//package com.zy.acs.manager.core.service;
//
//import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
//import com.zy.acs.common.utils.GsonUtils;
//import com.zy.acs.common.utils.Utils;
//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;
//import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
//import com.zy.acs.manager.core.service.astart.NavigateNode;
//import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
//import com.zy.acs.manager.core.service.astart.WaveNodeType;
//import com.zy.acs.manager.manager.entity.*;
//import com.zy.acs.manager.manager.enums.JamStateType;
//import com.zy.acs.manager.manager.enums.SegmentStateType;
//import com.zy.acs.manager.manager.enums.TaskTypeType;
//import com.zy.acs.manager.manager.service.*;
//import com.zy.acs.manager.system.service.ConfigService;
//import lombok.extern.slf4j.Slf4j;
//import org.springframework.beans.factory.annotation.Autowired;
//import org.springframework.stereotype.Component;
//import org.springframework.transaction.annotation.Transactional;
//import org.springframework.transaction.interceptor.TransactionAspectSupport;
//
//import java.util.ArrayList;
//import java.util.Arrays;
//import java.util.Date;
//import java.util.List;
//import java.util.stream.Collectors;
//
///**
// * Wavefront
// * Created by vincent on 6/25/2024
// */
//@Slf4j
//@Component
//public class TrafficService {
//
//    @Autowired
//    private AgvService agvService;
//    @Autowired
//    private AgvDetailService agvDetailService;
//    @Autowired
//    private CodeService codeService;
//    @Autowired
//    private TravelService travelService;
//    @Autowired
//    private SegmentService segmentService;
//    @Autowired
//    private MainLxtService mainService;
//    @Autowired
//    private MainLockWrapService mainLockWrapService;
//    @Autowired
//    private MapService mapService;
//    @Autowired
//    private MapDataDispatcher mapDataDispatcher;
//    @Autowired
//    private SnowflakeIdWorker snowflakeIdWorker;
//    @Autowired
//    private AgvModelService agvModelService;
//    @Autowired
//    private RetreatNavigateService retreatNavigateService;
//    @Autowired
//    private ConfigService configService;
//    @Autowired
//    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);
//            if (null != algoExtensionTime && algoExtensionTime > 0) {
//                Thread.sleep(algoExtensionTime);
//            }
//            // ---------------------------
//
//            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，there hadn't any idle funSta，TaskTypeType：{}", segment.getAgvId(), FuncStaType.STANDBY);
////                            return;
////                        }
////
////                        segment.setState(SegmentStateType.INIT.toString());
////                        segment.setUpdateTime(now);
////                        if (!segmentService.updateById(segment)) {
////                            log.error("Segment [{}] failed to update ！！！", 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 ！！！", segment.getTravelId() + " - " + segment.getSerial());
////                            return;
////                        }
////                        return;
////                    }
////                }
////            }
//
//            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
//                return;
//            }
//            List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
//            if (!Cools.isEmpty(waitingSegList)) {
//                for (Segment waitingSeg : waitingSegList) {
//                    if (!waitingSeg.getId().equals(segment.getId())) {
////                        log.error("AGV[{}] 任务异常，服务器错误！！！", agv.getUuid());
//                        return;
//                    }
//                }
//            }
//
//            // dead lane
//            if (jamService.count(new LambdaQueryWrapper<Jam>()
//                    .eq(Jam::getJamAgv, agv.getId())
//                    .eq(Jam::getJamSeg, segment.getId())
//                    .eq(Jam::getCycleAvo, 1)
//                    .eq(Jam::getCycleCode, endNode)
//                    .eq(Jam::getState, JamStateType.RUNNING.toString())
//            ) > 0) {
//                return;
//            }
//
//            // execute -----------------------------------------------
//            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});
//
//            // * sync wave scope
//            if (!avoidWaveCalculator.calcWaveScope()) {
//                log.error("failed to calculate avoid wave matrix ...");
