#预调度堆垛机2

Junjie

昨天 7fdc76dde7cd00510347e3231c4f60a88b012107

 src/main/java/com/zy/core/plugin/GslProcess.java

@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
import com.zy.common.service.CommonService;
@@ -25,26 +26,18 @@
import com.zy.core.thread.StationThread;
import com.zy.core.utils.CrnOperateProcessUtils;
import com.zy.core.utils.StationOperateProcessUtils;
import jakarta.annotation.PreDestroy;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicBoolean;

@Slf4j
@Component
public class GslProcess implements MainProcessPluginApi, StoreInTaskPolicy {
    private static final long STATION_DISPATCH_INTERVAL_MS = 200L;
    private static final long STATION_MAINTENANCE_INTERVAL_MS = 500L;
    private static final long STATION_TASK_SLOW_LOG_THRESHOLD_MS = 1000L;
    private static final long STATION_EXECUTOR_SHUTDOWN_TIMEOUT_SECONDS = 5L;
    private static final long DISPATCH_INTERVAL_MS = 200L;
    private static final long MAINTENANCE_INTERVAL_MS = 500L;

    @Autowired
    private CrnOperateProcessUtils crnOperateUtils;
@@ -61,51 +54,40 @@
    @Autowired
    private StationCommandDispatcher stationCommandDispatcher;

    private final ExecutorService stationTaskExecutor = Executors.newSingleThreadExecutor(r -> {
        Thread thread = new Thread(r);
        thread.setName("StationTask");
        thread.setDaemon(true);
        return thread;
    });
    private final Map<String, AtomicBoolean> stationTaskRunningMap = new ConcurrentHashMap<>();
    private final Map<String, Long> stationTaskLastSubmitTimeMap = new ConcurrentHashMap<>();

    @Override
    public void run() {
        //检测入库站是否有任务生成，并启动入库
        checkInStationHasTask();
        //请求生成入库任务
        //请求生成入库任务，保留按站点 lane 串行提交
        generateStoreWrkFile();

        //执行堆垛机任务
        crnOperateUtils.crnIoExecute();
        //堆垛机任务执行完成
        crnOperateUtils.crnIoExecuteFinish();
        //输送站点逻辑切到后台串行执行，避免阻塞主流程里的堆垛机发任务
        submitStationTask("stationInExecute", STATION_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::stationInExecute);
        submitStationTask("crnStationOutExecute", STATION_DISPATCH_INTERVAL_MS, stationOperateProcessUtils::crnStationOutExecute);
        submitStationTask("checkStationOutOrder", STATION_MAINTENANCE_INTERVAL_MS, stationOperateProcessUtils::checkStationOutOrder);
        submitStationTask("watchCircleStation", STATION_MAINTENANCE_INTERVAL_MS, stationOperateProcessUtils::watchCircleStation);
        submitStationTask("checkStationRunBlock", STATION_MAINTENANCE_INTERVAL_MS, stationOperateProcessUtils::checkStationRunBlock);
        submitStationTask("checkStationIdleRecover", STATION_MAINTENANCE_INTERVAL_MS, stationOperateProcessUtils::checkStationIdleRecover);
    }

    /**
     * 请求生成入库任务
     * 入库站，根据条码扫描生成入库工作档
     */
    public synchronized void generateStoreWrkFile() {
        storeInTaskGenerationService.generate(this);
        // 执行堆垛机任务
        crnOperateUtils.submitCrnIoTasks(DISPATCH_INTERVAL_MS);
        // 堆垛机任务执行完成
        crnOperateUtils.submitCrnIoExecuteFinishTasks(DISPATCH_INTERVAL_MS);
        // 执行输送站点入库任务
        stationOperateProcessUtils.submitStationInTasks(DISPATCH_INTERVAL_MS);
        // 检测入库任务是否已经到达目标站台
        stationOperateProcessUtils.submitInboundStationArrivalTasks(DISPATCH_INTERVAL_MS);
        // 输送线执行堆垛机出库后的站台流转
        stationOperateProcessUtils.submitCrnStationOutTasks(DISPATCH_INTERVAL_MS);
        // 检测出库任务是否已经到达目标站台
        stationOperateProcessUtils.submitStationOutExecuteFinishTasks(DISPATCH_INTERVAL_MS);
        // 检测站台运行完成后的任务转完成
        stationOperateProcessUtils.submitCheckTaskToCompleteTasks(DISPATCH_INTERVAL_MS);
        // 检测并处理出库排序
        stationOperateProcessUtils.submitCheckStationOutOrderTasks(MAINTENANCE_INTERVAL_MS);
        // 监控输送线绕圈站点
        stationOperateProcessUtils.submitWatchCircleStationTasks(MAINTENANCE_INTERVAL_MS);
        // 检测输送线运行堵塞
        stationOperateProcessUtils.submitCheckStationRunBlockTasks(MAINTENANCE_INTERVAL_MS);
        // 检测站台空闲超时后的恢复处理
        stationOperateProcessUtils.submitCheckStationIdleRecoverTasks(MAINTENANCE_INTERVAL_MS);
    }

