package com.zy.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.alibaba.fastjson.serializer.SerializerFeature;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.enums.NotifyMsgType;
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import com.zy.asrs.domain.vo.StationCycleCapacityVo;
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import com.zy.asrs.domain.vo.StationCycleLoopVo;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.NotifyUtils;
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import com.zy.common.entity.FindCrnNoResult;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.NavigateUtils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.StationObjModel;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.thread.StationThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.*;
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@Component
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public class StationOperateProcessUtils {
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private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private WmsOperateUtils wmsOperateUtils;
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@Autowired
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private NotifyUtils notifyUtils;
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@Autowired
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private NavigateUtils navigateUtils;
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@Autowired
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private BasStationService basStationService;
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@Autowired
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private StationCycleCapacityService stationCycleCapacityService;
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//执行输送站点入库任务
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public synchronized void stationInExecute() {
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try {
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DispatchLimitConfig limitConfig = getDispatchLimitConfig();
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int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
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LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
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List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
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for (BasDevp basDevp : basDevps) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();
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List<StationObjModel> list = basDevp.getBarcodeStationList$();
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for (StationObjModel entity : list) {
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Integer stationId = entity.getStationId();
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if (!stationMap.containsKey(stationId)) {
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continue;
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}
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StationProtocol stationProtocol = stationMap.get(stationId);
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if (stationProtocol == null) {
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continue;
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}
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Object lock = redisUtil.get(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId);
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if (lock != null) {
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continue;
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}
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//满足自动、有物、有工作号
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if (stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() > 0
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) {
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//检测任务是否生成
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
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if (wrkMast == null) {
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continue;
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}
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if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
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continue;
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}
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String locNo = wrkMast.getLocNo();
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FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
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if (findCrnNoResult == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
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continue;
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}
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Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationId);
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if (targetStationId == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationId);
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continue;
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}
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LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), targetStationId, loadGuardState);
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if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
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return;
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}
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationId, targetStationId, 0);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
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continue;
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}
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wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
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wrkMast.setSourceStaNo(stationProtocol.getStationId());
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wrkMast.setStaNo(targetStationId);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
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News.info("输送站点入库命令下发成功，站点号={}，工作号={}，命令数据={}", stationId, wrkMast.getWrkNo(), JSON.toJSONString(command));
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redisUtil.set(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId, "lock", 5);
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loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
