#

Junjie

18 小时以前 103ca74d9b67ce4f766b5f77451741a76fa696b9

 src/main/java/com/zy/core/utils/StationOperateProcessUtils.java

@@ -207,10 +207,12 @@
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0
                ) {
                    Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
                    OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                            stationProtocol.getStationId(),
                            wrkMast,
                            outOrderList
                            outOrderList,
                            pathLenFactor
                    );
                    Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
                    if (moveStaNo == null) {
@@ -218,13 +220,19 @@
                    }

                    DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
                    LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
                    LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState, wrkMast, pathLenFactor);

                    if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
                        return;
                    }

                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
                    StationCommand command = buildOutboundMoveCommand(
                            stationThread,
                            wrkMast,
                            stationProtocol.getStationId(),
                            moveStaNo,
                            pathLenFactor
                    );
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
@@ -285,7 +293,14 @@
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0
                ) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                    Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
                    StationCommand command = buildOutboundMoveCommand(
                            stationThread,
                            wrkMast,
                            stationProtocol.getStationId(),
                            wrkMast.getStaNo(),
                            pathLenFactor
                    );
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
@@ -522,10 +537,12 @@
                            }
                        } else {
                            //运行堵塞，重新计算路线
                            Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
                            OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                                    stationProtocol.getStationId(),
                                    wrkMast,
                                    outOrderStationIds
                                    outOrderStationIds,
                                    pathLenFactor
                            );
                            Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
                            if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
@@ -536,7 +553,8 @@
                                    wrkMast.getWrkNo(),
                                    stationProtocol.getStationId(),
                                    moveStaNo,
                                    0
                                    0,
                                    pathLenFactor
                            );
                            if (command == null) {
                                News.taskInfo(wrkMast.getWrkNo(),
@@ -650,17 +668,25 @@
                    continue;
                }

                Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
                OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                        stationProtocol.getStationId(),
                        wrkMast,
                        outOrderStationIds
                        outOrderStationIds,
                        pathLenFactor
                );
                Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
                if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
                    continue;
                }

                StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
                StationCommand command = buildOutboundMoveCommand(
                        stationThread,
                        wrkMast,
                        stationProtocol.getStationId(),
                        moveStaNo,
                        pathLenFactor
                );
                if (command == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
@@ -718,17 +744,25 @@
                    continue;
                }

                Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
                OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                        stationProtocol.getStationId(),
                        wrkMast,
                        outOrderList
                        outOrderList,
                        pathLenFactor
                );
                Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
                if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
                    continue;
                }

                StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
                StationCommand command = buildOutboundMoveCommand(
                        stationThread,
                        wrkMast,
                        stationProtocol.getStationId(),
                        moveStaNo,
                        pathLenFactor
                );
                if (command == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
@@ -740,6 +774,90 @@
                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
            }
        }
    }

    private StationCommand buildOutboundMoveCommand(StationThread stationThread,
                                                    WrkMast wrkMast,
                                                    Integer stationId,
                                                    Integer targetStationId,
                                                    Double pathLenFactor) {
        if (stationThread == null || wrkMast == null) {
            return null;
        }
        return stationThread.getCommand(
                StationCommandType.MOVE,
                wrkMast.getWrkNo(),
                stationId,
                targetStationId,
                0,
                normalizePathLenFactor(pathLenFactor)
        );
    }

    private List<NavigateNode> calcOutboundNavigatePath(WrkMast wrkMast,
                                                        Integer sourceStationId,
                                                        Integer targetStationId,
                                                        Double pathLenFactor) {
        Double normalizedFactor = normalizePathLenFactor(pathLenFactor);
        Integer currentTaskNo = wrkMast == null ? null : wrkMast.getWrkNo();
        if (currentTaskNo == null) {
            return navigateUtils.calcByStationId(sourceStationId, targetStationId, normalizedFactor);
        }
        return navigateUtils.calcByStationId(sourceStationId, targetStationId, currentTaskNo, normalizedFactor);
    }

    private Double resolveOutboundPathLenFactor(WrkMast wrkMast) {
        if (!isBatchOutboundTaskWithSeq(wrkMast)) {
            return 0.0d;
        }
        List<WrkMast> activeBatchTaskList = loadActiveBatchTaskList(wrkMast.getBatch());
        if (activeBatchTaskList.size() <= 1) {
            return 0.0d;
        }

        int activeTaskCount = 0;
        int predecessorCount = 0;
        for (WrkMast item : activeBatchTaskList) {
            if (!isFactorCandidateTask(item)) {
                continue;
            }
            activeTaskCount++;
            if (item.getBatchSeq() < wrkMast.getBatchSeq()) {
                predecessorCount++;
            }
        }
        if (activeTaskCount <= 1 || predecessorCount <= 0) {
            return 0.0d;
        }
        return normalizePathLenFactor((double) predecessorCount / (double) (activeTaskCount - 1));
    }