//                return;
//            }
//
//            // checkout path
//            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;
//            }
//
//            List<Segment> segmentList = new ArrayList<>();
//            segmentList.add(segment);
//
//            String lastCodeData = pathList.get(pathList.size() - 1);
//            if (!endCode.getData().equals(lastCodeData)) {
//                // slice
//                Code lastCode = codeService.getCacheByData(lastCodeData);
//
////                if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
////                    return;
////                }
//
//                // revert
//                segment.setState(SegmentStateType.INIT.toString());
//                segment.setUpdateTime(now);
//                if (!segmentService.updateById(segment)) {
//                    log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
//                }
//                segmentList.clear();
//
//                // new move seg
//                Segment insertSeg = new Segment();
//                insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
//                insertSeg.setTravelId(travel.getId());
//                insertSeg.setAgvId(agv.getId());
//                insertSeg.setTaskId(segment.getTaskId());
//                insertSeg.setSerial(segment.getSerial() - 1);
//                insertSeg.setEndNode(lastCode.getId());
//                insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
//                insertSeg.setState(SegmentStateType.WAITING.toString());
//                if (!segmentService.save(insertSeg)) {
//                    log.error("Segment [{}] failed to save ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                }
//                segmentList.add(insertSeg);
//
//            } else {
//
//                // complete first segment then merge behind segment
//                int serial = segment.getSerial();
//                boolean interrupt = false;
//                while (!interrupt) {
//
//                    Segment nextStep = segmentService.getNextStepOfInit(travel.getId(), serial);
//                    serial ++;
//                    if (null == nextStep) {
//                        interrupt = true;
//                    } else {
//                        if (nextStep.getEndNode() == endNode) {
//
//                            segmentList.add(nextStep);
//                        } else {
//                            interrupt = true;
//                        }
//                    }
//
//                }
//            }
//
//            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);
//            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//
//        }
//    }
//
//    private List<String> checkoutPath(Agv agv, Code startCode, Code endCode, Segment segment) {
//        Integer lev = null;
//        String agvNo = agv.getUuid();
//        Date now = new Date();
//        Jam jam = jamService.getJam(agv.getId(), startCode.getId(), segment.getId());
//        BlockSeverityType blockSeverity = BlockSeverityType.query(null == jam ? null : jam.getDuration());
//        // judge avoid of jam 如果已经在避让点（因为当前车执行了避让任务），那么则不能再去检索之前的阻塞路径
//        List<Jam> unfinishedOriginJamByCurrAgv = jamService.getUnfinishedOriginJamByAvo(agv.getId(), startCode.getId(), segment.getId());
//        List<String> blackPath = this.getBlackPathList(unfinishedOriginJamByCurrAgv);
//
//        // 结果集
//        List<String> pathList = new ArrayList<>();
//
//        // 无障碍解
//        List<String> unlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
//        // 避让解
//        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true, blackPath, segment);
//
//        if (!Cools.isEmpty(lockPathList) && // 存在避让解
//            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
//        ) {
//
//            pathList = lockPathList;
//        } else {
//
//            // preview path
//            List<String> draftPath = new ArrayList<>(unlockPathList);
//            if (blockSeverity.equals(BlockSeverityType.SEVERE)) {
//                unlockPathList.remove(endCode.getData());
//                blackPath.addAll(unlockPathList);
//                List<String> newUnlockPathList = mapService.checkoutPath(agvNo, startCode, endCode, false, blackPath, segment);
//                if (!Cools.isEmpty(newUnlockPathList)) {
//                    draftPath = newUnlockPathList;
//                }
//            }
