From ebd2f4397a92c6a5096de1b86d59154363344720 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 13 五月 2025 08:48:15 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java | 148 ++++++++++++++++++++++++++++++++++++------------
1 files changed, 110 insertions(+), 38 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 76a5f58..775f301 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
@@ -71,11 +71,21 @@
private JamService jamService;
@Autowired
private AvoidWaveCalculator avoidWaveCalculator;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private FuncStaService funcStaService;
@Transactional
public synchronized void trigger(Segment segment) {
try {
Date now = new Date();
+
+ // deprecate jam
+ if (this.isExpiredJamByAvo(segment.getId())) {
+ mainService.settleSegmentList(Utils.singletonList(segment), null);
+ return;
+ }
// temporary -----------------
Integer algoExtensionTime = configService.getVal("algoExtensionTime", Integer.class);
@@ -93,6 +103,77 @@
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;
}
@@ -117,12 +198,6 @@
return;
}
- // deprecate jam
- if (this.isExpiredJamByAvo(segment.getId())) {
- mainService.settleSegmentList(Utils.singletonList(segment), null);
- return;
- }
-
// execute -----------------------------------------------
// ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
@@ -133,9 +208,11 @@
}
// 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 +223,7 @@
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 +277,9 @@
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);
@@ -304,28 +383,28 @@
} else {
// block vehicle info
- Agv blockAgv = agvService.selectByUuid(blockAgvNo);
- String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();
+ Long blockAgvId = agvService.getAgvId(blockAgvNo);
+ 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()) && !blockAgv.getId().equals(jam.getAvoAgv())) {
+ if (!Cools.isEmpty(jam.getAvoAgv(), jam.getAvoSeg()) && !blockAgvId.equals(jam.getAvoAgv())) {
jam = this.setupNewJam(jam, agv, startCode, segment, draftPath);
}
do {
// 闃诲杞﹁締姝ｅ湪鍘熷湴浣滀笟锛岀瓑寰� ===>> 瓒呰繃绛夊緟鏃堕棿锛岀粫璺�
- List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
+ List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgvId, SegmentStateType.RUNNING.toString());
if (!Cools.isEmpty(runningSegList)) {
maxJamTimeoutFactor = 1;
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
- List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgv.getId());
+ 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;
@@ -336,7 +415,7 @@
if (jam.getCycleAvo() == 1) {
jam.setCycleCode(endCode.getId());
}
- jam.setAvoAgv(blockAgv.getId());
+ jam.setAvoAgv(blockAgvId);
jam.setNotifyTime(new Date());
if (!jamService.updateById(jam)) {
throw new CoolException(jam.getUuid() + "-jam failed to update锛侊紒锛�");
@@ -355,7 +434,7 @@
// handle jam timeout
if (null != maxJamTimeoutFactor) {
- if (System.currentTimeMillis() - jam.getStartTime().getTime() > MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
+ if (System.currentTimeMillis() - jam.getStartTime().getTime() > (long) MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
if (!Cools.isEmpty(lockPathList)) {
@@ -429,19 +508,20 @@
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 +531,7 @@
}
}
-// 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 +545,8 @@
* 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 +562,9 @@
}
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 +585,7 @@
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 +601,7 @@
} else {
- return mainLockWrapService.buildMinorTask(agv, TaskTypeType.MOVE, endCodeData, jam);
+ return mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, endCodeData, jam);
}
return true;
@@ -585,7 +657,7 @@
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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