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saveLoopLoadReserve(wrkMast.getWrkNo(), loopHitResult);
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}
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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//执行堆垛机输送站点出库任务
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public synchronized void crnStationOutExecute() {
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try {
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DispatchLimitConfig limitConfig = getDispatchLimitConfig();
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int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
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LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
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.isNotNull("crn_no")
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);
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List<Integer> outOrderList = getAllOutOrderList();
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for (WrkMast wrkMast : wrkMasts) {
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Object infoObj = redisUtil.get(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
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if (infoObj == null) {
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News.info("出库任务{}数据缓存不存在", wrkMast.getWrkNo());
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continue;
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}
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StationObjModel stationObjModel = JSON.parseObject(infoObj.toString(), StationObjModel.class);
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId());
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if (lock != null) {
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continue;
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}
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//满足自动、有物、工作号0
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if (stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() == 0
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) {
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Integer moveStaNo = wrkMast.getStaNo();
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if (!outOrderList.isEmpty()) {
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List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
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for (int i = nodes.size() - 1; i >= 0; i--) {
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NavigateNode node = nodes.get(i);
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JSONObject v = JSONObject.parseObject(node.getNodeValue());
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if (v != null) {
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Integer stationId = v.getInteger("stationId");
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if (outOrderList.contains(stationId)) {
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moveStaNo = stationId;
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break;
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}
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}
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}
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}
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LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
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if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
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return;
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}
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
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continue;
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}
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wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
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News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
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redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
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redisUtil.del(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
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currentStationTaskCountRef[0]++;
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loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
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saveLoopLoadReserve(wrkMast.getWrkNo(), loopHitResult);
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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//执行双工位堆垛机输送站点出库任务
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public synchronized void dualCrnStationOutExecute() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
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.isNotNull("dual_crn_no")
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);
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for (WrkMast wrkMast : wrkMasts) {
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Object infoObj = redisUtil.get(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo());
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if (infoObj == null) {
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News.info("出库任务{}数据缓存不存在", wrkMast.getWrkNo());
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continue;
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}
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StationObjModel stationObjModel = JSON.parseObject(infoObj.toString(), StationObjModel.class);
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId());
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if (lock != null) {
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continue;
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}
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//满足自动、有物、工作号0
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if (stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() == 0
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) {
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
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continue;
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}
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wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
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notifyUtils.notify(String.valueOf(SlaveType.Devp), stationObjModel.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN, null);