//            // 可走行路径集合计算
//            List<BlockVehicleDto> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, draftPath, agvNo, pathList);    // jamAgvNo may was wave
//
//            if (!Cools.isEmpty(pathList)) {
//
//                if (!pathList.get(pathList.size() - 1).equals(endCode.getData())) {
//                    assert !Cools.isEmpty(blockVehicleList);
//
//                    boolean hasUnavoidableBlocks = blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable());
//                    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();
//                    }
//
//                    boolean hasCycleJam = blockVehicleList.stream().anyMatch(
//                            blockVehicleDto -> null != jamService.getCycleJam(agv.getId(), segment.getId(), blockVehicleDto.getVehicle())
//                    );
//                    if (hasCycleJam) {
//                        log.info("AGV[{}] waiting in place, because has cycle jam...", agvNo);
//                        pathList.clear();
//                    }
//                }
//
//            // 无可走行路径
//            } else {
//
//                if (Cools.isEmpty(blockVehicleList)) {
//                    log.warn("AGV[{}] can't reach to code: {}, because there is too many vehicle in the lane...", agvNo, endCode.getData());
//                } else {
//
//                    assert !Cools.isEmpty(blockVehicleList);
//                    Integer maxJamTimeoutFactor = null;
//
//                    // persist jam data
//                    jam = this.createOrUpdateJam(agv, startCode, segment, jam, draftPath);
//
//                    // ? has unAvoidable block vehicles
//                    if (blockVehicleList.stream().anyMatch(blockVehicleDto -> !blockVehicleDto.isAvoidable())) {
//
//                        // set factor of jam timeout
//                        maxJamTimeoutFactor = 1;
//                    } else {
//
//                        // ? already do notify to avoid
//                        if (!Cools.isEmpty(jam.getAvoAgv())
//                                && BlockVehicleDto.customContain(blockVehicleList, agvService.getById(jam.getAvoAgv()).getUuid())) {
//
//                            maxJamTimeoutFactor = 4;
//
//                        } else {
//
//                            // select optimal block vehicle
//                            String blockAgvNo = this.checkoutBestSolutionOfBlocks(blockVehicleList, segment);
//                            if (Cools.isEmpty(blockAgvNo)) {
//
//                                maxJamTimeoutFactor = 2;
//
//                            } else {
//
//                                // block vehicle info
//                                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()) && !blockAgvId.equals(jam.getAvoAgv())) {
//                                    jam = this.setupNewJam(jam, agv, startCode, segment, draftPath);
//                                }
//
//                                do {
//
//                                    // 阻塞车辆正在原地作业，等待 ===>> 超过等待时间，绕路
//                                    List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgvId, SegmentStateType.RUNNING.toString());
//                                    if (!Cools.isEmpty(runningSegList)) {
//                                        maxJamTimeoutFactor = 1;
//                                        break;
//                                    }
//
//                                    // 判断下个任务是否为原地任务，如果是则等待 ===>> 超过等待时间，绕路；如果不是，让阻塞车辆避让
//                                    List<Segment> waitingSegList = segmentService.getJustWaitingSeg(blockAgvId);
//                                    if (null != waitingSegList
//                                            && waitingSegList.stream().anyMatch(
//                                            waitingSeg -> waitingSeg.getEndNode().equals(codeService.getCacheByData(blockAgvCode).getId())
//                                    )) {
//                                        maxJamTimeoutFactor = 1;
//                                        break;
//                                    }
//
//                                    // notify block vehicle to avoid
//                                    if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, draftPath, agvNo, jam)) {
//                                        if (jam.getCycleAvo() == 1) {
//                                            jam.setCycleCode(endCode.getId());
//                                        }
