#预调度优化

Junjie

昨天 9c5b9144ed8ed3190a21c4cb66b80e1ed9b7c954

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

@@ -77,14 +77,13 @@
    private static final String CRN_OUT_REQUIRE_STATION_OUT_ENABLE_CONFIG = "crnOutRequireStationOutEnable";

    public synchronized void crnIoExecute() {
        Set<Integer> crnMoveBlockedCrnNos = executeCrnMoveTask();
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            crnIoExecute(basCrnp, crnMoveBlockedCrnNos);
            crnIoExecute(basCrnp);
        }
    }

    public void crnIoExecute(BasCrnp basCrnp, Set<Integer> crnMoveBlockedCrnNos) {
    public void crnIoExecute(BasCrnp basCrnp) {
        if (basCrnp == null || basCrnp.getCrnNo() == null) {
            return;
        }
@@ -92,16 +91,16 @@
        if (systemConfigMapObj != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
            if (systemConfigMap.get("crnRunMethod").equals("solver")) {
                plannerExecute(basCrnp, crnMoveBlockedCrnNos);
                plannerExecute(basCrnp);
            }else {
                crnIoExecuteNormal(basCrnp, crnMoveBlockedCrnNos);
                crnIoExecuteNormal(basCrnp);
            }
        }
    }

    //入出库  ===>>  堆垛机入出库作业下发
    private void crnIoExecuteNormal(BasCrnp currentCrn, Set<Integer> crnMoveBlockedCrnNos) {
        if (currentCrn == null || currentCrn.getCrnNo() == null || crnMoveBlockedCrnNos.contains(currentCrn.getCrnNo())) {
    private void crnIoExecuteNormal(BasCrnp currentCrn) {
        if (currentCrn == null || currentCrn.getCrnNo() == null) {
            return;
        }

@@ -118,7 +117,12 @@

        long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                .eq("crn_no", crnNo)
                .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts, WrkStsType.CRN_MOVE_RUN.sts));
                .in("wrk_sts",
                        WrkStsType.INBOUND_RUN.sts
                        , WrkStsType.OUTBOUND_RUN.sts
                        , WrkStsType.LOC_MOVE_RUN.sts
                        , WrkStsType.CRN_MOVE_RUN.sts
                ));
        if (runningCount > 0) {
            return;
        }
@@ -135,6 +139,12 @@

        Object clearLock = redisUtil.get(RedisKeyType.CLEAR_CRN_TASK_LIMIT.key + crnNo);
        if (clearLock != null) {
            return;
        }

        //执行移动任务
        boolean executed = executeCrnMoveTask(crnThread, crnProtocol);
        if (executed) {
            return;
        }

@@ -385,7 +395,7 @@
            return false;
        }

        if (!allowBatchOutboundExecute(wrkMast)) {
        if (!allowBatchOutboundExecute(wrkMast, true)) {
            return false;
        }

@@ -458,13 +468,19 @@
        return false;
    }

    private boolean allowBatchOutboundExecute(WrkMast wrkMast) {
    public boolean canOutboundTaskExecuteInCurrentBatchWindow(WrkMast wrkMast) {
        return allowBatchOutboundExecute(wrkMast, false);
    }

    private boolean allowBatchOutboundExecute(WrkMast wrkMast, boolean logBlockedReason) {
        if (wrkMast == null || Cools.isEmpty(wrkMast.getBatch())) {
            return true;
        }

        if (Cools.isEmpty(wrkMast.getBatchSeq())) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 缺少批次序号，暂不允许堆垛机出库", wrkMast.getBatch());
            if (logBlockedReason) {
                News.taskInfo(wrkMast.getWrkNo(), "批次:{} 缺少批次序号，暂不允许堆垛机出库", wrkMast.getBatch());
            }
            return false;
        }

@@ -479,7 +495,9 @@
        }

        if (Cools.isEmpty(firstBatchWrkMast.getBatchSeq())) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 存在未配置批次序号的任务，暂不允许堆垛机出库", wrkMast.getBatch());
            if (logBlockedReason) {
                News.taskInfo(wrkMast.getWrkNo(), "批次:{} 存在未配置批次序号的任务，暂不允许堆垛机出库", wrkMast.getBatch());
            }
            return false;
        }