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News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
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redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
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redisUtil.del(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo());
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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//检测输送站点出库任务执行完成
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public synchronized void stationOutExecuteFinish() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
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for (WrkMast wrkMast : wrkMasts) {
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Integer wrkNo = wrkMast.getWrkNo();
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Integer targetStaNo = wrkMast.getStaNo();
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boolean complete = false;
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BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
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if (basStation == null) {
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continue;
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}
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (stationProtocol.getTaskNo().equals(wrkNo)) {
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complete = true;
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}
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if (complete) {
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wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
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wrkMast.setIoTime(new Date());
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wrkMastService.updateById(wrkMast);
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notifyUtils.notify(String.valueOf(SlaveType.Devp), basStation.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
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redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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// 检测任务转完成
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public synchronized void checkTaskToComplete() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
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for (WrkMast wrkMast : wrkMasts) {
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Integer wrkNo = wrkMast.getWrkNo();
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Integer targetStaNo = wrkMast.getStaNo();
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Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkNo);
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if (lock != null) {
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continue;
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}
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boolean complete = false;
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BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
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if (basStation == null) {
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continue;
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}
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.getTaskNo().equals(wrkNo)) {
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complete = true;
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}
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if (complete) {
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wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
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wrkMast.setIoTime(new Date());
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wrkMastService.updateById(wrkMast);
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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//检测输送站点是否运行堵塞
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public synchronized void checkStationRunBlock() {
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try {
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List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
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for (BasDevp basDevp : basDevps) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
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if (stationThread == null) {
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continue;
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}
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List<Integer> runBlockReassignLocStationList = new ArrayList<>();
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for (StationObjModel stationObjModel : basDevp.getRunBlockReassignLocStationList$()) {
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runBlockReassignLocStationList.add(stationObjModel.getStationId());
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}
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List<StationProtocol> list = stationThread.getStatus();
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for (StationProtocol stationProtocol : list) {
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if (stationProtocol.isAutoing()
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&& stationProtocol.isLoading()
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&& stationProtocol.getTaskNo() > 0
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&& stationProtocol.isRunBlock()
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) {
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WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
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if (wrkMast == null) {
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News.info("输送站点号={} 运行阻塞，但无法找到对应任务，工作号={}", stationProtocol.getStationId(), stationProtocol.getTaskNo());
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continue;
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}
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Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo());
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if (lock != null) {
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continue;
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}
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redisUtil.set(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo(), "lock", 15);
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if (wrkMast.getIoType() == WrkIoType.IN.id && runBlockReassignLocStationList.contains(stationProtocol.getStationId())) {
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//站点处于重新分配库位区域
