#V5 beta

Junjie

14 小时以前 3c31d811aff765b8c5e67c22035b413e0cffb38f

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

@@ -19,6 +19,8 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.move.StationMoveCoordinator;
import com.zy.core.move.StationMoveSession;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -39,8 +41,9 @@
public class StationOperateProcessUtils {
    private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
    private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
    private static final int STATION_COMMAND_DISPATCH_DEDUP_SECONDS = 10;
    private static final int STATION_IDLE_RECOVER_SECONDS = 10;
    private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 10;
    private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 30;
    private static final int STATION_IDLE_TRACK_EXPIRE_SECONDS = 60 * 60;
    private static final long STATION_MOVE_RESET_WAIT_MS = 1000L;
    private static final String IDLE_RECOVER_CLEARED_MEMO = "idleRecoverRerouteCleared";
@@ -73,6 +76,8 @@
    private StationTaskLoopService stationTaskLoopService;
    @Autowired
    private WrkAnalysisService wrkAnalysisService;
    @Autowired
    private StationMoveCoordinator stationMoveCoordinator;

    //执行输送站点入库任务
    public synchronized void stationInExecute() {
@@ -157,7 +162,7 @@
                        wrkMast.setModiTime(now);
                        if (wrkMastService.updateById(wrkMast)) {
                            wrkAnalysisService.markInboundStationStart(wrkMast, now);
                            MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                            offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "stationInExecute");
                            News.info("输送站点入库命令下发成功，站点号={}，工作号={}，命令数据={}", stationId, wrkMast.getWrkNo(), JSON.toJSONString(command));
                            redisUtil.set(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId, "lock", 5);
                            loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
@@ -251,7 +256,16 @@
                    wrkMast.setModiTime(now);
                    if (wrkMastService.updateById(wrkMast)) {
                        wrkAnalysisService.markOutboundStationStart(wrkMast, now);
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "crnStationOutExecute");
                        if (offered && stationMoveCoordinator != null) {
                            stationMoveCoordinator.recordDispatch(
                                    wrkMast.getWrkNo(),
                                    stationProtocol.getStationId(),
                                    "crnStationOutExecute",
                                    command,
                                    false
                            );
                        }
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
                        redisUtil.del(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
@@ -319,7 +333,7 @@
                    wrkMast.setSystemMsg("");
                    wrkMast.setIoTime(new Date());
                    if (wrkMastService.updateById(wrkMast)) {
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "dualCrnStationOutExecute");
                        notifyUtils.notify(String.valueOf(SlaveType.Devp), stationObjModel.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN, null);
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
@@ -371,6 +385,9 @@
        if (wrkMast == null || wrkMast.getWrkNo() == null) {
            return;
        }
        if (stationMoveCoordinator != null) {
            stationMoveCoordinator.finishSession(wrkMast.getWrkNo());
        }
        Date now = new Date();
        wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
        wrkMast.setIoTime(now);
@@ -418,6 +435,9 @@
                }

                if (complete) {
                    if (stationMoveCoordinator != null) {
                        stationMoveCoordinator.finishSession(wrkNo);
                    }
                    wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                    wrkMast.setIoTime(new Date());
                    wrkMastService.updateById(wrkMast);
@@ -465,6 +485,20 @@

                        if (wrkMast.getIoType() == WrkIoType.IN.id && runBlockReassignLocStationList.contains(stationProtocol.getStationId())) {
                            //站点处于重新分配库位区域
                            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);
                                continue;
                            }
                            if (stationMoveCoordinator != null) {
                                stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
                            }
                            //运行堵塞，重新申请任务
                            String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
                            if (Cools.isEmpty(response)) {
@@ -542,7 +576,19 @@
                                }

                                if (wrkMastService.updateById(wrkMast)) {
                                    MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                                    boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
                                    if (!offered) {
                                        continue;
                                    }
                                    if (stationMoveCoordinator != null) {
                                        stationMoveCoordinator.recordDispatch(
                                                wrkMast.getWrkNo(),
                                                stationProtocol.getStationId(),
                                                "checkStationRunBlock_direct",
                                                command,
                                                false
                                        );
                                    }
                                }
                            } else {
                                News.error("请求WMS接口失败！！！response：{}", response);
@@ -561,6 +607,10 @@
                                continue;
                            }

                            if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), stationProtocol.getTaskNo()) > 0) {
                                continue;
                            }

