package com.zy.core.utils.station;
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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.exception.CoolException;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.common.entity.FindCrnNoResult;
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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.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatch.StationCommandDispatchResult;
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import com.zy.core.dispatch.StationCommandDispatcher;
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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.enums.WrkIoType;
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import com.zy.core.enums.WrkStsType;
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import com.zy.core.model.StationObjModel;
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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.model.protocol.StationTaskBufferItem;
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import com.zy.core.move.StationMoveCoordinator;
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import com.zy.core.move.StationMoveSession;
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import com.zy.core.thread.StationThread;
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import com.zy.core.utils.station.model.OutOrderDispatchDecision;
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import com.zy.core.utils.station.model.RerouteCommandPlan;
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import com.zy.core.utils.station.model.RerouteContext;
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import com.zy.core.utils.station.model.RerouteDecision;
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import com.zy.core.utils.station.model.RerouteExecutionResult;
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import com.zy.core.utils.station.model.RerouteSceneType;
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import com.zy.core.utils.WmsOperateUtils;
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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.ArrayList;
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import java.util.Date;
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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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@Component
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public class StationRerouteProcessor {
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private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
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private static final int STATION_IDLE_RECOVER_SECONDS = 10;
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private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 30;
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private static final long STATION_MOVE_RESET_WAIT_MS = 1000L;
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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 StationMoveCoordinator stationMoveCoordinator;
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@Autowired
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private StationCommandDispatcher stationCommandDispatcher;
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@Autowired
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private StationOutboundDecisionSupport stationOutboundDecisionSupport;
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@Autowired
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private StationDispatchRuntimeStateSupport stationDispatchRuntimeStateSupport;
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public void checkStationRunBlock() {
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try {
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List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
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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<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
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for (StationProtocol stationProtocol : stationThread.getStatus()) {
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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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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 (shouldUseRunBlockDirectReassign(wrkMast, stationProtocol.getStationId(), runBlockReassignLocStationList)) {
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executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
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continue;
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}
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Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
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RerouteContext context = RerouteContext.create(
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RerouteSceneType.RUN_BLOCK_REROUTE,
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basDevp,
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stationThread,
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stationProtocol,
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wrkMast,
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outOrderStationIds,
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pathLenFactor,
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"checkStationRunBlock_reroute"
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).withRunBlockCommand()
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.withSuppressDispatchGuard()
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.withCancelSessionBeforeDispatch()
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.withResetSegmentCommandsBeforeDispatch();
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executeSharedReroute(context);
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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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public void checkStationIdleRecover() {
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try {
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List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
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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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for (StationProtocol stationProtocol : stationThread.getStatus()) {