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//运行堵塞，重新申请任务
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String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
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if (response == null) {
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News.taskError(wrkMast.getWrkNo(), "请求WMS重新分配库位接口失败，接口未响应！！！response：{}", response);
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continue;
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}
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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String sourceLocNo = wrkMast.getLocNo();
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String locNo = dto.getLocNo();
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LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
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if (sourceLocMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位信息不存在", sourceLocNo);
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continue;
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}
|
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if (!sourceLocMast.getLocSts().equals("S")) {
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News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位状态不处于入库预约", sourceLocNo);
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continue;
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}
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LocMast locMast = locMastService.queryByLoc(locNo);
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位信息不存在", locNo);
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continue;
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}
|
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if (!locMast.getLocSts().equals("O")) {
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News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位状态不处于空库位", locNo);
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continue;
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}
|
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FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
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if (findCrnNoResult == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
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continue;
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}
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Integer crnNo = findCrnNoResult.getCrnNo();
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Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
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if (targetStationId == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationProtocol.getStationId());
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continue;
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}
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StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
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if (command == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
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continue;
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}
|
|
//更新源库位
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sourceLocMast.setLocSts("O");
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sourceLocMast.setModiTime(new Date());
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locMastService.updateById(sourceLocMast);
|
|
//更新目标库位
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locMast.setLocSts("S");
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locMast.setModiTime(new Date());
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locMastService.updateById(locMast);
|
|
//更新工作档数据
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wrkMast.setLocNo(locNo);
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wrkMast.setStaNo(targetStationId);
|
|
if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
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wrkMast.setCrnNo(crnNo);
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} else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
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wrkMast.setDualCrnNo(crnNo);
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} else {
|
throw new CoolException("未知设备类型");
|
}
|
|
if (wrkMastService.updateById(wrkMast)) {
|
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
|
}
|
} else {
|
News.error("请求WMS接口失败！！！response：{}", response);
|
}
|
} else {
|
//运行堵塞，重新计算路线
|
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
|
if (command == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
|
continue;
|
}
|
|
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
|
News.info("输送站点堵塞后重新计算路径命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
//获取输送线任务数量
|
public synchronized int getCurrentStationTaskCount() {
|
return countCurrentStationTask();
|
}
|
|
// 检测出库排序
|
public synchronized void checkStationOutOrder() {
|
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
|
for (BasDevp basDevp : basDevps) {
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
|
if (stationThread == null) {
|
continue;
|
}
|
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
|
List<StationObjModel> orderList = basDevp.getOutOrderList$();
|
for (StationObjModel stationObjModel : orderList) {
|
StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
|
if (stationProtocol == null) {
|
continue;
|
}
|
|
if (!stationProtocol.isAutoing()) {
|
continue;
|
}
|
|
if (!stationProtocol.isLoading()) {
|
continue;
|
}
|
|
if (stationProtocol.getTaskNo() <= 0) {
|
continue;
|
}
|
|
if (!stationProtocol.getStationId().equals(stationProtocol.getTargetStaNo())) {
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
if (Cools.isEmpty(wrkMast.getBatch())) {
|
continue;
|
}
|
|
if (Cools.isEmpty(wrkMast.getBatchSeq())) {
|
continue;
|
}
|
|
List<WrkMast> batchWrkList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
|
.eq("batch", wrkMast.getBatch())
|
.orderBy("batch")
|
);
|
if (batchWrkList.isEmpty()) {
|
continue;
|
}
|
WrkMast firstWrkMast = batchWrkList.get(0);
|
Integer currentBatchSeq = firstWrkMast.getBatchSeq();
|
|
List<NavigateNode> initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
|
|
String commandType = "none";
|
Integer seq = getOutStationBatchSeq(initPath, stationProtocol.getStationId(), wrkMast.getBatch());
|
if (seq == null) {
|
if (currentBatchSeq.equals(wrkMast.getBatchSeq())) {
|
commandType = "toTarget";
|
}else {
|
commandType = "toCircle";
|
}
|
}else {
|
seq++;
|