                            StationCommand command = stationThread.getRunBlockRerouteCommand(
                                    wrkMast.getWrkNo(),
                                    stationProtocol.getStationId(),
@@ -576,8 +626,24 @@
                                continue;
                            }

                            MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                            if (stationMoveCoordinator != null) {
                                stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
                            }
                            resetSegmentMoveCommandsBeforeReroute(wrkMast.getWrkNo());
                            boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_reroute");
                            if (!offered) {
                                continue;
                            }
                            syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
                            if (stationMoveCoordinator != null) {
                                stationMoveCoordinator.recordDispatch(
                                        wrkMast.getWrkNo(),
                                        stationProtocol.getStationId(),
                                        "checkStationRunBlock_reroute",
                                        command,
                                        dispatchDecision != null && dispatchDecision.isCircle()
                                );
                            }
                            News.info("输送站点堵塞后重新计算路径命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        }
                    }
@@ -676,7 +742,7 @@
                    continue;
                }

                if (isWatchingCircleArrival(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), stationProtocol.getTaskNo()) > 0) {
                    continue;
                }

@@ -703,11 +769,28 @@
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
                }
                if (stationMoveCoordinator != null
                        && stationMoveCoordinator.shouldSuppressDispatch(wrkMast.getWrkNo(), stationProtocol.getStationId(), command)) {
                    continue;
                }
                if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }
                resetSegmentMoveCommandsBeforeReroute(wrkMast.getWrkNo());
                boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "checkStationOutOrder");
                if (!offered) {
                    continue;
                }
                syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
                MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                if (stationMoveCoordinator != null) {
                    stationMoveCoordinator.recordDispatch(
                            wrkMast.getWrkNo(),
                            stationProtocol.getStationId(),
                            "checkStationOutOrder",
                            command,
                            dispatchDecision != null && dispatchDecision.isCircle()
                    );
                }
                News.info(dispatchDecision.isCircle() ? "{}任务进行绕圈" : "{}任务直接去目标点", wrkMast.getWrkNo());
            }
        }
@@ -755,6 +838,9 @@
                if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }
                if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), stationProtocol.getTaskNo()) > 0) {
                    continue;
                }

                Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
                OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
@@ -779,11 +865,28 @@
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
                }
                if (stationMoveCoordinator != null
                        && stationMoveCoordinator.shouldSuppressDispatch(wrkMast.getWrkNo(), stationProtocol.getStationId(), command)) {
                    continue;
                }
                if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }
                resetSegmentMoveCommandsBeforeReroute(wrkMast.getWrkNo());
                boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "watchCircleStation");
                if (!offered) {
                    continue;
                }
                syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                if (stationMoveCoordinator != null) {
                    stationMoveCoordinator.recordDispatch(
                            wrkMast.getWrkNo(),
                            stationProtocol.getStationId(),
                            "watchCircleStation",
                            command,
                            dispatchDecision != null && dispatchDecision.isCircle()
                    );
                }
            }
        }
    }
@@ -1254,8 +1357,39 @@
    }

    private boolean isWatchingCircleArrival(Integer wrkNo, Integer stationId) {
        if (stationMoveCoordinator != null) {
            StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
            if (session != null && session.isActive() && stationId != null) {
                if (stationId.equals(session.getNextDecisionStationId())) {
                    return true;
                }
                if (session.containsStation(stationId)) {
                    return false;
                }
            }
        }
        StationCommand command = getWatchCircleCommand(wrkNo);
        return command != null && stationId != null && stationId.equals(command.getTargetStaNo());
    }

    private boolean isWatchingCircleTransit(Integer wrkNo, Integer stationId) {
        if (stationMoveCoordinator != null) {
            StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
            if (session != null && session.isActive() && stationId != null) {
                if (stationId.equals(session.getNextDecisionStationId())) {
                    return false;
                }
                if (session.containsStation(stationId)) {
                    return true;
                }
            }
        }
        StationCommand command = getWatchCircleCommand(wrkNo);
        if (command == null || stationId == null || Objects.equals(stationId, command.getTargetStaNo())) {
            return false;
        }
        List<Integer> navigatePath = command.getNavigatePath();
        return navigatePath != null && navigatePath.contains(stationId);
    }

    private StationCommand getWatchCircleCommand(Integer wrkNo) {
@@ -1300,6 +1434,9 @@
        }