    @Override
    public boolean matchCandidate(StoreInTaskContext context) {
        StationProtocol stationProtocol = context.getStationProtocol();
        return stationProtocol.isAutoing()
                && stationProtocol.isLoading()
                && stationProtocol.isInEnable()
                && stationProtocol.getTaskNo() > 0
                && !Cools.isEmpty(stationProtocol.getBarcode());
        return canRequestStoreIn(context.getStationProtocol());
    }

    @Override
@@ -178,6 +160,9 @@
                ) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.ENABLE_IN.id), stationId, entity.getBarcodeStation().getStationId(), 0);
                    stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "gsl-process", "enable-in");
                    if (entity.getBarcodeStation() != null && entity.getBarcodeStation().getStationId() != null) {
                        Utils.precomputeInTaskEnableRow(entity.getBarcodeStation().getStationId());
                    }
                    redisUtil.set(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 15);
                    News.info("{}站点启动入库成功，数据包:{}", stationId, JSON.toJSONString(command));
                }
@@ -185,51 +170,44 @@
        }
    }

    private void submitStationTask(String taskName, long minIntervalMs, Runnable task) {
        long now = System.currentTimeMillis();
        Long lastSubmitTime = stationTaskLastSubmitTimeMap.get(taskName);
        if (lastSubmitTime != null && now - lastSubmitTime < minIntervalMs) {
            return;
        }
    private void generateStoreWrkFile() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if (stationThread == null) {
                continue;
            }

        AtomicBoolean running = stationTaskRunningMap.computeIfAbsent(taskName, key -> new AtomicBoolean(false));
        if (!running.compareAndSet(false, true)) {
            return;
        }
            Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();
            if (stationMap == null || stationMap.isEmpty()) {
                continue;
            }

        stationTaskLastSubmitTimeMap.put(taskName, now);
        try {
            stationTaskExecutor.execute(() -> {
                long startMs = System.currentTimeMillis();
                try {
                    task.run();
                } catch (Exception e) {
                    log.error("GslProcess station task {} execute error", taskName, e);
                } finally {
                    long costMs = System.currentTimeMillis() - startMs;
                    if (costMs > STATION_TASK_SLOW_LOG_THRESHOLD_MS) {
                        log.warn("GslProcess station task {} executed slowly, cost={}ms", taskName, costMs);
                    }
                    running.set(false);
            List<StationObjModel> barcodeStations = getBarcodeStations(basDevp);
            for (StationObjModel stationObjModel : barcodeStations) {
                Integer stationId = stationObjModel == null ? null : stationObjModel.getStationId();
                if (stationId == null) {
                    continue;
                }
            });
        } catch (Exception e) {
            running.set(false);
            stationTaskLastSubmitTimeMap.remove(taskName);
            log.error("GslProcess station task {} submit error", taskName, e);
                if (!stationMap.containsKey(stationId)) {
                    continue;
                }
                if (!canRequestStoreIn(stationMap.get(stationId))) {
                    continue;
                }
                storeInTaskGenerationService.submitGenerateStoreTask(this, basDevp, stationObjModel, DISPATCH_INTERVAL_MS,
                        () -> storeInTaskGenerationService.generate(this, basDevp, stationObjModel));
            }
        }
    }

    @PreDestroy
    public void shutDown() {
        stationTaskExecutor.shutdownNow();
        try {
            if (!stationTaskExecutor.awaitTermination(STATION_EXECUTOR_SHUTDOWN_TIMEOUT_SECONDS, TimeUnit.SECONDS)) {
                log.warn("GslProcess station task executor did not terminate within {}s", STATION_EXECUTOR_SHUTDOWN_TIMEOUT_SECONDS);
            }
        } catch (InterruptedException e) {
            Thread.currentThread().interrupt();
        }
    private boolean canRequestStoreIn(StationProtocol stationProtocol) {
        return stationProtocol != null
                && stationProtocol.isAutoing()
                && stationProtocol.isLoading()
                && stationProtocol.isInEnable()
                && stationProtocol.getTaskNo() > 0
                && !Cools.isEmpty(stationProtocol.getBarcode());
    }

}