package com.zy.core.thread.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.BasStationOpt;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.entity.DeviceDataLog;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.BasStationOptService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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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.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.StationCommandType;
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import com.zy.core.model.CommandResponse;
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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.network.DeviceConnectPool;
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import com.zy.core.network.ZyStationConnectDriver;
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import com.zy.core.network.entity.ZyStationStatusEntity;
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import com.zy.core.thread.impl.v5.StationV5SegmentExecutor;
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import com.zy.core.utils.DeviceLogRedisKeyBuilder;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.LinkedHashSet;
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import java.util.List;
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import java.util.Map;
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import java.util.Objects;
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import java.util.Set;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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@Data
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@Slf4j
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public class ZyStationV5Thread implements Runnable, com.zy.core.thread.StationThread {
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private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
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private List<StationProtocol> statusList = new ArrayList<>();
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private DeviceConfig deviceConfig;
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private RedisUtil redisUtil;
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private ZyStationConnectDriver zyStationConnectDriver;
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private int deviceLogCollectTime = 200;
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private boolean initStatus = false;
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private long deviceDataLogTime = System.currentTimeMillis();
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private ExecutorService executor = Executors.newFixedThreadPool(9999);
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private StationV5SegmentExecutor segmentExecutor;
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public ZyStationV5Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
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this.deviceConfig = deviceConfig;
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this.redisUtil = redisUtil;
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this.segmentExecutor = new StationV5SegmentExecutor(deviceConfig, redisUtil, this::sendCommand);
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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this.connect();
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deviceLogCollectTime = Utils.getDeviceLogCollectTime();
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Thread readThread = new Thread(() -> {
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while (true) {
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try {
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if (initStatus) {
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deviceLogCollectTime = Utils.getDeviceLogCollectTime();
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}
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readStatus();
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("StationV5Thread Fail", e);
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}
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}
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}, "DevpRead-" + deviceConfig.getDeviceNo());
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readThread.start();
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Thread processThread = new Thread(() -> {
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while (true) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Devp, deviceConfig.getDeviceNo());
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if (task != null) {
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step = task.getStep();
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}
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if (step == 2) {
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StationCommand cmd = (StationCommand) task.getData();
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executor.submit(() -> segmentExecutor.execute(cmd));
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}
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("StationV5Process Fail", e);
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}
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}
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}, "DevpProcess-" + deviceConfig.getDeviceNo());
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processThread.start();
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}
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private void readStatus() {
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if (zyStationConnectDriver == null) {
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return;
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}
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if (statusList.isEmpty()) {
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BasDevpService basDevpService = null;
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try {
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basDevpService = SpringUtils.getBean(BasDevpService.class);
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} catch (Exception ignore) {
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}
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if (basDevpService == null) {
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return;
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}
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BasDevp basDevp = basDevpService
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.getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
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if (basDevp == null) {
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return;
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}
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List<ZyStationStatusEntity> list = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
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for (ZyStationStatusEntity entity : list) {
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StationProtocol stationProtocol = new StationProtocol();
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stationProtocol.setStationId(entity.getStationId());
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statusList.add(stationProtocol);
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}
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initStatus = true;
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}
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List<ZyStationStatusEntity> zyStationStatusEntities = zyStationConnectDriver.getStatus();
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for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
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for (StationProtocol stationProtocol : statusList) {
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if (stationProtocol.getStationId().equals(statusEntity.getStationId())) {
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stationProtocol.setTaskNo(statusEntity.getTaskNo());
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stationProtocol.setTargetStaNo(statusEntity.getTargetStaNo());
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stationProtocol.setAutoing(statusEntity.isAutoing());
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stationProtocol.setLoading(statusEntity.isLoading());
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stationProtocol.setInEnable(statusEntity.isInEnable());
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stationProtocol.setOutEnable(statusEntity.isOutEnable());
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stationProtocol.setEmptyMk(statusEntity.isEmptyMk());
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stationProtocol.setFullPlt(statusEntity.isFullPlt());
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stationProtocol.setPalletHeight(statusEntity.getPalletHeight());
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stationProtocol.setError(statusEntity.getError());
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stationProtocol.setErrorMsg(statusEntity.getErrorMsg());
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stationProtocol.setBarcode(statusEntity.getBarcode());
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stationProtocol.setRunBlock(statusEntity.isRunBlock());
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stationProtocol.setEnableIn(statusEntity.isEnableIn());
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stationProtocol.setWeight(statusEntity.getWeight());
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stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
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}
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if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
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if (stationProtocol.isAutoing() && !stationProtocol.isLoading()) {
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stationProtocol.setSystemWarning("");
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}
