From c720e1ca147093cac0137e4bd9d053e5e04c8e7a Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 01 十一月 2024 12:51:42 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java | 2
/dev/null | 31 --
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ValidService.java | 2
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java | 534 ++++++++++++++++++++++++++++++++++++++++++++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TimeWindow.java | 21 +
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TimeWindowService.java | 47 ++++
6 files changed, 604 insertions(+), 33 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TimeWindow.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TimeWindow.java
new file mode 100644
index 0000000..f03fa9d
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/TimeWindow.java
@@ -0,0 +1,21 @@
+package com.zy.acs.manager.core.domain;
+
+import lombok.Data;
+
+/**
+ * Created by vincent on 11/1/2024
+ */
+@Data
+public class TimeWindow {
+
+ private long startTime; // 寮�濮嬫椂闂�
+
+ private long endTime; // 缁撴潫鏃堕棿
+
+ private String agvId; // 棰勫畾鐨凙GV
+
+ public boolean isConflict(TimeWindow other) {
+ return this.endTime > other.startTime && this.startTime < other.endTime;
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
index 351573d..ba7f2b2 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java
@@ -110,7 +110,7 @@
taskDtoList.sort((o1, o2) -> o2.getPriority() - o1.getPriority());
// 鏍￠獙
- List<Task> taskList = validService.validBusDto(taskDtoList);
+ List<Task> taskList = validService.validTaskDtoList(taskDtoList);
// 淇濆瓨鎬荤嚎
Date now = new Date();
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapTurnNode.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapTurnNode.java
deleted file mode 100644
index 27a80d0..0000000
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapTurnNode.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package com.zy.acs.manager.core.service;
-
-import com.zy.acs.manager.core.service.astart.DirectionType;
-import com.zy.acs.manager.core.service.astart.TurnNodeType;
-import lombok.Data;
-
-/**
- * Created by vincent on 8/6/2024
- */
-@Data
-public class MapTurnNode {
-
- private TurnNodeType turnNodeType;
-
- private Double top;
-
- private Double right;
-
- private Double bottom;
-
- private Double left;
-
- static class TurnDirection {
-
- private DirectionType directionType;
-
- private Double distance;
-
- }
-
-}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TimeWindowService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TimeWindowService.java
new file mode 100644
index 0000000..4d114e6
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TimeWindowService.java
@@ -0,0 +1,47 @@
+package com.zy.acs.manager.core.service;
+
+import com.zy.acs.manager.core.domain.TimeWindow;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * dynamic time window
+ * Created by vincent on 11/1/2024
+ */
+@Service
+public class TimeWindowService {
+
+ public static final Map<String, List<TimeWindow>> TIME_WINDOW_MAP = new ConcurrentHashMap<>();
+
+ // 棰勫畾鏃堕棿绐楀彛
+ public synchronized boolean reserve(String key, TimeWindow window, String vehicle) {
+
+ List<TimeWindow> windows = TIME_WINDOW_MAP.getOrDefault(key, new ArrayList<>());
+
+ for (TimeWindow reservedWindow : windows) {
+ if (reservedWindow.isConflict(window)) {
+ return false;
+ }
+ }
+
+ windows.add(window);
+ TIME_WINDOW_MAP.put(key, windows);
+ return true;
+ }
+
+ // 閲婃斁鏃堕棿绐楀彛
+ public synchronized void release(String key, TimeWindow window, String vehicle) {
+ List<TimeWindow> windows = TIME_WINDOW_MAP.get(key);
+ if (windows != null) {
+ windows.remove(window);
+ if (windows.isEmpty()) {
+ TIME_WINDOW_MAP.remove(key);
+ }
+ }
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java
new file mode 100644
index 0000000..9e5701e
--- /dev/null