    private boolean isBatchOutboundTaskWithSeq(WrkMast wrkMast) {
        return wrkMast != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
                && !Cools.isEmpty(wrkMast.getBatch())
                && wrkMast.getBatchSeq() != null
                && wrkMast.getWrkNo() != null;
    }

    private List<WrkMast> loadActiveBatchTaskList(String batch) {
        if (Cools.isEmpty(batch)) {
            return Collections.emptyList();
        }
        return wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("io_type", WrkIoType.OUT.id)
                .eq("batch", batch)
                .notIn("wrk_sts",
                        WrkStsType.STATION_RUN_COMPLETE.sts,
                        WrkStsType.COMPLETE_OUTBOUND.sts,
                        WrkStsType.SETTLE_OUTBOUND.sts));
    }

    private boolean isFactorCandidateTask(WrkMast wrkMast) {
        return wrkMast != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
                && wrkMast.getBatchSeq() != null
                && !"taskCancel".equals(wrkMast.getMk());
    }

    public List<Integer> getAllOutOrderList() {
@@ -754,7 +872,8 @@

    private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
                                                                     WrkMast wrkMast,
                                                                     List<Integer> outOrderStationIds) {
                                                                     List<Integer> outOrderStationIds,
                                                                     Double pathLenFactor) {
        if (wrkMast == null || wrkMast.getStaNo() == null) {
            return null;
        }
@@ -762,15 +881,17 @@
            return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
        }
        Integer dispatchStationId = resolveDispatchOutOrderTarget(
                wrkMast,
                wrkMast.getSourceStaNo(),
                wrkMast.getStaNo(),
                outOrderStationIds
                outOrderStationIds,
                pathLenFactor
        );
        if (dispatchStationId == null) {
            return null;
        }
        if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
            return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds);
        if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
            return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds, pathLenFactor);
        }
        if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
                && isCurrentOutOrderStation(currentStationId, outOrderStationIds)
@@ -782,8 +903,9 @@

    private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
                                                                            WrkMast wrkMast,
                                                                            List<Integer> outOrderStationIds) {
        if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
                                                                            List<Integer> outOrderStationIds,
                                                                            Double pathLenFactor) {
        if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
            return null;
        }

@@ -809,7 +931,7 @@

        List<NavigateNode> initPath;
        try {
            initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
            initPath = calcOutboundNavigatePath(wrkMast, wrkMast.getSourceStaNo(), wrkMast.getStaNo(), pathLenFactor);
        } catch (Exception e) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 计算排序路径失败，当前站点={}", wrkMast.getBatch(), currentStationId);
            return null;
@@ -823,7 +945,7 @@
            toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
        }
        if (toTarget) {
            if (hasReachableOutReleaseSlot(currentStationId, wrkMast.getStaNo())) {
            if (hasReachableOutReleaseSlot(wrkMast, currentStationId, wrkMast.getStaNo(), pathLenFactor)) {
                return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
            }
            StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
@@ -832,9 +954,11 @@
                    outOrderStationIds
            );
            Integer circleTarget = resolveNextCircleOrderTarget(
                    wrkMast,
                    currentStationId,
                    outOrderStationIds,
                    loopEvaluation.getExpectedLoopIssueCount()
                    loopEvaluation.getExpectedLoopIssueCount(),
                    pathLenFactor
            );
            if (circleTarget == null) {
                News.taskInfo(wrkMast.getWrkNo(), "目标站当前不可进，且未找到可执行的下一排序检测点，当前站点={}", currentStationId);
@@ -849,9 +973,11 @@
                outOrderStationIds
        );
        Integer circleTarget = resolveNextCircleOrderTarget(
                wrkMast,
                currentStationId,
                outOrderStationIds,
                loopEvaluation.getExpectedLoopIssueCount()
                loopEvaluation.getExpectedLoopIssueCount(),
                pathLenFactor
        );
        if (circleTarget == null) {
            News.taskInfo(wrkMast.getWrkNo(), "未找到可执行的下一排序检测点，当前站点={}", currentStationId);
@@ -872,14 +998,17 @@

    private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
                                                     WrkMast wrkMast,
                                                     List<Integer> outOrderStationIds) {
                                                     List<Integer> outOrderStationIds,
                                                     Double pathLenFactor) {
        if (!shouldApplyOutOrder(wrkMast, outOrderStationIds) || currentStationId == null) {
            return false;
        }
        Integer dispatchStationId = resolveDispatchOutOrderTarget(
                wrkMast,
                wrkMast.getSourceStaNo(),
                wrkMast.getStaNo(),
                outOrderStationIds
                outOrderStationIds,
                pathLenFactor
        );
        return dispatchStationId != null
                && !Objects.equals(dispatchStationId, wrkMast.getStaNo())
@@ -935,9 +1064,11 @@
        );
    }

