis = RedisSupport.defaultRedisSupport;
@@ -51,6 +55,8 @@
private SegmentService segmentService;
@Autowired
private MainService mainService;
+ @Autowired
+ private MainLockWrapService mainLockWrapService;
@Autowired
private MapService mapService;
@Autowired
@@ -68,9 +74,6 @@
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
-
- // todo
- // 1.鏁呴殰
@Transactional
public synchronized void trigger(Segment segment) {
try {
@@ -91,10 +94,13 @@
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;
}
}
}
+
+ // dead lane
if (jamService.count(new LambdaQueryWrapper<Jam>()
.eq(Jam::getJamAgv, agv.getId())
.eq(Jam::getJamSeg, segment.getId())
@@ -150,7 +156,7 @@
insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
insertSeg.setState(SegmentStateType.WAITING.toString());
if (!segmentService.save(insertSeg)) {
- log.error("Segment [{}] 淇濆瓨澶辫触 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+ log.error("Segment [{}] failed to save 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
}
segmentList.add(insertSeg);
@@ -188,41 +194,22 @@
}
}
- public void callback(List<Segment> segmentList) {
- Date now = new Date();
-
- segmentList.stream().max(Comparator.comparingInt(Segment::getSerial)).ifPresent(segment -> {
- Segment nextSegment = segmentService.getNextStepOfInit(segment.getTravelId(), segment.getSerial());
-
- if (null != nextSegment) {
-
- nextSegment.setState(SegmentStateType.WAITING.toString());
- nextSegment.setUpdateTime(now);
- if (!segmentService.updateById(nextSegment)) {
- log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", nextSegment.getGroupId() + " - " + nextSegment.getSerial());
- }
-
- } else {
-
- travelService.checkFinish(segment.getTravelId());
- }
- });
-
- }
-
private List<String> checkoutPath(Agv agv, Code startCode, Code endCode, Segment segment) {
Integer lev = null;
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
@@ -232,13 +219,24 @@
} else {
// 鍙蛋琛岃矾寰勯泦鍚堣绠�
- List<String> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
+ List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
if (!Cools.isEmpty(pathList)) {
- if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
- String blockAgvNo = blockVehicleList.get(0);
- if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+ if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
+ assert !Cools.isEmpty(blockVehicleList);
+
+ 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();
}
}
@@ -246,147 +244,100 @@
// 鏃犲彲璧拌璺緞
} else {
- // 闃诲杞﹁締鍒楄〃
- assert !Cools.isEmpty(blockVehicleList);
-
- String blockAgvNo = blockVehicleList.get(0);
-
- boolean initJamCache = false;
- if (null == jam) {
- jam = new Jam();
- jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
- jam.setJamAgv(agv.getId());
- jam.setJamCode(startCode.getId());
- jam.setJamSeg(segment.getId());
- jam.setStartTime(now);
- jam.setState(JamStateType.RUNNING.toString());
- if (!jamService.save(jam)) {
- log.error("{}鍙疯溅杈嗗湪{}瀹氫綅琚樆濉烇紝璁板綍闃诲鐘舵�佸け璐ワ紒锛侊紒", agvNo, startCode.getData());
- return pathList;
- }
- initJamCache = true;
- }
- long previousTimestamp = jam.getStartTime().getTime();
-
- // jam vehicle info
- Agv blockAgv = agvService.selectByUuid(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
-
- // jam vehicle dynamic on map matrix
- List<String> blockDynamicList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, blockAgvNo);
-
- // 璺緞闃诲
- if (blockDynamicList.size() > 1) {
- if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
-
- 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.info("{}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, blockAgvNo);
- }
-
- // 杞﹁締闃诲
+ 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 {
- // 宸茬粡閫氱煡杞﹁締閬胯
- if (!Cools.isEmpty(jam.getAvoAgv())) {
- assert !Cools.isEmpty(jam.getNotifyTime());
+ assert !Cools.isEmpty(blockVehicleList);
+ Integer maxJamTimeoutFactor = null;
- if (System.currentTimeMillis() - jam.getNotifyTime().getTime() > timeoutDuration) {
- log.warn("{}鍙疯溅杈嗛樆濉炴椂闂磋繃闀匡紒锛侊紒宸查�氱煡閬胯杞﹁締銆恵}銆�...", agvNo, jam.getAvoAgv$());
- }
- return pathList;
- }
+ // persist jam data
+ ArrayList<String> jamPath = new ArrayList<>(unlockPathList);
+ jam = this.createOrUpdateJam(agv, startCode, segment, jam, jamPath);
- do {
+ // ? has unAvoidable block vehicles
+ if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
- // 闃诲杞﹁締姝ｅ湪浣滀笟锛岀瓑寰� ===>> 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)) {
+ // set factor of jam timeout
+ maxJamTimeoutFactor = 1;
+ } else {
- if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
+ // ? already do notify to avoid
+ if (!Cools.isEmpty(jam.getAvoAgv())
+ && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- 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(), "杞﹁締闃诲瓒呮椂");