@@ -487,7 +505,9 @@
        boolean firstBatchTaskExecuted = firstBatchWrkMast.getWrkSts() != null
                && !firstBatchWrkMast.getWrkSts().equals(WrkStsType.NEW_OUTBOUND.sts);
        if (!currentIsFirstBatchTask && !firstBatchTaskExecuted) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 首个序号任务:{} 尚未执行，当前任务暂不允许出库", wrkMast.getBatch(), firstBatchWrkMast.getWrkNo());
            if (logBlockedReason) {
                News.taskInfo(wrkMast.getWrkNo(), "批次:{} 首个序号任务:{} 尚未执行，当前任务暂不允许出库", wrkMast.getBatch(), firstBatchWrkMast.getWrkNo());
            }
            return false;
        }

@@ -498,19 +518,24 @@

        List<WrkMast> unfinishedBatchWrkMasts = listUnfinishedBatchWrkMasts(wrkMast.getBatch());
        if (hasMissingBatchSeq(unfinishedBatchWrkMasts)) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 存在未配置批次序号的未完成任务，暂不允许堆垛机出库", wrkMast.getBatch());
            if (logBlockedReason) {
                News.taskInfo(wrkMast.getWrkNo(), "批次:{} 存在未配置批次序号的未完成任务，暂不允许堆垛机出库", wrkMast.getBatch());
            }
            return false;
        }

        if (!isWithinBatchExecuteWindow(wrkMast, unfinishedBatchWrkMasts, batchRunningLimit)) {
            Integer windowStartSeq = unfinishedBatchWrkMasts.get(0).getBatchSeq();
            Integer windowEndSeq = unfinishedBatchWrkMasts.get(Math.min(batchRunningLimit, unfinishedBatchWrkMasts.size()) - 1).getBatchSeq();
            News.taskInfo(wrkMast.getWrkNo(),
                    "批次:{} 当前严格执行窗口序号为[{}-{}]，当前序号={}，暂不允许堆垛机出库",
                    wrkMast.getBatch(),
                    windowStartSeq,
                    windowEndSeq,
                    wrkMast.getBatchSeq());
            if (logBlockedReason) {
                List<Integer> windowBatchSeqList = unfinishedBatchWrkMasts.stream()
                        .limit(Math.min(batchRunningLimit, unfinishedBatchWrkMasts.size()))
                        .map(WrkMast::getBatchSeq)
                        .collect(java.util.stream.Collectors.toList());
                News.taskInfo(wrkMast.getWrkNo(),
                        "批次:{} 当前严格执行窗口序号列表为{}，当前序号={}，暂不允许堆垛机出库",
                        wrkMast.getBatch(),
                        windowBatchSeqList,
                        wrkMast.getBatchSeq());
            }
            return false;
        }

@@ -522,7 +547,9 @@
                        WrkStsType.COMPLETE_OUTBOUND.sts,
                        WrkStsType.SETTLE_OUTBOUND.sts));
        if (batchRunningCount >= batchRunningLimit) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 执行中任务数达到上限，当前={}，上限={}", wrkMast.getBatch(), batchRunningCount, batchRunningLimit);
            if (logBlockedReason) {
                News.taskInfo(wrkMast.getWrkNo(), "批次:{} 执行中任务数达到上限，当前={}，上限={}", wrkMast.getBatch(), batchRunningCount, batchRunningLimit);
            }
            return false;
        }

