#

Junjie

18 小时以前 f0112d195798e5b52e234fdb7648edeafd98e14f

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

@@ -7,6 +7,7 @@
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.*;
@@ -35,6 +36,10 @@
@Component
public class StationOperateProcessUtils {
    private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
    private static final int OUT_ORDER_DISPATCH_LIMIT_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_TRACK_EXPIRE_SECONDS = 60 * 60;

    @Autowired
    private BasDevpService basDevpService;
@@ -56,13 +61,17 @@
    private BasStationService basStationService;
    @Autowired
    private StationCycleCapacityService stationCycleCapacityService;
    @Autowired
    private StationPathPolicyService stationPathPolicyService;
    @Autowired
    private BasStationOptService basStationOptService;

    //执行输送站点入库任务
    public synchronized void stationInExecute() {
        try {
            DispatchLimitConfig limitConfig = getDispatchLimitConfig();
            DispatchLimitConfig baseLimitConfig = getDispatchLimitConfig(null, null);
            int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
            LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
            LoadGuardState loadGuardState = buildLoadGuardState(baseLimitConfig);

            List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
            for (BasDevp basDevp : basDevps) {
@@ -118,6 +127,7 @@
                            continue;
                        }

                        DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), targetStationId);
                        LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), targetStationId, loadGuardState);

                        if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
@@ -153,9 +163,9 @@
    //执行堆垛机输送站点出库任务
    public synchronized void crnStationOutExecute() {
        try {
            DispatchLimitConfig limitConfig = getDispatchLimitConfig();
            DispatchLimitConfig baseLimitConfig = getDispatchLimitConfig(null, null);
            int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
            LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
            LoadGuardState loadGuardState = buildLoadGuardState(baseLimitConfig);

            List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
                    .eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
@@ -192,23 +202,17 @@
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0
                ) {
                    Integer moveStaNo = wrkMast.getStaNo();

                    if (!outOrderList.isEmpty()) {
                        List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
                        for (int i = nodes.size() - 1; i >= 0; i--) {
                            NavigateNode node = nodes.get(i);
                            JSONObject v = JSONObject.parseObject(node.getNodeValue());
                            if (v != null) {
                                Integer stationId = v.getInteger("stationId");
                                if (outOrderList.contains(stationId)) {
                                    moveStaNo = stationId;
                                    break;
                                }
                            }
                        }
                    OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                            stationProtocol.getStationId(),
                            wrkMast,
                            outOrderList
                    );
                    Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
                    if (moveStaNo == null) {
                        continue;
                    }

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

                    if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
@@ -400,6 +404,7 @@
                for (StationObjModel stationObjModel : basDevp.getRunBlockReassignLocStationList$()) {
                    runBlockReassignLocStationList.add(stationObjModel.getStationId());
                }
                List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();

                List<StationProtocol> list = stationThread.getStatus();
                for (StationProtocol stationProtocol : list) {
@@ -506,15 +511,52 @@
                            }
                        } else {
                            //运行堵塞，重新计算路线
                            StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                            OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                                    stationProtocol.getStationId(),
                                    wrkMast,
                                    outOrderStationIds
                            );
                            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);
                            if (command == null) {
                                News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                                continue;
                            }

                            MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                            syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
                            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));
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    //检测输送站点任务停留超时后重新计算路径
    public synchronized void checkStationIdleRecover() {
        try {
            List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
            for (BasDevp basDevp : basDevps) {
                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
                if (stationThread == null) {
                    continue;
                }

                List<StationProtocol> list = stationThread.getStatus();
                for (StationProtocol stationProtocol : list) {
                    if (stationProtocol.isAutoing()
                            && stationProtocol.isLoading()
                            && stationProtocol.getTaskNo() > 0
                            && !stationProtocol.isRunBlock()
                    ) {
                        checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
                    }
                }
            }
@@ -532,12 +574,13 @@
    public synchronized void checkStationOutOrder() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if (stationThread == null) {
                continue;
            }
            Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
            List<StationObjModel> orderList = basDevp.getOutOrderList$();
            List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
            for (StationObjModel stationObjModel : orderList) {
                StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                if (stationProtocol == null) {
@@ -564,86 +607,38 @@
                if (wrkMast == null) {
                    continue;
                }

                if (Cools.isEmpty(wrkMast.getBatch())) {
                if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
                    continue;
                }
                if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }

                if (Cools.isEmpty(wrkMast.getBatchSeq())) {
                if (isWatchingCircleArrival(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }

                List<WrkMast> batchWrkList = wrkMastService.list(new QueryWrapper<WrkMast>()
                        .notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
                        .eq("batch", wrkMast.getBatch())
                        .orderBy(true, true, "batch")
                OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                        stationProtocol.getStationId(),
                        wrkMast,
                        outOrderStationIds
                );
                if (batchWrkList.isEmpty()) {
                Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
                if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
                    continue;
                }
                WrkMast firstWrkMast = batchWrkList.get(0);
                Integer currentBatchSeq = firstWrkMast.getBatchSeq();

                List<NavigateNode> initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());

                String commandType = "none";
                Integer seq = getOutStationBatchSeq(initPath, stationProtocol.getStationId(), wrkMast.getBatch());
                if (seq == null) {
                    if (currentBatchSeq.equals(wrkMast.getBatchSeq())) {
                        commandType = "toTarget";
                    }else {
                        commandType = "toCircle";
                    }
                }else {
                    seq++;
                    if (seq.equals(wrkMast.getBatchSeq()) && currentBatchSeq.equals(wrkMast.getBatchSeq())) {
                        commandType = "toTarget";
                    }else {
                        commandType = "toCircle";
                    }
                StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
                if (command == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
                }

                if (commandType.equals("toTarget")) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }
                    MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    News.info("{}任务直接去目标点", wrkMast.getWrkNo());
                } else if (commandType.equals("toCircle")) {
                    Integer circleTarget = null;
                    for (NavigateNode node : initPath) {
                        JSONObject v = JSONObject.parseObject(node.getNodeValue());
                        if (v != null) {
                            Integer stationId = v.getInteger("stationId");
                            try {
                                List<NavigateNode> enableMovePath = navigateUtils.calcByStationId(stationProtocol.getStationId(), stationId);
                                if (enableMovePath.isEmpty()) {
                                    continue;
                                }
                            } catch (Exception e) {
                                continue;
                            }

                            circleTarget = stationId;
                            break;
                        }
                    }

                    if (circleTarget == null) {
                        continue;
                    }

                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), circleTarget, 0);
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }
                    MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkMast.getWrkNo(), JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    News.info("{}任务进行绕圈", wrkMast.getWrkNo());
                if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }
                syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
                MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                News.info(dispatchDecision.isCircle() ? "{}任务进行绕圈" : "{}任务直接去目标点", wrkMast.getWrkNo());
            }
        }
    }
@@ -652,7 +647,7 @@
    public synchronized void watchCircleStation() {
        List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if (stationThread == null) {
                continue;
            }
@@ -672,12 +667,10 @@
                    continue;
                }

                Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + stationProtocol.getTaskNo());
                if (circleObj == null) {
                StationCommand circleCommand = getWatchCircleCommand(stationProtocol.getTaskNo());
                if (circleCommand == null) {
                    continue;
                }

                StationCommand circleCommand = JSON.parseObject(circleObj.toString(), StationCommand.class);
                if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
                    continue;
                }
@@ -686,22 +679,21 @@
                if (wrkMast == null) {
                    continue;
                }
                if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
                    continue;
                }
                if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }

                Integer moveStaNo = wrkMast.getStaNo();

                if (!outOrderList.isEmpty()) {
                    List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
                    for (int i = nodes.size() - 1; i >= 0; i--) {
                        NavigateNode node = nodes.get(i);
                        JSONObject v = JSONObject.parseObject(node.getNodeValue());
                        if (v != null) {
                            Integer stationId = v.getInteger("stationId");
                            if (outOrderList.contains(stationId)) {
                                moveStaNo = stationId;
                                break;
                            }
                        }
                    }
                OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                        stationProtocol.getStationId(),
                        wrkMast,
                        outOrderList
                );
                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);
@@ -709,6 +701,10 @@
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
                }
                if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }
                syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
            }
        }
@@ -724,7 +720,372 @@
        return list;
    }

    private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
                                                                     WrkMast wrkMast,
                                                                     List<Integer> outOrderStationIds) {
        if (wrkMast == null || wrkMast.getStaNo() == null) {
            return null;
        }
        if (!shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
            return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
        }
        if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
            return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds);
        }

        Integer moveStaNo = resolveDispatchOutOrderTarget(currentStationId, wrkMast.getStaNo(), outOrderStationIds, true);
        if (moveStaNo == null) {
            return null;
        }
        return new OutOrderDispatchDecision(moveStaNo, false);
    }

