From efabc6ba991acfd01d38bb0bf4e8cfd772416617 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期一, 05 一月 2026 13:07:39 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 104 +++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 94 insertions(+), 10 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 8dc6dbe..bb3cd44 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
@@ -71,6 +71,10 @@
private JamService jamService;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private FuncStaService funcStaService;
@Transactional
public synchronized void trigger(Segment segment) {
@@ -92,13 +96,83 @@
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;
}
+
+ // resolve deadlock
+// if (configService.getVal("unlockSwitch", Boolean.class)) {
+//
+// boolean preSegIsStandbyDeadLock = false;
+// Segment previousSeg = segmentService.getPreviousStepOfFinish(segment.getTravelId(), segment.getSerial(), MapDataConstant.RESOLVE_DEADLOCK);
+// preSegIsStandbyDeadLock = previousSeg != null;
+// if (preSegIsStandbyDeadLock && !jamService.isAvoidSeg(segment.getId())) {
+// if (0 < segmentService.count(new LambdaQueryWrapper<Segment>()
+// .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString())
+// .eq(Segment::getMemo, MapDataConstant.RESOLVE_DEADLOCK))) {
+// return;
+// }
+// }
+//
+// Jam jam = jamService.getJam(agv.getId(), agvDetail.getRecentCode(), segment.getId());
+// if (!preSegIsStandbyDeadLock && (null != jam && null != jam.getDuration() && jam.getDuration() > (BlockSeverityType.SEVERE.duration - MapDataConstant.MAX_JAM_TIMEOUT)
+// || DateUtils.diffToMilliseconds(segment.getUpdateTime(), now) > (BlockSeverityType.SEVERE.duration - MapDataConstant.MAX_JAM_TIMEOUT))
+// && (Cools.isEmpty(segment.getMemo()) || !segment.getMemo().equals(MapDataConstant.RESOLVE_DEADLOCK))) {
+//
+// Task task = taskService.getById(segment.getTaskId());
+// if (task.getTaskSts().equals(TaskStsType.PROGRESS.val())
+// && DateUtils.diffToMilliseconds(task.getUpdateTime(), now) > MapDataConstant.DEADLOCK_TASK_TIMEOUT) {
+//
+// Code endCode = null;
+// List<FuncSta> idleFunStaList = funcStaService.findInIdleStatus(FuncStaType.STANDBY, segment.getAgvId());
+// if (!Cools.isEmpty(idleFunStaList)) {
+// idleFunStaList = idleFunStaList.stream().filter(funcSta -> {
+// return 0 == segmentService.count(new LambdaQueryWrapper<Segment>()
+// .eq(Segment::getEndNode, funcSta.getCode())
+// .in(Segment::getState, SegmentStateType.WAITING.toString(), SegmentStateType.RUNNING.toString())
+// .eq(Segment::getMemo, MapDataConstant.RESOLVE_DEADLOCK)
+// );
+// }).collect(Collectors.toList());
+// FuncSta funcSta = funcStaService.checkoutFurthestFunSta(agvDetailService.getCurrentCode(segment.getAgvId()).getId(), idleFunStaList);
+// if (null != funcSta) {
+// endCode = codeService.getCacheById(funcSta.getCode());
+// }
+// }
+// if (null == endCode) {
+// log.warn("AGV[{}] failed to search destination锛宼here hadn't any idle funSta锛孴askTypeType锛歿}", segment.getAgvId(), FuncStaType.STANDBY);
+// return;
+// }
+//
+// 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());
+// return;
+// }
+//
+// // new move seg
+// Segment insertSeg = new Segment();
+// insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
+// insertSeg.setTravelId(segment.getTravelId());
+// insertSeg.setAgvId(segment.getAgvId());
+// insertSeg.setTaskId(segment.getTaskId());
+// insertSeg.setSerial(segment.getSerial() - 1);
+// insertSeg.setEndNode(endCode.getId());
+// insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
+// insertSeg.setState(SegmentStateType.WAITING.toString());
+// insertSeg.setMemo(MapDataConstant.RESOLVE_DEADLOCK);
+// if (!segmentService.save(insertSeg)) {
+// log.error("Segment [{}] failed to save 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+// return;
+// }
+// return;
+// }
+// }
+// }
+
if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
return;
}
@@ -127,15 +201,15 @@
// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
// * sync wave scope
- if (!avoidWaveCalculator.calcWaveScope()) {
+ if (!avoidWaveCalculator.calcWaveScope(agvModelService.getByAgvId(agv.getId()))) {
log.error("failed to calculate avoid wave matrix ...");
return;
}
// checkout path
- Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Code startCode = agvDetailService.getCurrentCode(travel.getAgvId());
Code endCode = codeService.getCacheById(endNode);
- long startTime = System.currentTimeMillis();
+// long startTime = System.currentTimeMillis();
List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
// System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
if (Cools.isEmpty(pathList)) {
@@ -173,7 +247,7 @@
insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
insertSeg.setState(SegmentStateType.WAITING.toString());
if (!segmentService.save(insertSeg)) {
- log.error("Segment [{}] failed to save 锛侊紒锛�", segment.getTravelId() + " - " + segment.getSerial());
+ log.error("Segment [{}] failed to save 锛侊紒锛�", insertSeg.getTravelId() + " - " + insertSeg.getSerial());
}
segmentList.add(insertSeg);
@@ -190,8 +264,11 @@
interrupt = true;
} else {
if (nextStep.getEndNode() == endNode) {
-
- segmentList.add(nextStep);
+ // remove sta action seg
+ if (!nextStep.getPosType().equals(TaskPosDto.PosType.ORI_STA.toString())
+ && !nextStep.getPosType().equals(TaskPosDto.PosType.DEST_STA.toString())) {
+ segmentList.add(nextStep);
+ }
} else {
interrupt = true;
}
@@ -202,7 +279,7 @@
mapService.lockPath(null, pathList, agv.getUuid());
- startTime = System.currentTimeMillis();
+// startTime = System.currentTimeMillis();
mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
// System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
@@ -210,6 +287,7 @@
log.error("TrafficService.trigger", e);
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ throw new RuntimeException("trigger method caught an exception", e);
}
}
@@ -416,6 +494,7 @@
// deal expired jam
for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
.eq(Jam::getJamAgv, agv.getId())
+ .ne(Jam::getCycleAvo, 1)
.eq(Jam::getState, JamStateType.RUNNING.toString()))) {
expiredJam.setEndTime(now);
expiredJam.setUpdateTime(now);
@@ -593,7 +672,7 @@
// the wave of first node
Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
- agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
+ agvModelService.getByAgvId(jamAgv.getAgvModel()).getDiameter(),
MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
);
List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
@@ -618,8 +697,13 @@
if (!blockVehicleDto.isAvoidable()) {
continue;
}
+ Long agvId = agvService.getAgvId(blockVehicleDto.getVehicle());
// 褰撳墠vehicle姝ｅ湪杩涜閬胯浣滀笟
- if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
+ if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(agvId, null))) {
+ continue;
+ }
+ // 褰撳墠vehicle姝ｅ湪杩涜婊氱瓛杈撻�佺嚎绛夊緟
+ if (segmentService.isRollerWaiting(agvId)) {
continue;
}
return blockVehicleDto.getVehicle();
--
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