From fd6d26f8ffe6a37533e741337f3eca9134d934c7 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 15 一月 2025 10:42:59 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 49 +++++++++++++++++++++++--------------------------
1 files changed, 23 insertions(+), 26 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 86e42f5..8dc6dbe 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
@@ -133,9 +133,11 @@
}
// checkout path
- Code startCode = codeService.getById(agvDetail.getRecentCode());
- Code endCode = codeService.getById(endNode);
+ Code startCode = codeService.getCacheById(agvDetail.getRecentCode());
+ Code endCode = codeService.getCacheById(endNode);
+ long startTime = System.currentTimeMillis();
List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
+// System.out.println("checkoutPath: " + (System.currentTimeMillis() - startTime));
if (Cools.isEmpty(pathList)) {
return;
}
@@ -146,7 +148,7 @@
String lastCodeData = pathList.get(pathList.size() - 1);
if (!endCode.getData().equals(lastCodeData)) {
// slice
- Code lastCode = codeService.selectByData(lastCodeData);
+ Code lastCode = codeService.getCacheByData(lastCodeData);
// if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
// return;
@@ -200,7 +202,9 @@
mapService.lockPath(null, pathList, agv.getUuid());
+ startTime = System.currentTimeMillis();
mainService.generateAction(segment.getAgvId(), segmentList, pathList, now);
+// System.out.println("generateAction: " + (System.currentTimeMillis() - startTime));
} catch (Exception e) {
log.error("TrafficService.trigger", e);
@@ -305,7 +309,7 @@
// block vehicle info
Long blockAgvId = agvService.getAgvId(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgvId).getRecentCode()).getData();
+ String blockAgvCode = codeService.getCacheById(agvDetailService.selectMajorByAgvId(blockAgvId).getRecentCode()).getData();
// create new jam if already notify the avoid vehicle
if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgvId.equals(jam.getAvoAgv())) {
@@ -325,7 +329,7 @@
List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgvId);
if (null != waitingSegList
&& waitingSegList.stream().anyMatch(
- waitingSeg -> waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())
+ waitingSeg -> waitingSeg.getEndNode().equals(codeService.getCacheByData(blockAgvCode).getId())
)) {
maxJamTimeoutFactor = 1;
break;
@@ -429,19 +433,20 @@
private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
List<BlockVehicleDto> blockVehicleList = new ArrayList<>();
-// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
- for (String code : fullPathList) {
- int[] node = mapDataDispatcher.getCodeMatrixIdx(lev, code);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, fullPathList);
+ for (int i = 0; i < fullPathList.size(); i++) {
+ String codeData = fullPathList.get(i);
+ int[] codeMatrixIdx = codeMatrixIdxList.get(i);
- String waveNode = waveMatrix[node[0]][node[1]];
+ String waveNode = waveMatrix[codeMatrixIdx[0]][codeMatrixIdx[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)) {
for (String otherWave : otherWaveList) {
- if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ if (mapService.isWalkingByVehicle(lev, otherWave)) {
blockVehicleList.add(new BlockVehicleDto(otherWave, false));
} else {
blockVehicleList.add(new BlockVehicleDto(otherWave, true));
@@ -451,15 +456,7 @@
}
}
-// 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);
+ pathList.add(codeData);
}
if (pathList.size() <= 1) {
@@ -473,8 +470,8 @@
* 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()))) {
+ Long agvId = agvService.getAgvId(agvNo);
+ if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, 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;
}
@@ -490,9 +487,9 @@
}
String endCodeData = finalNode.getCodeData();
- Code endCode = codeService.selectByData(endCodeData);
+ Code endCode = codeService.getCacheByData(endCodeData);
- List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
+ List<Segment> waitingSegList = segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString());
if (!Cools.isEmpty(waitingSegList)) {
if (waitingSegList.size() > 1) {
@@ -513,7 +510,7 @@
Segment insertSeg = new Segment();
insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
insertSeg.setTravelId(segment.getTravelId());
- insertSeg.setAgvId(agv.getId());
+ insertSeg.setAgvId(agvId);
insertSeg.setTaskId(segment.getTaskId());
insertSeg.setSerial(segment.getSerial() - 1);
insertSeg.setEndNode(endCode.getId());
@@ -529,7 +526,7 @@
} else {
- return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
+ return mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, endCodeData, jam);
}
return true;
@@ -585,7 +582,7 @@
List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
Agv jamAgv = agvService.getById(jam.getJamAgv());
- List<String> jamDynamicNodes = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
+ List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
// jamDynamicNodes has sorted
String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
--
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