@@ -728,16 +755,15 @@
    }

    public synchronized void plannerExecute() {
        Set<Integer> crnMoveBlockedCrnNos = executeCrnMoveTask();
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            plannerExecute(basCrnp, crnMoveBlockedCrnNos);
            plannerExecute(basCrnp);
        }
    }

    private void plannerExecute(BasCrnp basCrnp, Set<Integer> crnMoveBlockedCrnNos) {
    private void plannerExecute(BasCrnp basCrnp) {
        int nowSec = (int) (System.currentTimeMillis() / 1000);
        if (basCrnp == null || basCrnp.getCrnNo() == null || crnMoveBlockedCrnNos.contains(basCrnp.getCrnNo())) {
        if (basCrnp == null || basCrnp.getCrnNo() == null) {
            return;
        }
            String key = RedisKeyType.PLANNER_SCHEDULE.key + "CRN-" + basCrnp.getCrnNo();
@@ -886,76 +912,20 @@
        return false;
    }

    private Set<Integer> executeCrnMoveTask() {
        List<WrkMast> pendingTaskQueue = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("io_type", WrkIoType.CRN_MOVE.id)
                .eq("wrk_sts", WrkStsType.NEW_CRN_MOVE.sts)
                .orderByAsc("appe_time")
                .orderByAsc("wrk_no"));
        Set<Integer> blockedCrnNoSet = new HashSet<>();
        for (WrkMast wrkMast : pendingTaskQueue) {
            if (wrkMast != null && wrkMast.getCrnNo() != null) {
                blockedCrnNoSet.add(wrkMast.getCrnNo());
            }
        }
        if (blockedCrnNoSet.isEmpty()) {
            return blockedCrnNoSet;
        }

        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        Map<Integer, CrnThread> dispatchThreadMap = new HashMap<>();
        Map<Integer, CrnProtocol> dispatchProtocolMap = new HashMap<>();
        for (BasCrnp basCrnp : basCrnps) {
            if (basCrnp == null || basCrnp.getCrnNo() == null) {
                continue;
            }

            Integer crnNo = basCrnp.getCrnNo();
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
            if (crnThread == null) {
                continue;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }

            long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                    .eq("crn_no", crnNo)
                    .in("wrk_sts",
                            WrkStsType.INBOUND_RUN.sts,
                            WrkStsType.OUTBOUND_RUN.sts,
                            WrkStsType.LOC_MOVE_RUN.sts,
                            WrkStsType.CRN_MOVE_RUN.sts));
            if (runningCount > 0) {
                continue;
            }

            if (!Objects.equals(crnProtocol.getMode(), CrnModeType.AUTO.id)
                    || !Objects.equals(crnProtocol.getTaskNo(), 0)
                    || !Objects.equals(crnProtocol.getStatus(), CrnStatusType.IDLE.id)
                    || !Objects.equals(crnProtocol.getLoaded(), 0)
                    || !Objects.equals(crnProtocol.getForkPos(), 0)
                    || !Objects.equals(crnProtocol.getAlarm(), 0)) {
                continue;
            }

            Object clearLock = redisUtil.get(RedisKeyType.CLEAR_CRN_TASK_LIMIT.key + crnNo);
            if (clearLock != null) {
                continue;
            }

            dispatchThreadMap.put(crnNo, crnThread);
            dispatchProtocolMap.put(crnNo, crnProtocol);
        }

        if (dispatchThreadMap.isEmpty()) {
            return blockedCrnNoSet;
    private boolean executeCrnMoveTask(CrnThread crnThread, CrnProtocol crnProtocol) {
        long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                .eq("crn_no", crnProtocol.getCrnNo())
                .in("wrk_sts",
                        WrkStsType.INBOUND_RUN.sts,
                        WrkStsType.OUTBOUND_RUN.sts,
                        WrkStsType.LOC_MOVE_RUN.sts,
                        WrkStsType.CRN_MOVE_RUN.sts));
        if (runningCount > 0) {
            return false;
        }

        List<WrkMast> taskQueue = wrkMastService.list(new QueryWrapper<WrkMast>()
                .in("crn_no", new ArrayList<>(dispatchThreadMap.keySet()))
                .eq("crn_no", crnProtocol.getCrnNo())
                .eq("io_type", WrkIoType.CRN_MOVE.id)
                .eq("wrk_sts", WrkStsType.NEW_CRN_MOVE.sts)
                .orderByAsc("appe_time")
@@ -966,36 +936,38 @@
                continue;
            }