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

        List<WrkMast> batchWrkList = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("io_type", WrkIoType.OUT.id)
                .notIn("wrk_sts",
                        WrkStsType.STATION_RUN_COMPLETE.sts,
                        WrkStsType.COMPLETE_OUTBOUND.sts,
                        WrkStsType.SETTLE_OUTBOUND.sts)
                .eq("batch", wrkMast.getBatch())
                .orderByAsc("batch_seq")
                .orderByAsc("wrk_no"));
        if (batchWrkList.isEmpty()) {
            return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
        }

        WrkMast firstWrkMast = batchWrkList.get(0);
        Integer currentBatchSeq = firstWrkMast.getBatchSeq();
        if (currentBatchSeq == null) {
            News.taskInfo(wrkMast.getWrkNo(), "批次:{} 首个未完成任务缺少批次序号，当前任务暂不放行", wrkMast.getBatch());
            return null;
        }

        List<NavigateNode> initPath;
        try {
            initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
        } 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;
        }

        Integer seq = getOutStationBatchSeq(initPath, currentStationId, wrkMast.getBatch());
        boolean toTarget;
        if (seq == null) {
            toTarget = currentBatchSeq.equals(wrkMast.getBatchSeq());
        } else {
            toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq())
                    && currentBatchSeq.equals(wrkMast.getBatchSeq());
        }
        if (toTarget) {
            return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
        }

        Integer circleTarget = resolveNextCircleOrderTarget(currentStationId, outOrderStationIds);
        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);
            return null;
        }
        return new OutOrderDispatchDecision(circleTarget, true);
    }

    private boolean shouldApplyOutOrder(WrkMast wrkMast, List<Integer> outOrderStationIds) {
        return wrkMast != null
                && wrkMast.getStaNo() != null
                && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
                && !Cools.isEmpty(wrkMast.getBatch())
                && wrkMast.getBatchSeq() != null
                && outOrderStationIds != null
                && !outOrderStationIds.isEmpty();
    }

    private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
                                                     WrkMast wrkMast,
                                                     List<Integer> outOrderStationIds) {
        return currentStationId != null
                && shouldApplyOutOrder(wrkMast, outOrderStationIds)
                && !Objects.equals(currentStationId, wrkMast.getStaNo())
                && outOrderStationIds.contains(currentStationId);
    }

    private void syncOutOrderWatchState(WrkMast wrkMast,
                                        Integer currentStationId,
                                        List<Integer> outOrderStationIds,
                                        OutOrderDispatchDecision dispatchDecision,
                                        StationCommand command) {
        if (dispatchDecision == null || command == null) {
            return;
        }
        if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
            return;
        }
        if (dispatchDecision.isCircle()) {
            saveWatchCircleCommand(wrkMast.getWrkNo(), command);
        } else {
            clearWatchCircleCommand(wrkMast.getWrkNo());
        }
    }

    private Integer resolveDispatchOutOrderTarget(Integer currentStationId,
                                                  Integer finalTargetStationId,
                                                  List<Integer> outOrderList,
                                                  boolean skipCurrentStation) {
        if (finalTargetStationId == null) {
            return null;
        }
        if (currentStationId == null || outOrderList == null || outOrderList.isEmpty()) {
            return finalTargetStationId;
        }

        try {
            List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
            for (int i = nodes.size() - 1; i >= 0; i--) {
                Integer stationId = getStationIdFromNode(nodes.get(i));
                if (stationId == null) {
                    continue;
                }
                if (skipCurrentStation && currentStationId.equals(stationId)) {
                    continue;
                }
                if (outOrderList.contains(stationId)) {
                    return stationId;
                }
            }
        } catch (Exception ignore) {}
        return finalTargetStationId;
    }

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

        int startIndex = orderedOutStationList.indexOf(currentStationId);
        int total = orderedOutStationList.size();
        for (int offset = 1; offset < total; offset++) {
            int candidateIndex = (startIndex + offset + total) % total;
            Integer candidateStationId = orderedOutStationList.get(candidateIndex);
            if (candidateStationId == null || currentStationId.equals(candidateStationId)) {
                continue;
            }
            try {
                List<NavigateNode> path = navigateUtils.calcByStationId(currentStationId, candidateStationId);
                if (path != null && !path.isEmpty()) {
                    return candidateStationId;
                }
            } catch (Exception ignore) {}
        }
        return null;
    }