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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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checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
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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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public void checkStationOutOrder() {
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List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
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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> statusMap = stationThread.getStatusMap();
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List<StationObjModel> orderList = basDevp.getOutOrderList$();
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List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
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for (StationObjModel stationObjModel : orderList) {
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StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
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if (stationProtocol == null
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|| !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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|| !stationProtocol.getStationId().equals(stationProtocol.getTargetStaNo())) {
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continue;
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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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|| !Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)
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|| Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
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continue;
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}
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if (stationOutboundDecisionSupport.shouldSkipOutOrderDispatchForExistingRoute(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
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continue;
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}
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Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
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RerouteContext context = RerouteContext.create(
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RerouteSceneType.OUT_ORDER,
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basDevp,
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stationThread,
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stationProtocol,
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wrkMast,
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outOrderStationIds,
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pathLenFactor,
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"checkStationOutOrder"
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).withDispatchDeviceNo(stationObjModel.getDeviceNo())
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.withSuppressDispatchGuard()
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.withOutOrderDispatchLock()
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.withResetSegmentCommandsBeforeDispatch();
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executeSharedReroute(context);
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}
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}
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}
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public void watchCircleStation() {
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List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
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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> outOrderList = basDevp.getOutOrderIntList();
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for (StationProtocol stationProtocol : stationThread.getStatus()) {
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if (!stationProtocol.isAutoing()
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|| !stationProtocol.isLoading()
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|| stationProtocol.getTaskNo() <= 0
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|| !stationOutboundDecisionSupport.isWatchingCircleArrival(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
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continue;
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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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|| !Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)
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|| Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
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continue;
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}
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Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
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RerouteContext context = RerouteContext.create(
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RerouteSceneType.WATCH_CIRCLE,
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basDevp,
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stationThread,
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stationProtocol,
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wrkMast,
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outOrderList,
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pathLenFactor,
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"watchCircleStation"
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).withSuppressDispatchGuard()
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.withOutOrderDispatchLock()
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.withResetSegmentCommandsBeforeDispatch();
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executeSharedReroute(context);
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}
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}
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}
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public RerouteCommandPlan buildRerouteCommandPlan(RerouteContext context,
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RerouteDecision decision) {
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if (context == null) {
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return RerouteCommandPlan.skip("missing-context");
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}