//                                        jam.setAvoAgv(blockAgvId);
//                                        jam.setNotifyTime(new Date());
//                                        if (!jamService.updateById(jam)) {
//                                            throw new CoolException(jam.getUuid() + "-jam failed to update！！！");
//                                        }
//                                    } else {
//
//                                        maxJamTimeoutFactor = 1;
//                                    }
//
//                                } while (false);
//                            }
//
//                        }
//
//                    }
//
//                    // handle jam timeout
//                    if (null != maxJamTimeoutFactor) {
//                        if (System.currentTimeMillis() - jam.getStartTime().getTime() > (long) MapDataConstant.MAX_JAM_TIMEOUT * maxJamTimeoutFactor) {
//
//                            if (!Cools.isEmpty(lockPathList)) {
//
//                                pathList = lockPathList;
//                            } else {
//                                log.error("{}号车辆检索[{}] ===>> [{}]路径失败，原因：{}"
//                                        , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
//                            }
//                        } else {
//                            log.warn("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】"
//                                    , agvNo
//                                    , blockVehicleList.stream().map(BlockVehicleDto::getVehicle).collect(Collectors.toList()).toString()
//                            );
//                        }
//                    }
//
//                }
//
//            }
//        }
//
//        if (!Cools.isEmpty(pathList)) {
//
//            if (null != jam) {
//                boolean beDeprecate = false;
//                if (blockSeverity.equals(BlockSeverityType.SEVERE) && !Cools.isEmpty(jam.getJamPath())) {
//                    List<String> jamPath = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
//                    if (!this.comparePathLists(jamPath, pathList)) {    // jamPath >= pathList
//                        beDeprecate = true;
//                    }
//                }
//                jam.setEndTime(now);
//                jam.setUpdateTime(now);
//                jam.setState(beDeprecate ? JamStateType.DEPRECATED.toString() : JamStateType.FINISH.toString());
//                if (jamService.updateById(jam)) {
//                    if (beDeprecate) {
//                        // search previous jam that jamSeg from this segment
//                        List<Jam> previousJams = jamService.list(new LambdaQueryWrapper<Jam>()
//                                .eq(Jam::getJamSeg, segment.getId())
//                                .eq(Jam::getState, JamStateType.FINISH.toString())
//                        );
//                        for (Jam previousJam : previousJams) {
//                            previousJam.setState(JamStateType.DEPRECATED.toString());
//                            previousJam.setUpdateTime(now);
//                            if (!jamService.updateById(previousJam)) {
//                                log.error("Jam[{}] failed to update！！！", previousJam.getUuid());
//                            }
//                        }
//                    }
//                } else {
//                    log.error("Jam[{}] failed to update！！！", jam.getUuid());
//                }
//            }
//            // deal expired jam
//            for (Jam expiredJam : jamService.list(new LambdaQueryWrapper<Jam>()
//                    .eq(Jam::getJamAgv, agv.getId())
//                    .eq(Jam::getState, JamStateType.RUNNING.toString()))) {
//                expiredJam.setEndTime(now);
//                expiredJam.setUpdateTime(now);
//                expiredJam.setState(JamStateType.DEPRECATED.toString());
//                if (!jamService.updateById(expiredJam)) {
//                    log.error("Jam[{}] failed to update！！！", expiredJam.getUuid());
//                }
//            }
//
//        }
//
//        return pathList;
//    }
//
//    private List<BlockVehicleDto> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
//        List<BlockVehicleDto> blockVehicleList = new ArrayList<>();
//
//        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
//        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[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 (mapService.isWalkingByVehicle(lev, otherWave)) {
