From c514b7d8ad8a3f89b81c949e265446b4f09a4bb5 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 20 十一月 2024 16:46:30 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 107 +++++++++++++++++++++++++++++++++++++----------------
1 files changed, 75 insertions(+), 32 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 eed8e6a..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
@@ -271,47 +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, jamPath, 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);
+ }
+
}
}
@@ -437,6 +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) {
@@ -500,7 +515,21 @@
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);
}
}
@@ -508,4 +537,18 @@
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;
+ }
+
}
--
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