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if (decision == null) {
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return RerouteCommandPlan.skip("missing-decision");
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}
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if (decision.skip()) {
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return RerouteCommandPlan.skip(decision.skipReason());
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}
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if (context.stationThread() == null || context.stationProtocol() == null || context.wrkMast() == null) {
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return RerouteCommandPlan.skip("missing-runtime-dependency");
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}
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Integer currentStationId = context.stationProtocol().getStationId();
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Integer targetStationId = decision.targetStationId();
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if (currentStationId == null || targetStationId == null) {
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return RerouteCommandPlan.skip("missing-target-station");
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}
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if (Objects.equals(currentStationId, targetStationId)) {
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return RerouteCommandPlan.skip("same-station");
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}
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StationCommand command = context.useRunBlockCommand()
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? context.stationThread().getRunBlockRerouteCommand(
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context.wrkMast().getWrkNo(),
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currentStationId,
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targetStationId,
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0,
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context.pathLenFactor()
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)
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: stationOutboundDecisionSupport.buildOutboundMoveCommand(
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context.stationThread(),
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context.wrkMast(),
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currentStationId,
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targetStationId,
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context.pathLenFactor()
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);
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if (command == null) {
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if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
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News.taskInfo(context.wrkMast().getWrkNo(),
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"输送站点堵塞重规划未找到可下发路线，当前站点={}，目标站点={}",
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currentStationId,
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targetStationId);
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} else if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
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News.taskInfo(context.wrkMast().getWrkNo(),
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"站点任务停留超时后重算路径失败，当前站点={}，目标站点={}",
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currentStationId,
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targetStationId);
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} else {
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News.taskInfo(context.wrkMast().getWrkNo(), "获取输送线命令失败");
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}
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return RerouteCommandPlan.skip("missing-command");
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}
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return RerouteCommandPlan.dispatch(command, decision, context.dispatchScene());
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}
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public RerouteExecutionResult executeReroutePlan(RerouteContext context,
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RerouteCommandPlan plan) {
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if (context == null) {
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return RerouteExecutionResult.skip("missing-context");
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}
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if (plan == null) {
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return RerouteExecutionResult.skip("missing-plan");
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}
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if (plan.skip()) {
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return RerouteExecutionResult.skip(plan.skipReason());
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}
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StationProtocol stationProtocol = context.stationProtocol();
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if (stationProtocol == null) {
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return RerouteExecutionResult.skip("missing-station-protocol");
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}
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Integer taskNo = stationProtocol.getTaskNo();
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Integer stationId = stationProtocol.getStationId();
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if (taskNo == null || taskNo <= 0 || stationId == null) {
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return RerouteExecutionResult.skip("invalid-station-task");
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}
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if (stationMoveCoordinator != null) {
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return stationMoveCoordinator.withTaskDispatchLock(taskNo,
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() -> executeReroutePlanWithTaskLock(context, plan, stationProtocol, taskNo, stationId));
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}
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return executeReroutePlanWithTaskLock(context, plan, stationProtocol, taskNo, stationId);
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}
