From fe4c6c0439e0dc00f0b09d1818735065d38d3078 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 05 十一月 2024 17:11:07 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 50 +++++++++++++++++++++++++++++++++-----------------
1 files changed, 33 insertions(+), 17 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 03ca92f..b32dc23 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
@@ -6,8 +6,8 @@
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.BlockVehicleDto;
import com.zy.acs.manager.core.domain.TaskPosDto;
-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;
@@ -24,6 +24,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
+import java.util.stream.Collectors;
/**
* Wavefront
@@ -232,13 +233,15 @@
} else {
// 鍙蛋琛岃矾寰勯泦鍚堣绠�
- List<String> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
+ List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList); // jamAgvNo may was wave
if (!Cools.isEmpty(pathList)) {
- if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
- String blockAgvNo = blockVehicleList.get(0);
- if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
+ if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
+
+ assert !Cools.isEmpty(blockVehicleList);
+ if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())
+ && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
pathList.clear();
}
}
@@ -249,7 +252,14 @@
// 闃诲杞﹁締鍒楄〃
assert !Cools.isEmpty(blockVehicleList);
- String blockAgvNo = blockVehicleList.get(0);
+ String blockAgvNo = blockVehicleList.stream()
+ .filter(BlockVehicleDto::isAvoidable)
+ .map(BlockVehicleDto::getVehicle)
+ .findFirst().orElse(null);
+ // 濡傛灉鍏ㄦ槸杩愯涓殑闃诲agv锛屽垯涓嶈繘琛岄伩璁╅�昏緫 todo
+ if (Cools.isEmpty(blockAgvNo)) {
+ return pathList;
+ }
boolean initJamCache = false;
if (null == jam) {
@@ -416,8 +426,8 @@
return pathList;
}
- private List<String> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
- List<String> blockVehicleList = new ArrayList<>();
+ 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);
@@ -430,18 +440,24 @@
List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
if (!Cools.isEmpty(otherWaveList)) {
- blockVehicleList.addAll(otherWaveList);
+ for (String otherWave : otherWaveList) {
+ if (1 < mapDataDispatcher.queryCodeListFromDynamicNode(lev, otherWave).size()) {
+ blockVehicleList.add(new BlockVehicleDto(otherWave, false));
+ } else {
+ blockVehicleList.add(new BlockVehicleDto(otherWave, true));
+ }
+ }
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)) {
- blockVehicleList.add(vehicle);
- 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)) {
+// blockVehicleList.add(vehicle);
+// break;
+// }
pathList.add(code);
}
@@ -450,7 +466,7 @@
pathList.clear();
}
- return blockVehicleList;
+ return blockVehicleList.stream().distinct().collect(Collectors.toList());
}
/**
--
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