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TwTrafficService.java
@@ -0,0 +1,534 @@
+package com.zy.acs.manager.core.service;
+
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.acs.common.constant.RedisConstant;
+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.TaskPosDto;
+import com.zy.acs.manager.core.domain.TrafficJamDto;
+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;
+import com.zy.acs.manager.manager.enums.TaskTypeType;
+import com.zy.acs.manager.manager.service.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+import org.springframework.transaction.annotation.Transactional;
+import org.springframework.transaction.interceptor.TransactionAspectSupport;
+
+import java.util.*;
+
+/**
+ * Wavefront
+ * Created by vincent on 6/25/2024
+ */
+@Slf4j
+@Component
+public class TwTrafficService {
+
+ public static final Integer MIN_SLICE_PATH_LENGTH = 3;
+
+ public static final Integer timeoutDuration = 5 * 1000;
+
+ private final RedisSupport redis = RedisSupport.defaultRedisSupport;
+
+ @Autowired
+ private AgvService agvService;
+ @Autowired
+ private AgvDetailService agvDetailService;
+ @Autowired
+ private CodeService codeService;
+ @Autowired
+ private TravelService travelService;
+ @Autowired
+ private SegmentService segmentService;
+ @Autowired
+ private MainService mainService;
+ @Autowired
+ private MapService mapService;
+ @Autowired
+ private MapDataDispatcher mapDataDispatcher;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
+ private ActionService actionService;
+ @Autowired
+ private RetreatNavigateService retreatNavigateService;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private JamService jamService;
+ @Autowired
+ private AvoidWaveCalculator avoidWaveCalculator;
+
+ @Transactional
+ public synchronized void trigger(Segment segment) {
+ try {
+ Date now = new Date();
+ Travel travel = travelService.getById(segment.getTravelId());
+ Agv agv = agvService.getById(travel.getAgvId());
+ AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());
+ long endNode = segment.getEndNode();
+
+ // valid ----------------------------------------------------
+ if (!agvService.judgeEnable(agv.getId())) {
+ return;
+ }
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
+ return;
+ }
+ List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
+ if (!Cools.isEmpty(waitingSegList)) {
+ for (Segment waitingSeg : waitingSegList) {
+ if (!waitingSeg.getId().equals(segment.getId())) {
+ return;
+ }
+ }
+ }
+ if (jamService.count(new LambdaQueryWrapper<Jam>()
+ .eq(Jam::getJamAgv, agv.getId())
+ .eq(Jam::getJamSeg, segment.getId())
+ .eq(Jam::getCycleAvo, 1)
+ .eq(Jam::getCycleCode, endNode)
+ .eq(Jam::getState, JamStateType.RUNNING.toString())
+ ) > 0) {
+ return;
+ }
+
+ // execute -----------------------------------------------
+ // ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
+
+ // get path list
+ avoidWaveCalculator.calcWaveScope(); // * sync wave scope
+
+ // checkout path
+ Code startCode = codeService.getById(agvDetail.getRecentCode());
+ Code endCode = codeService.getById(endNode);
+ List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
+ if (Cools.isEmpty(pathList)) {
+ return;
+ }
+
+ List<Segment> segmentList = new ArrayList<>();
+ segmentList.add(segment);
+
+ String lastCodeData = pathList.get(pathList.size() - 1);
+ if (!endCode.getData().equals(lastCodeData)) {
+ // slice
+ Code lastCode = codeService.selectByData(lastCodeData);
+
+// if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+// return;
+// }
+
+ // revert
+ segment.setState(SegmentStateType.INIT.toString());
+ segment.setUpdateTime(now);
+ if (!segmentService.updateById(segment)) {
+ log.error("Segment [{}] failed to update 锛侊紒锛�", segment.getGroupId() + " - " + segment.getSerial());
+ }
+ segmentList.clear();
+
+ // new move seg
+ Segment insertSeg = new Segment();
+ insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ insertSeg.setTravelId(travel.getId());
+ insertSeg.setAgvId(agv.getId());
+ insertSeg.setTaskId(segment.getTaskId());
+ insertSeg.setSerial(segment.getSerial() - 1);
+ insertSeg.setEndNode(lastCode.getId());
+ 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());
+ }
+ segmentList.add(insertSeg);
+
+ } else {
+
+ // complete first segment then merge behind segment
+ int serial = segment.getSerial();
+ boolean interrupt = false;
+ while (!interrupt) {
+
+ Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
+ serial ++;
+ if (null == nextStep) {
+ interrupt = true;
+ } else {
+ if (nextStep.getEndNode() == endNode) {
+
+ segmentList.add(nextStep);
+ } else {
+ interrupt = true;
+ }
+ }
+
+ }
+ }
+
+ mapService.lockPath(null, pathList, agv.getUuid());
+
+ mainService.generateAction(segment.getAgvId(), segmentList, pathList);
+
+ } catch (Exception e) {
+ log.error("TrafficService.trigger", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+
+ }
+ }
+
+ 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());
+
+ // 缁撴灉闆�
+ List<String> pathList = new ArrayList<>();
+
+ // 鏃犻殰纰嶈В
+ List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false);
+ // 閬胯瑙�
+ List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);
+
+ 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
+ ) {
+
+ pathList = lockPathList;
+ } else {
+
+ // 鍙蛋琛岃矾寰勯泦鍚堣绠�
+ List<String> jamVehicleList = this.getSliceAndReturnJamVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
+
+ if (!Cools.isEmpty(pathList)) {
+
+ if (!Cools.isEmpty(jamVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
+ String jamAgvNo = jamVehicleList.get(0);
+ if (mapDataDispatcher.queryCodeListFromDynamicNode(null, jamAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+ pathList.clear();
+ }
+ }
+
+ // 鏃犲彲璧拌璺緞
+ } else {
+
+ // 闃诲杞﹁締鍒楄〃
+ assert !Cools.isEmpty(jamVehicleList);
+
+ String jamAgvNo = jamVehicleList.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 jamAgv = agvService.selectByUuid(jamAgvNo);
+ String jamAgvCode = codeService.getById(agvDetailService.selectByAgvId(jamAgv.getId()).getRecentCode()).getData();
+
+ // jam vehicle dynamic on map matrix
+ List<String> jamCodeList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgvNo);
+
+ // 璺緞闃诲
+ if (jamCodeList.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, jamAgvNo);
+ }
+
+ // 杞﹁締闃诲
+ } else {
+
+ // 宸茬粡閫氱煡杞﹁締閬胯
+ if (!Cools.isEmpty(jam.getAvoAgv())) {
+ assert !Cools.isEmpty(jam.getNotifyTime());
+
+ 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;
+ }
+
+ do {
+
+ // 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(jamAgv.getId(), SegmentStateType.RUNNING.toString());
+ if (!Cools.isEmpty(runningSegList)) {
+
+ 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(), "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, jamAgvNo);
+ }
+
+ 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(jamAgv.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(jamAgvCode).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, jamAgvNo);
+ }
+
+ break;
+ }
+ }
+
+ // 閫氱煡闃诲杞﹁締閬胯
+ if (this.notifyVehicleAvoid(jamAgvNo, jamAgvCode, unlockPathList, agvNo, jam)) {
+
+ if (jam.getCycleAvo() == 1) {
+ jam.setCycleCode(endCode.getId());
+ }
+ jam.setAvoAgv(jamAgv.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) {
+
+ 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, jamAgvNo);
+ }
+ }
+
+ } 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());
+ }
+ }
+
+ }
+
+ }
+
+ if (!Cools.isEmpty(pathList)) {
+
+ if (null != jam) {
+ jam.setEndTime(now);
+ 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());
+ }
+ }
+ // expired jam
+ for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
+ .eq(Jam::getJamAgv, agv.getId())
+ .eq(Jam::getState, JamStateType.RUNNING.toString()))) {