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public RerouteDecision resolveSharedRerouteDecision(RerouteContext context) {
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if (context == null || context.wrkMast() == null || context.stationProtocol() == null) {
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return RerouteDecision.skip("missing-runtime-dependency");
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}
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Integer currentStationId = context.stationProtocol().getStationId();
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if (currentStationId == null) {
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return RerouteDecision.skip("missing-current-station");
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}
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if (context.sceneType() == RerouteSceneType.IDLE_RECOVER
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&& !Objects.equals(context.wrkMast().getWrkSts(), WrkStsType.STATION_RUN.sts)) {
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Integer targetStationId = context.wrkMast().getStaNo();
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return targetStationId == null || Objects.equals(targetStationId, currentStationId)
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? RerouteDecision.skip("same-station")
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: RerouteDecision.proceed(targetStationId);
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}
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OutOrderDispatchDecision dispatchDecision =
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stationOutboundDecisionSupport.resolveOutboundDispatchDecision(
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currentStationId,
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context.wrkMast(),
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context.outOrderStationIds(),
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context.pathLenFactor()
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);
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Integer targetStationId = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
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if (targetStationId == null || Objects.equals(targetStationId, currentStationId)) {
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return RerouteDecision.skip("same-station");
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}
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return RerouteDecision.proceed(targetStationId, dispatchDecision);
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}
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public boolean shouldUseRunBlockDirectReassign(WrkMast wrkMast,
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Integer stationId,
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List<Integer> runBlockReassignLocStationList) {
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return wrkMast != null
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&& Objects.equals(wrkMast.getIoType(), WrkIoType.IN.id)
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&& stationId != null
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&& runBlockReassignLocStationList != null
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&& runBlockReassignLocStationList.contains(stationId);
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}
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public boolean shouldSkipIdleRecoverForRecentDispatch(Integer taskNo, Integer stationId) {
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if (taskNo == null || taskNo <= 0 || stationId == null) {
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return false;
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}
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long thresholdMs = STATION_IDLE_RECOVER_SECONDS * 1000L;
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StationMoveSession session = stationMoveCoordinator == null ? null : stationMoveCoordinator.loadSession(taskNo);
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if (session != null && session.isActive() && session.getLastIssuedAt() != null) {
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if (Objects.equals(stationId, session.getCurrentStationId())
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|| Objects.equals(stationId, session.getDispatchStationId())
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|| session.containsStation(stationId)) {
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long elapsedMs = System.currentTimeMillis() - session.getLastIssuedAt();
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if (elapsedMs < thresholdMs) {
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stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
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News.info("输送站点任务刚完成命令下发，已跳过停留重算。站点号={}，工作号={}，距上次下发={}ms，routeVersion={}",
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stationId, taskNo, elapsedMs, session.getRouteVersion());
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return true;
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}
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}
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}
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if (!stationDispatchRuntimeStateSupport.hasRecentIssuedMoveCommand(taskNo, stationId, thresholdMs)) {
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return false;
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}
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stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
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News.info("输送站点任务刚完成命令下发，已跳过停留重算。站点号={}，工作号={}，距最近命令下发<{}ms，routeVersion={}",
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stationId, taskNo, thresholdMs, session == null ? null : session.getRouteVersion());
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return true;
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}
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private RerouteExecutionResult executeReroutePlanWithTaskLock(RerouteContext context,
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RerouteCommandPlan plan,
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StationProtocol stationProtocol,
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Integer taskNo,
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Integer stationId) {
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boolean runBlockReroute = context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE;