if (seq.equals(wrkMast.getBatchSeq()) && currentBatchSeq.equals(wrkMast.getBatchSeq())) {
|
commandType = "toTarget";
|
}else {
|
commandType = "toCircle";
|
}
|
}
|
|
if (commandType.equals("toTarget")) {
|
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
|
if (command == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
|
continue;
|
}
|
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
|
News.info("{}任务直接去目标点", wrkMast.getWrkNo());
|
} else if (commandType.equals("toCircle")) {
|
Integer circleTarget = null;
|
for (NavigateNode node : initPath) {
|
JSONObject v = JSONObject.parseObject(node.getNodeValue());
|
if (v != null) {
|
Integer stationId = v.getInteger("stationId");
|
try {
|
List<NavigateNode> enableMovePath = navigateUtils.calcByStationId(stationProtocol.getStationId(), stationId);
|
if (enableMovePath.isEmpty()) {
|
continue;
|
}
|
} catch (Exception e) {
|
continue;
|
}
|
|
circleTarget = stationId;
|
break;
|
}
|
}
|
|
if (circleTarget == null) {
|
continue;
|
}
|
|
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), circleTarget, 0);
|
if (command == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
|
continue;
|
}
|
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
|
redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkMast.getWrkNo(), JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
|
News.info("{}任务进行绕圈", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
// 监控绕圈站点
|
public synchronized void watchCircleStation() {
|
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
|
for (BasDevp basDevp : basDevps) {
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
|
if (stationThread == null) {
|
continue;
|
}
|
|
List<Integer> outOrderList = basDevp.getOutOrderIntList();
|
|
for (StationProtocol stationProtocol : stationThread.getStatus()) {
|
if (!stationProtocol.isAutoing()) {
|
continue;
|
}
|
|
if (!stationProtocol.isLoading()) {
|
continue;
|
}
|
|
if (stationProtocol.getTaskNo() <= 0) {
|
continue;
|
}
|
|
Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + stationProtocol.getTaskNo());
|
if (circleObj == null) {
|
continue;
|
}
|
|
StationCommand circleCommand = JSON.parseObject(circleObj.toString(), StationCommand.class);
|
if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
Integer moveStaNo = wrkMast.getStaNo();
|
|
if (!outOrderList.isEmpty()) {
|
List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
|
for (int i = nodes.size() - 1; i >= 0; i--) {
|
NavigateNode node = nodes.get(i);
|
JSONObject v = JSONObject.parseObject(node.getNodeValue());
|
if (v != null) {
|
Integer stationId = v.getInteger("stationId");
|
if (outOrderList.contains(stationId)) {
|
moveStaNo = stationId;
|
break;
|
}
|
}
|
}
|
}
|
|
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
|
if (command == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
|
continue;
|
}
|
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
|
}
|
}
|
}
|
|
public List<Integer> getAllOutOrderList() {
|
List<Integer> list = new ArrayList<>();
|
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
|
for (BasDevp basDevp : basDevps) {
|
List<Integer> orderList = basDevp.getOutOrderIntList();
|
list.addAll(orderList);
|
}
|
return list;
|
}
|
|
public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
|
List<Integer> checkList = new ArrayList<>();
|
for (int i = pathList.size() - 1; i >= 0; i--) {
|
NavigateNode node = pathList.get(i);
|
JSONObject v = JSONObject.parseObject(node.getNodeValue());
|
if (v != null) {
|
Integer stationId = v.getInteger("stationId");
|
if (searchStationId.equals(stationId)) {
|
break;
|
} else {
|
checkList.add(stationId);
|
}
|
}
|
}
|
|
HashMap<String, Integer> batchMap = new HashMap<>();
|
for (Integer station : checkList) {
|
BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", station));
|
if (basStation == null) {
|
continue;
|
}
|
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
|
if (stationThread == null) {
|
continue;
|
}
|
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
|
StationProtocol checkStationProtocol = statusMap.get(station);
|
if (checkStationProtocol == null) {
|
continue;
|
}
|
if (checkStationProtocol.getTaskNo() > 0) {
|
WrkMast checkWrkMast = wrkMastService.selectByWorkNo(checkStationProtocol.getTaskNo());
|
if (checkWrkMast == null) {
|
continue;
|
}
|
|
if (!Cools.isEmpty(checkWrkMast.getBatch())) {
|
batchMap.put(checkWrkMast.getBatch(), checkWrkMast.getBatchSeq());
|
}
|
}
|
}
|
|
Integer seq = batchMap.get(searchBatch);
|
return seq;
|
}
|
|
private int countCurrentStationTask() {
|
int currentStationTaskCount = 0;
|
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
|
for (BasDevp basDevp : basDevps) {
|
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
|
if (stationThread == null) {
|
continue;
|
}
|
|
for (StationProtocol stationProtocol : stationThread.getStatus()) {
|
if (stationProtocol.getTaskNo() > 0) {
|
currentStationTaskCount++;
|
}
|
}
|
}
|
return currentStationTaskCount;
|
}
|
|
private boolean isDispatchBlocked(DispatchLimitConfig config,
|
int currentStationTaskCount,
|
LoadGuardState loadGuardState,
|
boolean needReserveLoopLoad) {
|
if (config.loopModeEnable) {
|
double currentLoad = loadGuardState.currentLoad();
|
if (currentLoad >= config.circleMaxLoadLimit) {
|
News.warn("当前承载量达到上限，已停止站点任务下发。当前承载量={}，上限={}", formatPercent(currentLoad), formatPercent(config.circleMaxLoadLimit));
|
return true;
|
}
|
|
if (needReserveLoopLoad) {
|
double reserveLoad = loadGuardState.loadAfterReserve();
|
if (reserveLoad >= config.circleMaxLoadLimit) {
|
News.warn("预占后承载量达到上限，已停止站点任务下发。预占后承载量={}，上限={}", formatPercent(reserveLoad), formatPercent(config.circleMaxLoadLimit));
|
return true;
|
}
|
}
|
}
|
|
if (config.stationMaxTaskCount > 0 && currentStationTaskCount >= config.stationMaxTaskCount) {
|
News.warn("输送站点任务数量达到上限，已停止站点任务下发。当前任务数={}，上限={}", currentStationTaskCount, config.stationMaxTaskCount);
|
return true;
|
}
|
return false;
|
}
|
|
private LoadGuardState buildLoadGuardState(DispatchLimitConfig config) {
|
LoadGuardState state = new LoadGuardState();
|
if (!config.loopModeEnable) {
|
return state;
|
}
|
|
StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
|
if (capacityVo == null) {
|
return state;
|
}
|
|
state.totalStationCount = toNonNegative(capacityVo.getTotalStationCount());
|
state.projectedTaskStationCount = toNonNegative(capacityVo.getTaskStationCount());
|
|
List<StationCycleLoopVo> loopList = capacityVo.getLoopList();
|
if (loopList != null) {
|
for (StationCycleLoopVo loopVo : loopList) {
|
if (loopVo == null || loopVo.getStationIdList() == null) {
|
continue;
|
}
|
Integer loopNo = loopVo.getLoopNo();
|
for (Integer stationId : loopVo.getStationIdList()) {
|
if (stationId != null) {