    private boolean tryAcquireOutOrderDispatchLock(Integer wrkNo, Integer stationId) {
        if (wrkNo == null || wrkNo <= 0 || stationId == null) {
            return true;
        }
        String key = RedisKeyType.STATION_OUT_ORDER_DISPATCH_LIMIT_.key + wrkNo + "_" + stationId;
        Object lock = redisUtil.get(key);
        if (lock != null) {
            return false;
        }
        redisUtil.set(key, "lock", OUT_ORDER_DISPATCH_LIMIT_SECONDS);
        return true;
    }

    private boolean isWatchingCircleArrival(Integer wrkNo, Integer stationId) {
        StationCommand command = getWatchCircleCommand(wrkNo);
        return command != null && stationId != null && stationId.equals(command.getTargetStaNo());
    }

    private StationCommand getWatchCircleCommand(Integer wrkNo) {
        if (wrkNo == null || wrkNo <= 0) {
            return null;
        }
        Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo);
        if (circleObj == null) {
            return null;
        }
        try {
            return JSON.parseObject(circleObj.toString(), StationCommand.class);
        } catch (Exception ignore) {
            return null;
        }
    }

    private void saveWatchCircleCommand(Integer wrkNo, StationCommand command) {
        if (wrkNo == null || wrkNo <= 0 || command == null) {
            return;
        }
        redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo,
                JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
    }

    private void clearWatchCircleCommand(Integer wrkNo) {
        if (wrkNo == null || wrkNo <= 0) {
            return;
        }
        redisUtil.del(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo);
    }

    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 = touchStationTaskIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
        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;
        }

        if (hasFollowUpMoveCommandAfterStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
            return;
        }

        OutOrderDispatchDecision dispatchDecision = null;
        Integer moveStaNo;
        if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
            dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList);
            moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
        } else {
            moveStaNo = wrkMast.getStaNo();
        }
        if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
            return;
        }

        redisUtil.set(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), "lock", STATION_IDLE_RECOVER_LIMIT_SECONDS);

        StationCommand command = stationThread.getCommand(
                StationCommandType.MOVE,
                wrkMast.getWrkNo(),
                stationProtocol.getStationId(),
                moveStaNo,
                0
        );
        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);
            return;
        }

        MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
        syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
        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={}，命令数据={}",
                STATION_IDLE_RECOVER_SECONDS, stationProtocol.getStationId(), moveStaNo, wrkMast.getWrkNo(), JSON.toJSONString(command));
    }

    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_DEVICE_RUN.sts)
                || Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
    }

    private boolean hasFollowUpMoveCommandAfterStay(StationTaskIdleTrack idleTrack,
                                                    Integer taskNo,
                                                    Integer stationId) {
        if (idleTrack == null || taskNo == null || stationId == null || idleTrack.firstSeenTime == null) {
            return false;
        }
        if (basStationOptService == null) {
            return false;
        }

        List<BasStationOpt> optList;
        try {
            optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
                    .select("id", "target_station_id")
                    .eq("task_no", taskNo)
                    .eq("source_station_id", stationId)
                    .eq("mode", String.valueOf(StationCommandType.MOVE))
                    .eq("send", 1)
                    .ge("send_time", new Date(idleTrack.firstSeenTime))
                    .orderByDesc("send_time")
                    .last("limit 3"));
        } catch (Exception e) {
            return false;
        }

        if (optList == null || optList.isEmpty()) {
            return false;
        }

        for (BasStationOpt opt : optList) {
            if (opt != null && opt.getTargetStationId() != null && !Objects.equals(opt.getTargetStationId(), stationId)) {
                return true;
            }
        }
        return false;
    }

    private StationTaskIdleTrack touchStationTaskIdleTrack(Integer taskNo, Integer stationId) {
        if (taskNo == null || taskNo <= 0 || stationId == null) {
            return null;
        }
        long now = System.currentTimeMillis();
        StationTaskIdleTrack idleTrack = getStationTaskIdleTrack(taskNo);
        if (idleTrack == null || !Objects.equals(idleTrack.stationId, stationId)) {
            idleTrack = new StationTaskIdleTrack(taskNo, stationId, now);
            saveStationTaskIdleTrack(idleTrack);
        }
        return idleTrack;
    }

    private StationTaskIdleTrack getStationTaskIdleTrack(Integer taskNo) {
        if (taskNo == null || taskNo <= 0) {
            return null;
        }
        Object obj = redisUtil.get(RedisKeyType.STATION_TASK_IDLE_TRACK_.key + taskNo);
        if (obj == null) {
            return null;
        }
        try {
            return JSON.parseObject(obj.toString(), StationTaskIdleTrack.class);
        } catch (Exception e) {
            return null;
        }
    }