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if (context.checkRecentDispatch()
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&& shouldSkipIdleRecoverForRecentDispatch(taskNo, stationId)) {
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return RerouteExecutionResult.skip("recent-dispatch");
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}
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int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), taskNo);
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if (currentTaskBufferCommandCount > 0 && !runBlockReroute) {
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if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
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News.info("输送站点任务停留超时，但缓存区仍存在当前任务命令，已跳过重算。站点号={}，工作号={}，当前任务命令数={}",
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stationId,
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taskNo,
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currentTaskBufferCommandCount);
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}
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return RerouteExecutionResult.skip("buffer-has-current-task");
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}
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if (currentTaskBufferCommandCount > 0 && runBlockReroute) {
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News.info("输送站点运行堵塞重规划检测到旧分段命令残留，已先清理本地状态后继续重发。站点号={}，工作号={}，当前任务命令数={}",
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stationId,
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taskNo,
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currentTaskBufferCommandCount);
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}
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if (!runBlockReroute
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&& context.checkSuppressDispatch()
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&& stationMoveCoordinator != null
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&& stationMoveCoordinator.shouldSuppressDispatch(taskNo, stationId, plan.command())) {
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return RerouteExecutionResult.skip("dispatch-suppressed");
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}
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if (context.requireOutOrderDispatchLock()
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&& !stationDispatchRuntimeStateSupport.tryAcquireOutOrderDispatchLock(taskNo, stationId, OUT_ORDER_DISPATCH_LIMIT_SECONDS)) {
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return RerouteExecutionResult.skip("out-order-lock");
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}
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if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
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stationMoveCoordinator.markCancelPending(taskNo, "reroute_pending");
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}
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if (runBlockReroute) {
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if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
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stationMoveCoordinator.cancelSession(taskNo);
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}
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if (context.resetSegmentCommandsBeforeDispatch()) {
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stationDispatchRuntimeStateSupport.signalSegmentReset(taskNo, STATION_MOVE_RESET_WAIT_MS);
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}
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}
|
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if (!runBlockReroute
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&& context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
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stationMoveCoordinator.cancelSession(taskNo);
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}
|
if (!isBlank(context.executionLockKey())
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&& !stationDispatchRuntimeStateSupport.tryAcquireLock(context.executionLockKey(), context.executionLockSeconds())) {
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return RerouteExecutionResult.skip("scene-lock");
|
}
|
if (!runBlockReroute && context.resetSegmentCommandsBeforeDispatch()) {
|
stationDispatchRuntimeStateSupport.signalSegmentReset(taskNo, STATION_MOVE_RESET_WAIT_MS);
|
}
|
|
int clearedCommandCount = 0;
|
if (context.clearIdleIssuedCommands()) {
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clearedCommandCount = stationDispatchRuntimeStateSupport.clearIssuedMoveCommandsDuringIdleStay(context.idleTrack(), taskNo, stationId);
|
}
|
|
boolean offered = offerDevpCommandWithDedup(context.dispatchDeviceNo(), plan.command(), plan.dispatchScene());
|
if (!offered) {
|
return RerouteExecutionResult.skip("dispatch-dedup");
|
}
|
|
applyRerouteDispatchEffects(context, plan, clearedCommandCount);
|
return RerouteExecutionResult.dispatched(plan.command(), clearedCommandCount);
|
}
|
|
private RerouteExecutionResult executeSharedReroute(RerouteContext context) {
|
RerouteDecision decision = resolveSharedRerouteDecision(context);
|
if (decision.skip()) {
|
return RerouteExecutionResult.skip(decision.skipReason());
|
}
|
RerouteCommandPlan plan = buildRerouteCommandPlan(context, decision);
|
return executeReroutePlan(context, plan);
|
}
|
|
private void applyRerouteDispatchEffects(RerouteContext context,
|
RerouteCommandPlan plan,
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int clearedCommandCount) {
|
if (context == null || plan == null || plan.command() == null || context.wrkMast() == null || context.stationProtocol() == null) {
|
return;
|
}
|
WrkMast wrkMast = context.wrkMast();
|
StationProtocol stationProtocol = context.stationProtocol();
|
OutOrderDispatchDecision dispatchDecision =
|
plan.decision() == null ? null : plan.decision().dispatchDecision();
|
|
stationOutboundDecisionSupport.syncOutOrderWatchState(
|
wrkMast,
|
stationProtocol.getStationId(),
|
context.outOrderStationIds(),
|
dispatchDecision,
|
plan.command()
|
);
|
if (stationMoveCoordinator != null) {
|
stationMoveCoordinator.recordDispatch(
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wrkMast.getWrkNo(),
|
stationProtocol.getStationId(),
|
plan.dispatchScene(),
|
plan.command(),
|
dispatchDecision != null && dispatchDecision.isCircle()
|
);
|
}
|
if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