            Integer crnNo = wrkMast.getCrnNo();
            CrnThread crnThread = dispatchThreadMap.get(crnNo);
            if (crnThread == null || dispatchProtocolMap.get(crnNo) == null) {
            if (crnProtocol.getBay() == Utils.getBay(wrkMast.getLocNo())) {
                Date now = new Date();
                wrkMast.setWrkSts(WrkStsType.COMPLETE_CRN_MOVE.sts);
                wrkMast.setSystemMsg("堆垛机已在目标点，任务直接完成");
                wrkMast.setIoTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastService.updateById(wrkMast)) {
                    wrkAnalysisService.markCraneStart(wrkMast, now);
                }
                continue;
            }

            CrnCommand moveCommand = crnThread.getMoveCommand(wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
            CrnCommand moveCommand = crnThread.getMoveCommand(wrkMast.getLocNo(), wrkMast.getWrkNo(), crnProtocol.getCrnNo());
            if (moveCommand == null) {
                continue;
            }

            Date now = new Date();
            wrkMast.setWrkSts(WrkStsType.CRN_MOVE_RUN.sts);
            wrkMast.setCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(now);
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                wrkAnalysisService.markCraneStart(wrkMast, now);
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, moveCommand));
                MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, moveCommand));
                News.info("堆垛机移动命令下发成功，堆垛机号={}，工作号={}，目标位={}，任务数据={}",
                        crnNo, wrkMast.getWrkNo(), wrkMast.getLocNo(), JSON.toJSON(moveCommand));
                return blockedCrnNoSet;
                        crnProtocol.getCrnNo(), wrkMast.getWrkNo(), wrkMast.getLocNo(), JSON.toJSON(moveCommand));
                return true;
            }
        }
        return blockedCrnNoSet;
    }

    public Set<Integer> executeCrnMoveTaskAndGetBlockedCrnNos() {
        return executeCrnMoveTask();
        return false;
    }

    public void submitCrnIoTasks(long minIntervalMs) {
@@ -1003,7 +975,6 @@
    }

    public void submitCrnIoTasks(MainProcessLane lane, long minIntervalMs) {
        Set<Integer> blockedCrnNos = executeCrnMoveTaskAndGetBlockedCrnNos();
        List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            Integer crnNo = basCrnp == null ? null : basCrnp.getCrnNo();
@@ -1015,7 +986,7 @@
                    crnNo,
                    "crnIoExecute",
                    minIntervalMs,
                    () -> crnIoExecute(basCrnp, blockedCrnNos)
                    () -> crnIoExecute(basCrnp)
            );
        }
    }
@@ -1105,6 +1076,10 @@

    //调度堆垛机移动
    public synchronized boolean dispatchCrnMove(Integer crnNo, String targetLocNo) {
        return dispatchCrnMove(crnNo, targetLocNo, false);
    }

    public synchronized boolean dispatchCrnMove(Integer crnNo, String targetLocNo, boolean allowQueueWhenBusy) {
        if (crnNo == null || Cools.isEmpty(targetLocNo)) {
            return false;
        }
@@ -1135,20 +1110,18 @@
            return false;
        }

        if (crnProtocol.getLevel() == targetLev) {
            return false;
        }

        long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                .eq("crn_no", crnNo)
                .in("wrk_sts",
                        WrkStsType.INBOUND_RUN.sts,
                        WrkStsType.OUTBOUND_RUN.sts,
                        WrkStsType.LOC_MOVE_RUN.sts,
                        WrkStsType.CRN_MOVE_RUN.sts));
        if (runningCount > 0) {
            News.info("堆垛机:{} 存在执行中的任务，暂不生成移动任务", crnNo);
            return false;
        if (!allowQueueWhenBusy) {
            long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                    .eq("crn_no", crnNo)
                    .in("wrk_sts",
                            WrkStsType.INBOUND_RUN.sts,
                            WrkStsType.OUTBOUND_RUN.sts,
                            WrkStsType.LOC_MOVE_RUN.sts,
                            WrkStsType.CRN_MOVE_RUN.sts));
            if (runningCount > 0) {
                News.info("堆垛机:{} 存在执行中的任务，暂不生成移动任务", crnNo);
                return false;
            }
        }

        WrkMast activeTask = wrkMastService.getOne(new QueryWrapper<WrkMast>()