//                            blockVehicleList.add(new BlockVehicleDto(otherWave, false));
//                        } else {
//                            blockVehicleList.add(new BlockVehicleDto(otherWave, true));
//                        }
//                    }
//                    break;
//                }
//            }
//
//            pathList.add(codeData);
//        }
//
//        if (pathList.size() <= 1) {
//            pathList.clear();
//        }
//
//        return blockVehicleList.stream().distinct().collect(Collectors.toList());
//    }
//
//    /**
//     * avoidPathList include wave node and dynamic node
//     */
//    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {
//        Long agvId = agvService.getAgvId(agvNo);
//        if (!Cools.isEmpty(segmentService.getByAgvAndState(agvId, SegmentStateType.RUNNING.toString()))) {
//            log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
//            return false;
//        }
//
//        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, agvPosCode);
//        RetreatNavigateNode startNode = new RetreatNavigateNode(startMapIdx[0], startMapIdx[1], agvPosCode);
//
//        assert avoidPathList.size() >= 2;
//        RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
//        if (null == finalNode) {
//            log.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
//            return false;
//        }
//
//        String endCodeData = finalNode.getCodeData();
//        Code endCode = codeService.getCacheByData(endCodeData);
//
//        List<Segment> waitingSegList = segmentService.getByAgvAndState(agvId, SegmentStateType.WAITING.toString());
//        if (!Cools.isEmpty(waitingSegList)) {
//
//            if (waitingSegList.size() > 1) {
//                log.error("避让通知失败，{}号车辆存在多个等待中的Segment！！！", agvNo);
//                return false;
//            }
//            // revert
//            Date now = new Date();
//            for (Segment seg : waitingSegList) {
//                seg.setState(SegmentStateType.INIT.toString());
//                seg.setUpdateTime(now);
//                if (!segmentService.updateById(seg)) {
//                    log.error("Segment [{}] 更新失败 ！！！", seg.getTravelId() + " - " + seg.getSerial());
//                }
//            }
//            Segment segment = waitingSegList.get(0);
//
//            Segment insertSeg = new Segment();
//            insertSeg.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
//            insertSeg.setTravelId(segment.getTravelId());
//            insertSeg.setAgvId(agvId);
//            insertSeg.setTaskId(segment.getTaskId());
//            insertSeg.setSerial(segment.getSerial() - 1);
//            insertSeg.setEndNode(endCode.getId());
//            insertSeg.setPosType(TaskPosDto.PosType.MOVE.toString());
//            insertSeg.setState(SegmentStateType.WAITING.toString());
//            if (!segmentService.save(insertSeg)) {
//                log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
//                return false;
//            } else {
//                jam.setAvoSeg(insertSeg.getId());
//                jam.setAvoCode(endCode.getId());
//            }
//
//        } else {
//
//            return mainLockWrapService.buildMinorTask(agvId, TaskTypeType.MOVE, endCodeData, jam);
//        }
//
//        return true;
//    }
//
//    private Jam createOrUpdateJam(Agv agv, Code startCode, Segment segment, Jam jam, List<String> jamPath) {
//        if (jam == null) {
//            jam = new Jam();
//            jam.setUuid(String.valueOf(snowflakeIdWorker.nextId()).substring(3));
//            jam.setJamAgv(agv.getId());
//            jam.setJamCode(startCode.getId());
//            jam.setJamSeg(segment.getId());
//            jam.setJamPath(GsonUtils.toJson(jamPath));
//            jam.setStartTime(new Date());
//            jam.setState(JamStateType.RUNNING.toString());
//            if (!jamService.save(jam)) {
//                log.error("AGV[{}] failed to save jam", agv.getUuid());
//                throw new CoolException("failed to save jam");
//            }
//        } else {
//            jam.setDuration(System.currentTimeMillis() - jam.getStartTime().getTime());
//            if (!jamService.updateById(jam)) {
//                log.error("AGV[{}] failed to update jam", agv.getUuid());
//            }
//        }
//        return jam;
//    }
//
//    private Jam setupNewJam(Jam originJam, Agv agv, Code startCode, Segment segment, List<String> draftPath) {