+ expiredJam.setEndTime(now);
+ 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());
+ }
+ }
+
+ }
+
+ return pathList;
+ }
+
+ private List<String> getSliceAndReturnJamVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> input) {
+ List<String> jamVehicleList = new ArrayList<>();
+
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
+ for (String code : fullPathList) {
+ int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
+
+ String waveNode = waveMatrix[node[0]][node[1]];
+ assert !waveNode.equals(WaveNodeType.DISABLE.val);
+ if (!waveNode.equals(WaveNodeType.ENABLE.val)) {
+ List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
+ List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
+ if (!Cools.isEmpty(otherWaveList)) {
+ jamVehicleList.addAll(otherWaveList);
+ 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)) {
+ jamVehicleList.add(vehicle);
+ break;
+ }
+
+ input.add(code);
+ }
+
+ if (input.size() <= 1) {
+ input.clear();
+ }
+
+ return jamVehicleList;
+ }
+
+ private String hasEvent(String agvNo) {
+ List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
+ for (Agv agv : agvList) {
+ if (agvNo.equals(agv.getUuid())) {
+ continue;
+ }
+ String jamStr = redis.getValue(RedisConstant.AGV_TRAFFIC_JAM_FLAG, agv.getUuid());
+ if (!Cools.isEmpty(jamStr)) {
+
+ TrafficJamDto jamDto = JSON.parseObject(jamStr, TrafficJamDto.class);
+
+
+
+ }
+ }
+ return null;
+ }
+
+ /**
+ * avoidPathList include wave node and dynamic node
+ */
+ private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
+ Agv agv = agvService.selectByUuid(agvNo);
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
+ log.warn("{}鍙疯溅杈嗛伩璁╁け璐ワ紝瀛樺湪杩涜涓换鍔★紒锛侊紒", agvNo);
+ return false;
+ }
+
+ int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, agvPosCode);
+ RetreatNavigateNode startNode = new RetreatNavigateNode(startMapIdx[0], startMapIdx[1], agvPosCode);
+
+ assert avoidPathList.size() >= 2;
+ RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
+ if (null == finalNode) {
+ log.warn("{}鍙疯溅杈嗛伩璁╁け璐ワ紝妫�绱㈤伩璁╃偣澶辫触锛侊紒锛�", agvNo);
+ return false;
+ }
+
+ String endCodeData = finalNode.getCodeData();
+ Code endCode = codeService.selectByData(endCodeData);
+ jam.setAvoCode(endCode.getId());
+
+ List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
+ if (!Cools.isEmpty(waitingSegList)) {
+
+ // revert
+ Date now = new Date();
+ for (Segment seg : waitingSegList) {
+ seg.setState(SegmentStateType.INIT.toString());
+ seg.setUpdateTime(now);
+ if (!segmentService.updateById(seg)) {
+ log.error("Segment [{}] 鏇存柊澶辫触 锛侊紒锛�", seg.getTravelId() + " - " + seg.getSerial());
+ }
+ }
+ Segment segment = waitingSegList.get(0);
+
+ Segment insertSeg = new Segment();
+ insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+ insertSeg.setTravelId(segment.getTravelId());
+ insertSeg.setAgvId(agv.getId());
+ insertSeg.setTaskId(segment.getTaskId());
+ insertSeg.setSerial(segment.getSerial() - 1);
+ insertSeg.setEndNode(endCode.getId());
+ 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());
+ return false;
+ }
+
+ } else {
+
+ return mainService.buildMinorTask(agv, null, TaskTypeType.MOVE, endCodeData);
+ }
+
+ return true;
+ }
+
+}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ValidService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ValidService.java
index 4b44ddf..bf7d1d3 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ValidService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ValidService.java
@@ -37,7 +37,7 @@
@Autowired
private SnowflakeIdWorker snowflakeIdWorker;
- public List<Task> validBusDto(List<TaskDto> taskDtoList) {
+ public List<Task> validTaskDtoList(List<TaskDto> taskDtoList) {
List<Task> taskList = new ArrayList<>();
for (TaskDto taskDto : taskDtoList) {
if (Cools.isEmpty(taskDto.getSeqNum())) {
--
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