        StationTaskIdleTrack idleTrack = touchStationTaskIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
        if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
            return;
        }
        if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
            return;
        }
@@ -1338,6 +1475,9 @@
            return;
        }

        if (stationMoveCoordinator != null) {
            stationMoveCoordinator.cancelSession(stationProtocol.getTaskNo());
        }
        redisUtil.set(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), "lock", STATION_IDLE_RECOVER_LIMIT_SECONDS);
        resetSegmentMoveCommandsBeforeReroute(stationProtocol.getTaskNo());
        int clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId());
@@ -1354,8 +1494,20 @@
            return;
        }

        MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
        boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationIdleRecover");
        if (!offered) {
            return;
        }
        syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
        if (stationMoveCoordinator != null) {
            stationMoveCoordinator.recordDispatch(
                    wrkMast.getWrkNo(),
                    stationProtocol.getStationId(),
                    "checkStationIdleRecover",
                    command,
                    dispatchDecision != null && dispatchDecision.isCircle()
            );
        }
        saveStationTaskIdleTrack(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(), moveStaNo, wrkMast.getWrkNo(), clearedCommandCount, JSON.toJSONString(command));
@@ -1370,6 +1522,29 @@
        }
        return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN.sts)
                || Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
    }

    private boolean shouldSkipIdleRecoverForRecentDispatch(Integer taskNo, Integer stationId) {
        if (stationMoveCoordinator == null || taskNo == null || taskNo <= 0 || stationId == null) {
            return false;
        }
        StationMoveSession session = stationMoveCoordinator.loadSession(taskNo);
        if (session == null || !session.isActive() || session.getLastIssuedAt() == null) {
            return false;
        }
        if (!Objects.equals(stationId, session.getCurrentStationId())
                && !Objects.equals(stationId, session.getDispatchStationId())) {
            return false;
        }
        long elapsedMs = System.currentTimeMillis() - session.getLastIssuedAt();
        long thresholdMs = STATION_IDLE_RECOVER_SECONDS * 1000L;
        if (elapsedMs >= thresholdMs) {
            return false;
        }
        saveStationTaskIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
        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={}",
                stationId, taskNo, elapsedMs, session.getRouteVersion());
        return true;
    }

    private void resetSegmentMoveCommandsBeforeReroute(Integer taskNo) {
@@ -1403,6 +1578,53 @@
        return count;
    }

    private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
        if (deviceNo == null || command == null) {
            return false;
        }
        String dedupKey = buildStationCommandDispatchDedupKey(deviceNo, command);
        if (redisUtil != null) {
            Object lock = redisUtil.get(dedupKey);
            if (lock != null) {
                News.info("输送站点命令短时重复派发，已跳过。scene={}，deviceNo={}，taskNo={}，stationId={}，targetStaNo={}，commandType={}",
                        scene,
                        deviceNo,
                        command.getTaskNo(),
                        command.getStationId(),
                        command.getTargetStaNo(),
                        command.getCommandType());
                return false;
            }
            redisUtil.set(dedupKey, "lock", STATION_COMMAND_DISPATCH_DEDUP_SECONDS);
        }
        boolean offered = MessageQueue.offer(SlaveType.Devp, deviceNo, new Task(2, command));
        if (!offered && redisUtil != null) {
            redisUtil.del(dedupKey);
        }
        return offered;
    }

    private String buildStationCommandDispatchDedupKey(Integer deviceNo, StationCommand command) {
        return RedisKeyType.STATION_COMMAND_DISPATCH_DEDUP_.key
                + deviceNo + "_"
                + command.getTaskNo() + "_"
                + command.getStationId() + "_"
                + (stationMoveCoordinator == null ? Integer.toHexString(buildFallbackPathSignature(command).hashCode())
                : stationMoveCoordinator.buildPathSignatureHash(command));
    }

    private String buildFallbackPathSignature(StationCommand command) {
        if (command == null) {
            return "";
        }
        return String.valueOf(command.getCommandType())
                + "_" + command.getStationId()
                + "_" + command.getTargetStaNo()
                + "_" + command.getNavigatePath()
                + "_" + command.getLiftTransferPath()
                + "_" + command.getOriginalNavigatePath();
    }

    private int clearIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
                                                      Integer taskNo,
                                                      Integer stationId) {