//        originJam.setUpdateTime(new Date());
//        originJam.setState(JamStateType.FINISH.toString());
//        if (!jamService.updateById(originJam)) {
//            log.error("Jam[{}] failed to update", originJam.getUuid());
//            return originJam;
//        } else {
//            return this.createOrUpdateJam(
//                    agv
//                    , startCode
//                    , segment
//                    , null
//                    , draftPath
//            );
//        }
//    }
//
//    private List<String> getBlackPathList(List<Jam> unfinishedOriginJamByCurrAgv) {
//        List<String> blackPathList = new ArrayList<>();
//        Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
//        if (!Cools.isEmpty(unfinishedOriginJamByCurrAgv)) {
//            for (Jam jam : unfinishedOriginJamByCurrAgv) {
//                if (!Cools.isEmpty(jam.getJamPath())) {
//
//                    List<String> list = GsonUtils.fromJsonToList(jam.getJamPath(), String.class);
//
//                    Agv jamAgv = agvService.getById(jam.getJamAgv());
//                    List<String> jamDynamicNodes = mapService.queryCodeListFromDynamicNode(lev, jamAgv.getUuid());
//                    // jamDynamicNodes has sorted
//                    String firstCodeNode = jamDynamicNodes.stream().findFirst().orElse(null);
//
//                    if (!Cools.isEmpty(firstCodeNode)) {
//                        int idx = list.indexOf(firstCodeNode);
//                        if (idx != -1) {
//                            list = new ArrayList<>(list.subList(idx, list.size()));
//
//                            // the wave of first node
//                            Double avoidDistance = MapDataUtils.getVehicleWaveSafeDistance(
//                                    agvModelService.getById(jamAgv.getAgvModel()).getDiameter(),
//                                    MapDataConstant.MAX_DISTANCE_BETWEEN_ADJACENT_AGV_FACTOR
//                            );
//                            List<String> waveCodeList = mapService.getWaveScopeByCode(lev, firstCodeNode, avoidDistance)
//                                    .stream().map(NavigateNode::getCodeData).distinct().collect(Collectors.toList());
//                            list.addAll(waveCodeList);
//                        } else {
//                            // 如果被阻塞车辆已经不在原来的阻塞路径中，考虑避让车走行时不需要把之前的阻塞路径加入黑名单
//                            list = new ArrayList<>();
//                        }
//                    }
//
//                    blackPathList.addAll(list);
//                }
//            }
//        }
//        return blackPathList.stream().distinct().collect(Collectors.toList());
//    }
//
//    private String checkoutBestSolutionOfBlocks(List<BlockVehicleDto> blockVehicleList, Segment segment) {
//        assert !Cools.isEmpty(blockVehicleList);
//        for (BlockVehicleDto blockVehicleDto : blockVehicleList) {
//            if (!blockVehicleDto.isAvoidable()) {
//                continue;
//            }
//            // 当前vehicle正在进行避让作业
//            if (!Cools.isEmpty(jamService.getUnfinishedAvoSegByAvo(blockVehicleDto.getVehicle(), null))) {
//                continue;
//            }
//            return blockVehicleDto.getVehicle();
//        }
//        return null;
//    }
//
//    public boolean comparePathLists(List<String> list1, List<String> list2) {
//        if (list1.equals(list2)) {
//            return true;
//        }
//        if (list1.containsAll(list2)) {
//            return true;
//        }
//        return false;
//    }
//
//    /**
//     * 1. the jam was deprecated
//     * 2. the jam segment is finished
//     *
//     * all these by avoid segment
//     */
//    private boolean isExpiredJamByAvo(Long avoSeg) {
//        List<Jam> jamList = jamService.list(new LambdaQueryWrapper<Jam>()
////                .eq(Jam::getAvoAgv, avoAgv)
//                .eq(Jam::getAvoSeg, avoSeg));
//        if (Cools.isEmpty(jamList)) {
//            return false;
//        }
//        if (jamList.size() > 1) {
//            log.error("AvoSeg[id = {}] seg data has exception, result in two jams", avoSeg);
//        }
//        Jam jam = jamList.get(0);
//        if (jam.getState().equals(JamStateType.DEPRECATED.toString())) {
//            return true;
//        }
//        Segment jamSegment = segmentService.getById(jam.getJamSeg());
//        if (jamSegment.getState().equals(SegmentStateType.FINISH.toString())) {
//            return true;
//        }
//        return false;
//    }
//
//}