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}
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}
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",
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DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
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if (System.currentTimeMillis() - deviceDataLogTime > deviceLogCollectTime) {
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(zyStationStatusEntities));
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deviceDataLog.setWcsData(JSON.toJSONString(statusList));
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deviceDataLog.setType(String.valueOf(SlaveType.Devp));
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deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
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deviceDataLog.setCreateTime(new Date());
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redisUtil.set(DeviceLogRedisKeyBuilder.build(deviceDataLog), deviceDataLog, 60 * 60 * 24);
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deviceDataLogTime = System.currentTimeMillis();
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}
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}
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@Override
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public boolean connect() {
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zyStationConnectDriver = new ZyStationConnectDriver(deviceConfig, redisUtil);
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zyStationConnectDriver.start();
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DeviceConnectPool.put(SlaveType.Devp, deviceConfig.getDeviceNo(), zyStationConnectDriver);
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return true;
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}
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@Override
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public void close() {
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if (zyStationConnectDriver != null) {
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zyStationConnectDriver.close();
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}
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if (executor != null) {
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try {
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executor.shutdownNow();
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} catch (Exception ignore) {
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}
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}
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}
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@Override
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public List<StationProtocol> getStatus() {
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return statusList;
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}
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@Override
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public Map<Integer, StationProtocol> getStatusMap() {
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Map<Integer, StationProtocol> map = new HashMap<>();
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for (StationProtocol stationProtocol : statusList) {
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map.put(stationProtocol.getStationId(), stationProtocol);
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}
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return map;
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}
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@Override
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public StationCommand getCommand(StationCommandType commandType,
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Integer taskNo,
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Integer stationId,
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Integer targetStationId,
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Integer palletSize) {
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StationCommand stationCommand = new StationCommand();
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stationCommand.setTaskNo(taskNo);
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stationCommand.setStationId(stationId);
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stationCommand.setTargetStaNo(targetStationId);
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stationCommand.setPalletSize(palletSize);
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stationCommand.setCommandType(commandType);
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if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
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List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
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return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
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}
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return stationCommand;
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}
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@Override
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public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
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Integer stationId,
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Integer targetStationId,
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Integer palletSize) {
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if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
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return null;
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}
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if (Objects.equals(stationId, targetStationId)) {
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return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
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}
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RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
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rerouteState.setTaskNo(taskNo);
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rerouteState.setBlockStationId(stationId);
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rerouteState.setLastTargetStationId(targetStationId);
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rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
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rerouteState.setLastPlanTime(System.currentTimeMillis());
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List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
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if (candidatePathList.isEmpty()) {
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saveRunBlockRerouteState(rerouteState);
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log.warn("输送线堵塞重规划失败，候选路径为空，taskNo={}, planCount={}, stationId={}, targetStationId={}",
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taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
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return null;
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}
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StationCommand rerouteCommand = selectAvailableRerouteCommand(
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rerouteState,
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candidatePathList,
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taskNo,
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stationId,
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targetStationId,
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palletSize
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);
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if (rerouteCommand == null) {
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log.info("输送线堵塞重规划候选路线已全部试过，重置路线历史后重新开始，taskNo={}, planCount={}, stationId={}, targetStationId={}",
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taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
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rerouteState.resetIssuedRoutes();
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rerouteCommand = selectAvailableRerouteCommand(
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rerouteState,
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candidatePathList,
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taskNo,
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stationId,
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targetStationId,
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palletSize
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);
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}
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if (rerouteCommand != null) {
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saveRunBlockRerouteState(rerouteState);
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log.info("输送线堵塞重规划选中候选路线，taskNo={}, planCount={}, stationId={}, targetStationId={}, route={}",
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taskNo, rerouteState.getPlanCount(), stationId, targetStationId, JSON.toJSONString(rerouteCommand.getNavigatePath()));
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return rerouteCommand;
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}
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saveRunBlockRerouteState(rerouteState);
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log.warn("输送线堵塞重规划未找到可下发路线，taskNo={}, planCount={}, stationId={}, targetStationId={}, triedRoutes={}",
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taskNo,
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rerouteState.getPlanCount(),
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stationId,
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targetStationId,
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JSON.toJSONString(rerouteState.getIssuedRoutePathList()));
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return null;