|
if (loopNo != null) {
|
state.stationLoopNoMap.put(stationId, loopNo);
|
}
|
}
|
}
|
}
|
}
|
return state;
|
}
|
|
private LoopHitResult findPathLoopHit(DispatchLimitConfig config,
|
Integer sourceStationId,
|
Integer targetStationId,
|
LoadGuardState loadGuardState) {
|
if (!config.loopModeEnable) {
|
return LoopHitResult.NO_HIT;
|
}
|
if (sourceStationId == null || targetStationId == null) {
|
return LoopHitResult.NO_HIT;
|
}
|
if (loadGuardState.stationLoopNoMap.isEmpty()) {
|
return LoopHitResult.NO_HIT;
|
}
|
|
try {
|
List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, targetStationId);
|
if (nodes == null || nodes.isEmpty()) {
|
return LoopHitResult.NO_HIT;
|
}
|
|
for (NavigateNode node : nodes) {
|
Integer stationId = getStationIdFromNode(node);
|
if (stationId == null) {
|
continue;
|
}
|
Integer loopNo = loadGuardState.stationLoopNoMap.get(stationId);
|
if (loopNo != null) {
|
return new LoopHitResult(true, loopNo, stationId);
|
}
|
}
|
} catch (Exception e) {
|
return LoopHitResult.NO_HIT;
|
}
|
|
return LoopHitResult.NO_HIT;
|
}
|
|
private Integer getStationIdFromNode(NavigateNode node) {
|
if (node == null || isBlank(node.getNodeValue())) {
|
return null;
|
}
|
try {
|
JSONObject v = JSONObject.parseObject(node.getNodeValue());
|
if (v == null) {
|
return null;
|
}
|
return v.getInteger("stationId");
|
} catch (Exception e) {
|
return null;
|
}
|
}
|
|
private int toNonNegative(Integer value) {
|
if (value == null || value < 0) {
|
return 0;
|
}
|
return value;
|
}
|
|
private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
|
if (wrkNo == null || wrkNo <= 0 || loopHitResult == null || !loopHitResult.isThroughLoop()) {
|
return;
|
}
|
JSONObject reserveJson = new JSONObject();
|
reserveJson.put("wrkNo", wrkNo);
|
reserveJson.put("loopNo", loopHitResult.getLoopNo());
|
reserveJson.put("hitStationId", loopHitResult.getHitStationId());
|
reserveJson.put("createTime", System.currentTimeMillis());
|
redisUtil.hset(RedisKeyType.STATION_CYCLE_LOAD_RESERVE.key, String.valueOf(wrkNo), reserveJson.toJSONString());
|
redisUtil.expire(RedisKeyType.STATION_CYCLE_LOAD_RESERVE.key, LOOP_LOAD_RESERVE_EXPIRE_SECONDS);
|
}
|
|
private DispatchLimitConfig getDispatchLimitConfig() {
|
DispatchLimitConfig config = new DispatchLimitConfig();
|
Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
|
if (!(systemConfigMapObj instanceof Map)) {
|
return config;
|
}
|
Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;
|
|
config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
|
String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
|
if (isBlank(loopModeValue)) {
|
loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
|
}
|
if (isBlank(loopModeValue)) {
|
loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
|
}
|
config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);
|
|
String stationMaxTaskCountValue = getConfigValue(systemConfigMap, "stationMaxTaskCountLimit");
|
if (isBlank(stationMaxTaskCountValue)) {
|
stationMaxTaskCountValue = getConfigValue(systemConfigMap, "stationMaxTaskCount");
|
}
|
if (isBlank(stationMaxTaskCountValue)) {
|
stationMaxTaskCountValue = getConfigValue(systemConfigMap, "conveyorStationTaskLimit");
|
}
|
config.stationMaxTaskCount = parseInt(stationMaxTaskCountValue, config.stationMaxTaskCount);
|
|
return config;
|
}
|
|
private String getConfigValue(Map<?, ?> configMap, String key) {
|
Object value = configMap.get(key);
|
if (value == null) {
|
return null;
|
}
|
return String.valueOf(value).trim();
|
}
|
|
private boolean parseBoolean(String value, boolean defaultValue) {
|
if (isBlank(value)) {
|
return defaultValue;
|
}
|
String lowValue = value.toLowerCase(Locale.ROOT);
|
if ("y".equals(lowValue) || "yes".equals(lowValue) || "true".equals(lowValue)
|
|| "1".equals(lowValue) || "on".equals(lowValue)) {
|
return true;
|
}
|
if ("n".equals(lowValue) || "no".equals(lowValue) || "false".equals(lowValue)
|
|| "0".equals(lowValue) || "off".equals(lowValue)) {
|
return false;
|
}
|
return defaultValue;
|
}
|
|
private double parseLoadLimit(String value, double defaultValue) {
|
if (isBlank(value)) {
|
return defaultValue;
|
}
|
try {
|
String normalized = value.replace("%", "").trim();
|
double parsed = Double.parseDouble(normalized);
|
if (parsed > 1.0) {
|
parsed = parsed / 100.0;
|
}
|
if (parsed < 0.0) {
|
return 0.0;
|
}
|
if (parsed > 1.0) {
|
return 1.0;
|
}
|
return parsed;
|
} catch (Exception e) {
|
return defaultValue;
|
}
|
}
|
|
private int parseInt(String value, int defaultValue) {
|
if (isBlank(value)) {
|
return defaultValue;
|
}
|
try {
|
int parsed = Integer.parseInt(value.trim());
|
return parsed < 0 ? defaultValue : parsed;
|
} catch (Exception e) {
|
return defaultValue;
|
}
|
}
|
|
private String formatPercent(double value) {
|
return String.format(Locale.ROOT, "%.1f%%", value * 100.0);
|
}
|
|
private boolean isBlank(String value) {
|
return value == null || value.trim().isEmpty();
|
}
|
|
private static class DispatchLimitConfig {
|
// 圈最大承载能力，默认80%
|
private double circleMaxLoadLimit = 0.8d;
|
// 是否启用绕圈模式（仅启用时才生效承载限制）
|
private boolean loopModeEnable = false;
|
// 站点最大任务数量上限，0表示不限制
|
private int stationMaxTaskCount = 30;
|
}
|
|
private static class LoadGuardState {
|
private int totalStationCount = 0;
|
private int projectedTaskStationCount = 0;
|
private final Map<Integer, Integer> stationLoopNoMap = new HashMap<>();
|
|
private double currentLoad() {
|
return calcLoad(this.projectedTaskStationCount, this.totalStationCount);
|
}
|
|
private double loadAfterReserve() {
|
return calcLoad(this.projectedTaskStationCount + 1, this.totalStationCount);
|
}
|
|
private void reserveLoopTask(Integer loopNo) {
|
if (loopNo == null || loopNo <= 0) {
|
return;
|
}
|
if (this.totalStationCount <= 0) {
|
return;
|
}
|
this.projectedTaskStationCount++;
|
}
|
|
private double calcLoad(int taskCount, int stationCount) {
|
if (stationCount <= 0 || taskCount <= 0) {
|
return 0.0;
|
}
|
double load = (double) taskCount / (double) stationCount;
|
if (load < 0.0) {
|
return 0.0;
|
}
|
if (load > 1.0) {
|
return 1.0;
|
}
|
return load;
|
}
|
}
|
|
private static class LoopHitResult {
|
private static final LoopHitResult NO_HIT = new LoopHitResult(false, null, null);
|
private final boolean throughLoop;
|
private final Integer loopNo;
|
private final Integer hitStationId;
|
|
private LoopHitResult(boolean throughLoop, Integer loopNo, Integer hitStationId) {
|
this.throughLoop = throughLoop;
|
this.loopNo = loopNo;
|
this.hitStationId = hitStationId;
|
}
|
|
private boolean isThroughLoop() {
|
return throughLoop;
|
}
|
|
private Integer getLoopNo() {
|
return loopNo;
|
}
|
|
private Integer getHitStationId() {
|
return hitStationId;
|
}
|
}
|
|
}
|
