From da407d4525cd6ea211d952fc2fd96f5ba30510e8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 27 十一月 2024 15:43:28 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 14 ++++----------
zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java | 4 ++--
zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java | 6 ++++++
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 10 +++++++++-
4 files changed, 21 insertions(+), 13 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
index 3833c64..ba6ee0f 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/constant/MapDataConstant.java
@@ -7,4 +7,10 @@
public static final Double MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR = 1.09;
+ public static final Integer MAX_STEPS_SINGLE = 25;
+
+ public static final Integer MIN_SLICE_PATH_LENGTH = 3;
+
+ public static final Integer MAX_JAM_TIMEOUT = 5 * 1000;
+
}
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java
index 94ff2a4..f36a0b5 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/domain/type/BlockSeverityType.java
@@ -1,12 +1,12 @@
package com.zy.acs.manager.core.domain.type;
-import com.zy.acs.manager.core.service.TrafficService;
+import com.zy.acs.manager.core.constant.MapDataConstant;
public enum BlockSeverityType {
// NONE(0),
NONE(0),
- SEVERE(9 * TrafficService.MAX_JAM_TIMEOUT),
+ SEVERE(7 * MapDataConstant.MAX_JAM_TIMEOUT),
;
public long duration;
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index 54b6457..2097a81 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -4,6 +4,7 @@
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.manager.common.utils.MapDataUtils;
+import com.zy.acs.manager.core.constant.MapDataConstant;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
import com.zy.acs.manager.core.service.floyd.FloydNavigateService;
@@ -79,7 +80,14 @@
// navigateNode.setParent(null);
// }
- return navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
+ List<String> navigatePath = navigateNodes.stream().map(NavigateNode::getCodeData).collect(Collectors.toList());
+
+ // max count of steps
+ if (navigatePath.size() > MapDataConstant.MAX_STEPS_SINGLE) {
+ navigatePath = navigatePath.subList(0, MapDataConstant.MAX_STEPS_SINGLE);
+ }
+
+ return navigatePath;
}
/**
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 acfe085..4727985 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
@@ -2,11 +2,11 @@
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;
@@ -37,12 +37,6 @@
@Slf4j
@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;
@@ -239,7 +233,7 @@
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();
}
@@ -277,7 +271,7 @@
if (!Cools.isEmpty(jam.getAvoAgv())
&& BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
- maxJamTimeoutFactor = 6;
+ maxJamTimeoutFactor = 5;
} else {
@@ -336,7 +330,7 @@
// 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)) {
--
Gitblit v1.9.1