    private Integer resolveDispatchOutOrderTarget(Integer sourceStationId,
    private Integer resolveDispatchOutOrderTarget(WrkMast wrkMast,
                                                  Integer sourceStationId,
                                                  Integer finalTargetStationId,
                                                  List<Integer> outOrderList) {
                                                  List<Integer> outOrderList,
                                                  Double pathLenFactor) {
        if (finalTargetStationId == null) {
            return null;
        }
@@ -946,7 +1077,7 @@
        }

        try {
            List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, finalTargetStationId);
            List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, sourceStationId, finalTargetStationId, pathLenFactor);
            for (int i = nodes.size() - 1; i >= 0; i--) {
                Integer stationId = getStationIdFromNode(nodes.get(i));
                if (stationId == null) {
@@ -963,14 +1094,16 @@
        return finalTargetStationId;
    }

    private boolean hasReachableOutReleaseSlot(Integer currentStationId,
                                               Integer finalTargetStationId) {
    private boolean hasReachableOutReleaseSlot(WrkMast wrkMast,
                                               Integer currentStationId,
                                               Integer finalTargetStationId,
                                               Double pathLenFactor) {
        if (currentStationId == null || finalTargetStationId == null) {
            return true;
        }

        try {
            List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
            List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, currentStationId, finalTargetStationId, pathLenFactor);
            if (nodes == null || nodes.isEmpty()) {
                return true;
            }
@@ -1016,16 +1149,18 @@
                || (stationProtocol.getTaskNo() != null && stationProtocol.getTaskNo() > 0);
    }

    private Integer resolveNextCircleOrderTarget(Integer currentStationId,
    private Integer resolveNextCircleOrderTarget(WrkMast wrkMast,
                                                 Integer currentStationId,
                                                 List<Integer> orderedOutStationList,
                                                 Integer expectedLoopIssueCount) {
                                                 Integer expectedLoopIssueCount,
                                                 Double pathLenFactor) {
        if (currentStationId == null || orderedOutStationList == null || orderedOutStationList.size() <= 1) {
            return null;
        }

        int startIndex = orderedOutStationList.indexOf(currentStationId);
        int total = orderedOutStationList.size();
        List<Integer> reachableStationIdList = new ArrayList<>();
        List<CircleTargetCandidate> candidateList = new ArrayList<>();
        for (int offset = 1; offset < total; offset++) {
            int candidateIndex = (startIndex + offset + total) % total;
            Integer candidateStationId = orderedOutStationList.get(candidateIndex);
@@ -1033,31 +1168,64 @@
                continue;
            }
            try {
                List<NavigateNode> path = navigateUtils.calcByStationId(currentStationId, candidateStationId);
                List<NavigateNode> path = calcOutboundNavigatePath(wrkMast, currentStationId, candidateStationId, pathLenFactor);
                if (path != null && !path.isEmpty()) {
                    reachableStationIdList.add(candidateStationId);
                    candidateList.add(new CircleTargetCandidate(candidateStationId, path.size(), offset));
                }
            } catch (Exception ignore) {}
        }
        if (reachableStationIdList.isEmpty()) {
        if (candidateList.isEmpty()) {
            return null;
        }
        int gradualIndex = resolveGradualCircleTargetIndex(expectedLoopIssueCount, reachableStationIdList.size());
        return reachableStationIdList.get(gradualIndex);
        candidateList.sort(new Comparator<CircleTargetCandidate>() {
            @Override
            public int compare(CircleTargetCandidate left, CircleTargetCandidate right) {
                if (left == right) {
                    return 0;
                }
                if (left == null) {
                    return 1;
                }
                if (right == null) {
                    return -1;
                }
                int pathCompare = Integer.compare(left.getPathLength(), right.getPathLength());
                if (pathCompare != 0) {
                    return pathCompare;
                }
                return Integer.compare(left.getOffset(), right.getOffset());
            }
        });
        return resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList, pathLenFactor);
    }

    private int resolveGradualCircleTargetIndex(Integer expectedLoopIssueCount, int candidateCount) {
        if (candidateCount <= 1) {
            return 0;
    private Integer resolveGradualCircleTargetByPathLength(Integer expectedLoopIssueCount,
                                                           List<CircleTargetCandidate> candidateList,
                                                           Double pathLenFactor) {
        if (candidateList == null || candidateList.isEmpty()) {
            return null;
        }
        if (expectedLoopIssueCount == null || expectedLoopIssueCount <= 2) {
            return 0;