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}
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@Override
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public CommandResponse sendCommand(StationCommand command) {
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CommandResponse commandResponse = null;
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try {
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commandResponse = zyStationConnectDriver.sendCommand(command);
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} catch (Exception e) {
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e.printStackTrace();
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} finally {
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BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
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List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
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ZyStationStatusEntity matched = null;
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if (statusListEntity != null) {
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for (ZyStationStatusEntity entity : statusListEntity) {
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if (entity.getStationId() != null && entity.getStationId().equals(command.getStationId())) {
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matched = entity;
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break;
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}
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}
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}
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BasStationOpt basStationOpt = new BasStationOpt(
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command.getTaskNo(),
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command.getStationId(),
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new Date(),
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String.valueOf(command.getCommandType()),
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command.getStationId(),
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command.getTargetStaNo(),
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null,
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null,
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null,
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JSON.toJSONString(command),
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JSON.toJSONString(matched),
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1,
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JSON.toJSONString(commandResponse)
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);
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if (optService != null) {
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optService.save(basStationOpt);
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}
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}
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return commandResponse;
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}
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@Override
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public CommandResponse sendOriginCommand(String address, short[] data) {
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return zyStationConnectDriver.sendOriginCommand(address, data);
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}
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@Override
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public byte[] readOriginCommand(String address, int length) {
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return zyStationConnectDriver.readOriginCommand(address, length);
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}
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private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, Integer startStationId, Integer targetStationId) {
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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if (navigateUtils == null) {
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return new ArrayList<>();
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}
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return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
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}
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private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
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Integer startStationId,
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Integer targetStationId) {
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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if (navigateUtils == null) {
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return new ArrayList<>();
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}
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return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo);
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}
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private StationCommand buildMoveCommand(Integer taskNo,
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Integer stationId,
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Integer targetStationId,
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Integer palletSize,
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List<NavigateNode> nodes) {
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StationCommand stationCommand = new StationCommand();
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stationCommand.setTaskNo(taskNo);
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stationCommand.setStationId(stationId);
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stationCommand.setTargetStaNo(targetStationId);
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stationCommand.setPalletSize(palletSize);
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stationCommand.setCommandType(StationCommandType.MOVE);
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return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
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}
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private StationCommand fillMoveCommandPath(StationCommand stationCommand,
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List<NavigateNode> nodes,
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Integer taskNo,
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Integer stationId,
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Integer targetStationId) {
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List<Integer> path = new ArrayList<>();
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List<Integer> liftTransferPath = new ArrayList<>();
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for (NavigateNode node : nodes) {
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JSONObject valueObject;
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try {
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valueObject = JSONObject.parseObject(node.getNodeValue());
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} catch (Exception ignore) {
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continue;
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}
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if (valueObject == null) {
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continue;
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}
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Integer stationNo = valueObject.getInteger("stationId");
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if (stationNo == null) {
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continue;
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}
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path.add(stationNo);
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if (Boolean.TRUE.equals(node.getIsLiftTransferPoint())) {
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liftTransferPath.add(stationNo);
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}
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}
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if (path.isEmpty()) {
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log.warn("输送线命令生成失败，路径为空，taskNo={}, stationId={}, targetStationId={}",
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taskNo, stationId, targetStationId);
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return null;
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}
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stationCommand.setNavigatePath(path);
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stationCommand.setLiftTransferPath(liftTransferPath);
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stationCommand.setTargetStaNo(path.get(path.size() - 1));
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return stationCommand;
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}
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private StationCommand selectAvailableRerouteCommand(RunBlockRerouteState rerouteState,
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List<List<NavigateNode>> candidatePathList,
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Integer taskNo,
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Integer stationId,
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Integer targetStationId,
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Integer palletSize) {
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if (rerouteState == null || candidatePathList == null || candidatePathList.isEmpty()) {
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return null;
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}
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Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
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for (List<NavigateNode> candidatePath : candidatePathList) {