- }
- } else {
- log.info("{}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, blockAgvNo);
- }
+ maxJamTimeoutFactor = 10;
- 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) {
-
- // 濡傛灉闃诲杞﹁締寰呮墽琛屼换鍔″浜庡師鍦帮紝鍒欎笉鑳介�氱煡瀹冮伩璁�
- if (waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {
-
- if (System.currentTimeMillis() - previousTimestamp > Math.max((timeoutDuration / 30), (5 * 1000))) {
-
- 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(), "杞﹁締闃诲瓒呮椂");
- }
- } else {
- log.info("{}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, blockAgvNo);
- }
-
- break;
- }
- }
-
- // 閫氱煡闃诲杞﹁締閬胯
- 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)) {
-// log.error("{}缂栧彿闃诲璁板綍鏇存柊澶辫触锛侊紒锛�", jam.getUuid());
- throw new CoolException(jam.getUuid() + "缂栧彿闃诲璁板綍鏇存柊澶辫触锛侊紒锛�");
- }
} else {
- if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
+ // select optimal block vehicle
+ String blockAgvNo = blockVehicleList.stream()
+ .filter(BlockVehicleDto::isAvoidable)
+ .map(BlockVehicleDto::getVehicle)
+ .findFirst().orElse(null);
- 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(), "杞﹁締闃诲瓒呮椂");
+ // 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;
}
- } else {
- log.info("{}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, blockAgvNo);
- }
+
+ // 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, 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 {
+
+ maxJamTimeoutFactor = 1;
+ }
+
+ } while (false);
}
- } while (false);
-
- }
-
- if (!initJamCache) {
- jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
- if (!jamService.updateById(jam)) {
- log.error("{}缂栧彿闃诲璁板綍鏇存柊澶辫触锛侊紒锛�", jam.getUuid());
}
+
+ // 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)) {
@@ -396,10 +347,10 @@
jam.setUpdateTime(now);
jam.setState(JamStateType.FINISH.toString());
if (!jamService.updateById(jam)) {
- log.error("{}缂栧彿闃诲璁板綍瀹屾垚淇敼澶辫触锛侊紒锛�", jam.getUuid());
+ log.error("Jam[{}] failed to update锛侊紒锛�", jam.getUuid());
}
}
- // expired jam
+ // deal expired jam
for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
.eq(Jam::getJamAgv, agv.getId())
.eq(Jam::getState, JamStateType.RUNNING.toString()))) {
@@ -407,7 +358,7 @@
expiredJam.setUpdateTime(now);
expiredJam.setState(JamStateType.FINISH.toString());
if (!jamService.updateById(expiredJam)) {
- log.error("{}缂栧彿闃诲璁板綍瀹屾垚淇敼澶辫触锛侊紒锛�", expiredJam.getUuid());
+ log.error("Jam[{}] failed to update锛侊紒锛�", expiredJam.getUuid());
}
}
@@ -416,10 +367,10 @@
return pathList;
}
- private List<String> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
- List<String> blockVehicleList = new ArrayList<>();
+ private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
+ List<BlockVehicleDto> blockVehicleList = new ArrayList<>();
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
for (String code : fullPathList) {
int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
@@ -430,18 +381,24 @@
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- blockVehicleList.addAll(otherWaveList);
+ for (String otherWave : otherWaveList) {
+ if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ blockVehicleList.add(new BlockVehicleDto(otherWave, false));
+ } else {
+ blockVehicleList.add(new BlockVehicleDto(otherWave, true));
+ }
+ }
break;
}
}
- DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
- String vehicle = dynamicNode.getVehicle();
- assert !vehicle.equals(DynamicNodeType.BLOCK.val);
- if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
- blockVehicleList.add(vehicle);
- break;
- }
+// DynamicNode dynamicNode = dynamicMatrix[node[0]][node[1]];
+// String vehicle = dynamicNode.getVehicle();
+// assert !vehicle.equals(DynamicNodeType.BLOCK.val);
+// if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
+// blockVehicleList.add(vehicle);
+// break;
+// }
pathList.add(code);
}
@@ -450,7 +407,7 @@
pathList.clear();
}
- return blockVehicleList;
+ return blockVehicleList.stream().distinct().collect(Collectors.toList());
}
/**
@@ -503,14 +460,52 @@
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 mainService.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, 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)) {
+ log.error("AGV[{}] failed to save jam", agv.getUuid());
+ throw new CoolException("failed to save jam");
+ }
+ } else {
+ jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
+ if (!jamService.updateById(jam)) {
+ log.error("AGV[{}] failed to update jam", agv.getUuid());
+ }
+ }
+ 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);
+ blackPathList.addAll(list);
+ }
+ }
+ }
+ return blackPathList.stream().distinct().collect(Collectors.toList());
+ }
+
}
--
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