|
stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(wrkMast.getWrkNo(), stationProtocol.getStationId(), System.currentTimeMillis()));
|
News.info("输送站点任务停留{}秒未运行，已重新计算路径并重启运行，站点号={}，目标站={}，工作号={}，清理旧分段命令数={}，命令数据={}",
|
STATION_IDLE_RECOVER_SECONDS,
|
stationProtocol.getStationId(),
|
plan.command().getTargetStaNo(),
|
wrkMast.getWrkNo(),
|
clearedCommandCount,
|
JSON.toJSONString(plan.command()));
|
return;
|
}
|
if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
|
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(plan.command()));
|
return;
|
}
|
if (context.sceneType() == RerouteSceneType.OUT_ORDER) {
|
News.info(dispatchDecision != null && dispatchDecision.isCircle() ? "{}任务进行绕圈" : "{}任务直接去目标点", wrkMast.getWrkNo());
|
}
|
}
|
|
private void checkStationIdleRecover(BasDevp basDevp,
|
StationThread stationThread,
|
StationProtocol stationProtocol,
|
List<Integer> outOrderList) {
|
if (stationProtocol == null || stationProtocol.getTaskNo() == null || stationProtocol.getTaskNo() <= 0) {
|
return;
|
}
|
if (!Objects.equals(stationProtocol.getStationId(), stationProtocol.getTargetStaNo())) {
|
return;
|
}
|
|
StationTaskIdleTrack idleTrack = stationDispatchRuntimeStateSupport.touchIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
|
if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
|
return;
|
}
|
if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
|
return;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
|
if (!canRecoverIdleStationTask(wrkMast, stationProtocol.getStationId())) {
|
return;
|
}
|
|
Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo());
|
if (lock != null) {
|
return;
|
}
|
Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
|
RerouteContext context = RerouteContext.create(
|
RerouteSceneType.IDLE_RECOVER,
|
basDevp,
|
stationThread,
|
stationProtocol,
|
wrkMast,
|
outOrderList,
|
pathLenFactor,
|
"checkStationIdleRecover"
|
).withCancelSessionBeforeDispatch()
|
.withExecutionLock(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), STATION_IDLE_RECOVER_LIMIT_SECONDS)
|
.withResetSegmentCommandsBeforeDispatch()
|
.clearIdleIssuedCommands(idleTrack);
|
executeSharedReroute(context);
|
}
|
|
private void executeRunBlockDirectReassign(BasDevp basDevp,
|
StationThread stationThread,
|
StationProtocol stationProtocol,
|
WrkMast wrkMast) {
|
if (basDevp == null || stationThread == null || stationProtocol == null || wrkMast == null) {
|
return;
|
}
|
int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(
|
stationProtocol.getTaskBufferItems(),
|
stationProtocol.getTaskNo()
|
);
|
if (currentTaskBufferCommandCount > 0) {
|
News.info("输送站点运行堵塞重分配已跳过，缓存区仍存在当前任务命令。站点号={}，工作号={}，当前任务命令数={}",
|
stationProtocol.getStationId(),
|
stationProtocol.getTaskNo(),
|
currentTaskBufferCommandCount);
|
return;
|
}
|
if (stationMoveCoordinator != null) {
|
stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
|
}
|
String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
|
if (Cools.isEmpty(response)) {
|
News.taskError(wrkMast.getWrkNo(), "请求WMS重新分配库位接口失败，接口未响应！！！response：{}", response);
|
return;
|
}
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (!jsonObject.getInteger("code").equals(200)) {
|
News.error("请求WMS接口失败！！！response：{}", response);
|
return;
|
}
|
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
String sourceLocNo = wrkMast.getLocNo();
|
String locNo = dto.getLocNo();
|
|
LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
|
if (sourceLocMast == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位信息不存在", sourceLocNo);
|
return;
|
}
|
if (!sourceLocMast.getLocSts().equals("S")) {
|
News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 源库位状态不处于入库预约", sourceLocNo);
|
return;
|
}
|
|
LocMast locMast = locMastService.queryByLoc(locNo);
|
if (locMast == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位信息不存在", locNo);
|
return;
|
}
|
if (!locMast.getLocSts().equals("O")) {
|
News.taskInfo(wrkMast.getWrkNo(), "库位号:{} 目标库位状态不处于空库位", locNo);
|
return;
|
}
|
|
FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
|
if (findCrnNoResult == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}工作,未匹配到堆垛机", wrkMast.getWrkNo());
|
return;
|
}
|
Integer crnNo = findCrnNoResult.getCrnNo();
|
|
Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
|
if (targetStationId == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}站点,搜索入库站点失败", stationProtocol.getStationId());
|
return;
|
}
|
|
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
|
if (command == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}工作,获取输送线命令失败", wrkMast.getWrkNo());
|
return;
|
}
|
|
sourceLocMast.setLocSts("O");
|
sourceLocMast.setModiTime(new Date());
|
locMastService.updateById(sourceLocMast);
|
|
locMast.setLocSts("S");
|
locMast.setModiTime(new Date());
|
locMastService.updateById(locMast);
|
|
wrkMast.setLocNo(locNo);
|
wrkMast.setStaNo(targetStationId);
|
|
if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
|
wrkMast.setCrnNo(crnNo);
|
} else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
|
wrkMast.setDualCrnNo(crnNo);
|
} else {
|
throw new CoolException("未知设备类型");
|
}
|
|
if (!wrkMastService.updateById(wrkMast)) {
|
return;
|
}
|
boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
|
if (!offered) {
|
return;
|
}
|
if (stationMoveCoordinator != null) {
|
stationMoveCoordinator.recordDispatch(
|
wrkMast.getWrkNo(),
|
stationProtocol.getStationId(),
|
"checkStationRunBlock_direct",
|
command,
|
false
|
);
|
}
|
}
|
|
private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
|
if (wrkMast == null || currentStationId == null || wrkMast.getStaNo() == null) {
|
return false;
|
}
|
if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
|
return false;
|
}
|
return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN.sts)
|
|| Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
|
}
|
|
private int countCurrentTaskBufferCommands(List<StationTaskBufferItem> taskBufferItems, Integer currentTaskNo) {
|
if (taskBufferItems == null || taskBufferItems.isEmpty() || currentTaskNo == null || currentTaskNo <= 0) {
|
return 0;
|
}
|
int count = 0;
|
for (StationTaskBufferItem item : taskBufferItems) {
|
if (item == null || item.getTaskNo() == null) {
|
continue;
|
}
|
if (currentTaskNo.equals(item.getTaskNo())) {
|
count++;
|
}
|
}
|
return count;
|
}
|
|
private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
|
StationCommandDispatchResult dispatchResult = stationCommandDispatcher
|
.dispatch(deviceNo, command, "station-operate-process", scene);
|
return dispatchResult.isAccepted();
|
}
|
|
private boolean isBlank(String value) {
|
return value == null || value.trim().isEmpty();
|
}
|
}
|