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StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
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if (rerouteCommand == null || rerouteCommand.getNavigatePath() == null || rerouteCommand.getNavigatePath().isEmpty()) {
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continue;
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}
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String routeSignature = buildPathSignature(rerouteCommand.getNavigatePath());
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if (Cools.isEmpty(routeSignature) || issuedRouteSignatureSet.contains(routeSignature)) {
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continue;
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}
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issuedRouteSignatureSet.add(routeSignature);
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rerouteState.getIssuedRoutePathList().add(new ArrayList<>(rerouteCommand.getNavigatePath()));
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rerouteState.setLastSelectedRoute(new ArrayList<>(rerouteCommand.getNavigatePath()));
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return rerouteCommand;
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}
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return null;
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}
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private RunBlockRerouteState loadRunBlockRerouteState(Integer taskNo, Integer blockStationId) {
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if (redisUtil == null || taskNo == null || taskNo <= 0 || blockStationId == null || blockStationId <= 0) {
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return new RunBlockRerouteState();
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}
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Object stateObj = redisUtil.get(buildRunBlockRerouteStateKey(taskNo, blockStationId));
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if (stateObj == null) {
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return new RunBlockRerouteState();
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}
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try {
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RunBlockRerouteState state = JSON.parseObject(String.valueOf(stateObj), RunBlockRerouteState.class);
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return state == null ? new RunBlockRerouteState() : state.normalize();
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} catch (Exception ignore) {
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return new RunBlockRerouteState();
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}
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}
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private void saveRunBlockRerouteState(RunBlockRerouteState rerouteState) {
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if (redisUtil == null
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|| rerouteState == null
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|| rerouteState.getTaskNo() == null
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|| rerouteState.getTaskNo() <= 0
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|| rerouteState.getBlockStationId() == null
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|| rerouteState.getBlockStationId() <= 0) {
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return;
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}
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rerouteState.normalize();
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redisUtil.set(
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buildRunBlockRerouteStateKey(rerouteState.getTaskNo(), rerouteState.getBlockStationId()),
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JSON.toJSONString(rerouteState),
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RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
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);
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}
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private String buildPathSignature(List<Integer> path) {
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if (path == null || path.isEmpty()) {
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return "";
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}
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StringBuilder builder = new StringBuilder();
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for (Integer stationNo : path) {
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if (stationNo == null) {
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continue;
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}
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if (builder.length() > 0) {
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builder.append("->");
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}
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builder.append(stationNo);
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}
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return builder.toString();
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}
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private String buildRunBlockRerouteStateKey(Integer taskNo, Integer blockStationId) {
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return RedisKeyType.STATION_RUN_BLOCK_REROUTE_STATE_.key + taskNo + "_" + blockStationId;
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}
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@Data
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private static class RunBlockRerouteState {
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private Integer taskNo;
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private Integer blockStationId;
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private Integer planCount = 0;
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private Integer lastTargetStationId;
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private Long lastPlanTime;
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private List<List<Integer>> issuedRoutePathList = new ArrayList<>();
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private List<Integer> lastSelectedRoute = new ArrayList<>();
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private Set<String> issuedRouteSignatureSet = new LinkedHashSet<>();
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private RunBlockRerouteState normalize() {
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if (planCount == null || planCount < 0) {
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planCount = 0;
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}
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if (issuedRoutePathList == null) {
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issuedRoutePathList = new ArrayList<>();
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}
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if (lastSelectedRoute == null) {
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lastSelectedRoute = new ArrayList<>();
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}
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if (issuedRouteSignatureSet == null) {
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issuedRouteSignatureSet = new LinkedHashSet<>();
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}
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for (List<Integer> routePath : issuedRoutePathList) {
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if (routePath == null || routePath.isEmpty()) {
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continue;
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}
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StringBuilder builder = new StringBuilder(buildPathSignatureText(routePath));
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if (builder.length() > 0) {
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issuedRouteSignatureSet.add(builder.toString());
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}
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}
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return this;
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}
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private void resetIssuedRoutes() {
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this.issuedRoutePathList = new ArrayList<>();
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this.lastSelectedRoute = new ArrayList<>();
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this.issuedRouteSignatureSet = new LinkedHashSet<>();
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}
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private static String buildPathSignatureText(List<Integer> routePath) {
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if (routePath == null || routePath.isEmpty()) {
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return "";
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}
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StringBuilder builder = new StringBuilder();
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for (Integer stationId : routePath) {
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if (stationId == null) {
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continue;
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}
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if (builder.length() > 0) {
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builder.append("->");
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}
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builder.append(stationId);
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}
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return builder.toString();
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}
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}
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}
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