        List<CircleTargetCandidate> tierList = new ArrayList<>();
        Integer lastPathLength = null;
        for (CircleTargetCandidate candidate : candidateList) {
            if (candidate == null) {
                continue;
            }
            if (lastPathLength == null || !Objects.equals(lastPathLength, candidate.getPathLength())) {
                tierList.add(candidate);
                lastPathLength = candidate.getPathLength();
            }
        }
        int gradualIndex = expectedLoopIssueCount - 2;
        if (gradualIndex < 1) {
            gradualIndex = 1;
        if (tierList.isEmpty()) {
            return candidateList.get(0).getStationId();
        }
        return Math.min(gradualIndex, candidateCount - 1);
        int defaultTierIndex = expectedLoopIssueCount == null || expectedLoopIssueCount <= 2
                ? 0
                : Math.min(expectedLoopIssueCount - 2, tierList.size() - 1);
        int factorTierIndex = (int) Math.round(normalizePathLenFactor(pathLenFactor) * (tierList.size() - 1));
        int tierIndex = Math.max(defaultTierIndex, factorTierIndex);
        return tierList.get(tierIndex).getStationId();
    }

    private boolean tryAcquireOutOrderDispatchLock(Integer wrkNo, Integer stationId) {
@@ -1134,10 +1302,11 @@
            return;
        }

        Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
        OutOrderDispatchDecision dispatchDecision = null;
        Integer moveStaNo;
        if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
            dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList);
            dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList, pathLenFactor);
            moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
        } else {
            moveStaNo = wrkMast.getStaNo();
@@ -1150,12 +1319,12 @@
        resetSegmentMoveCommandsBeforeReroute(stationProtocol.getTaskNo());
        int clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId());

        StationCommand command = stationThread.getCommand(
                StationCommandType.MOVE,
                wrkMast.getWrkNo(),
        StationCommand command = buildOutboundMoveCommand(
                stationThread,
                wrkMast,
                stationProtocol.getStationId(),
                moveStaNo,
                0
                pathLenFactor
        );
        if (command == null) {
            News.taskInfo(wrkMast.getWrkNo(), "站点任务停留超时后重算路径失败，当前站点={}，目标站点={}", stationProtocol.getStationId(), moveStaNo);
@@ -1434,6 +1603,15 @@
                                          Integer sourceStationId,
                                          Integer targetStationId,
                                          LoadGuardState loadGuardState) {
        return findPathLoopHit(config, sourceStationId, targetStationId, loadGuardState, null, null);
    }

    private LoopHitResult findPathLoopHit(DispatchLimitConfig config,
                                          Integer sourceStationId,
                                          Integer targetStationId,
                                          LoadGuardState loadGuardState,
                                          WrkMast wrkMast,
                                          Double pathLenFactor) {
        if (!config.loopModeEnable) {
            return LoopHitResult.NO_HIT;
        }
@@ -1445,7 +1623,9 @@
        }

        try {
            List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, targetStationId);
            List<NavigateNode> nodes = wrkMast == null
                    ? navigateUtils.calcByStationId(sourceStationId, targetStationId)
                    : calcOutboundNavigatePath(wrkMast, sourceStationId, targetStationId, pathLenFactor);
            if (nodes == null || nodes.isEmpty()) {
                return LoopHitResult.NO_HIT;
            }
@@ -1489,6 +1669,16 @@
        return value;
    }

    private Double normalizePathLenFactor(Double pathLenFactor) {
        if (pathLenFactor == null || pathLenFactor < 0.0d) {
            return 0.0d;
        }
        if (pathLenFactor > 1.0d) {
            return 1.0d;
        }
        return pathLenFactor;
    }

    private static class OutOrderDispatchDecision {
        private final Integer targetStationId;
        private final boolean circle;
@@ -1526,6 +1716,30 @@
        }
    }

    private static class CircleTargetCandidate {
        private final Integer stationId;
        private final Integer pathLength;
        private final Integer offset;

        private CircleTargetCandidate(Integer stationId, Integer pathLength, Integer offset) {
            this.stationId = stationId;
            this.pathLength = pathLength == null ? 0 : pathLength;
            this.offset = offset == null ? 0 : offset;
        }

        private Integer getStationId() {
            return stationId;
        }

        private Integer getPathLength() {
            return pathLength;
        }

        private Integer getOffset() {
            return offset;
        }
    }

    private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
        if (wrkNo == null || wrkNo <= 0 || loopHitResult == null || !loopHitResult.isThroughLoop()) {
            return;