    private void saveStationTaskIdleTrack(StationTaskIdleTrack idleTrack) {
        if (idleTrack == null || idleTrack.taskNo == null || idleTrack.taskNo <= 0) {
            return;
        }
        redisUtil.set(
                RedisKeyType.STATION_TASK_IDLE_TRACK_.key + idleTrack.taskNo,
                JSON.toJSONString(idleTrack, SerializerFeature.DisableCircularReferenceDetect),
                STATION_IDLE_TRACK_EXPIRE_SECONDS
        );
    }

    public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
        if (pathList == null || pathList.isEmpty() || searchStationId == null || Cools.isEmpty(searchBatch)) {
            return null;
        }
        List<Integer> checkList = new ArrayList<>();
        for (int i = pathList.size() - 1; i >= 0; i--) {
            NavigateNode node = pathList.get(i);
@@ -823,7 +1184,8 @@
        }

        state.totalStationCount = toNonNegative(capacityVo.getTotalStationCount());
        state.projectedTaskStationCount = toNonNegative(capacityVo.getTaskStationCount());
        Integer occupiedStationCount = capacityVo.getOccupiedStationCount();
        state.projectedTaskStationCount = toNonNegative(occupiedStationCount != null ? occupiedStationCount : capacityVo.getTaskStationCount());

        List<StationCycleLoopVo> loopList = capacityVo.getLoopList();
        if (loopList != null) {
@@ -903,6 +1265,24 @@
        return value;
    }

    private static class OutOrderDispatchDecision {
        private final Integer targetStationId;
        private final boolean circle;

        private OutOrderDispatchDecision(Integer targetStationId, boolean circle) {
            this.targetStationId = targetStationId;
            this.circle = circle;
        }

        private Integer getTargetStationId() {
            return targetStationId;
        }

        private boolean isCircle() {
            return circle;
        }
    }

    private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
        if (wrkNo == null || wrkNo <= 0 || loopHitResult == null || !loopHitResult.isThroughLoop()) {
            return;
@@ -916,23 +1296,31 @@
        redisUtil.expire(RedisKeyType.STATION_CYCLE_LOAD_RESERVE.key, LOOP_LOAD_RESERVE_EXPIRE_SECONDS);
    }

    private DispatchLimitConfig getDispatchLimitConfig() {
    private DispatchLimitConfig getDispatchLimitConfig(Integer startStationId, Integer endStationId) {
        DispatchLimitConfig config = new DispatchLimitConfig();
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (!(systemConfigMapObj instanceof Map)) {
            return config;
        if (systemConfigMapObj instanceof Map) {
            Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;
            config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
            String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
            if (isBlank(loopModeValue)) {
                loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
            }
            if (isBlank(loopModeValue)) {
                loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
            }
            config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);
        }
        Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;

        config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
        String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
        if (isBlank(loopModeValue)) {
            loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
        if (stationPathPolicyService != null && startStationId != null && endStationId != null) {
            try {
                StationPathResolvedPolicy resolvedPolicy = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
                if (resolvedPolicy != null && resolvedPolicy.getProfileConfig() != null) {
                    config.circleMaxLoadLimit = parseLoadLimit(String.valueOf(resolvedPolicy.getProfileConfig().getCircleMaxLoadLimit()), config.circleMaxLoadLimit);
                }
            } catch (Exception ignore) {
            }
        }
        if (isBlank(loopModeValue)) {
            loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
        }
        config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);

        return config;
    }
@@ -1073,4 +1461,49 @@
        }
    }

    private static class StationTaskIdleTrack {
        private Integer taskNo;
        private Integer stationId;
        private Long firstSeenTime;

        private StationTaskIdleTrack() {}

        private StationTaskIdleTrack(Integer taskNo, Integer stationId, Long firstSeenTime) {
            this.taskNo = taskNo;
            this.stationId = stationId;
            this.firstSeenTime = firstSeenTime;
        }

        private boolean isTimeout(int seconds) {
            if (firstSeenTime == null) {
                return false;
            }
            return System.currentTimeMillis() - firstSeenTime >= seconds * 1000L;
        }

        public Integer getTaskNo() {
            return taskNo;
        }

        public void setTaskNo(Integer taskNo) {
            this.taskNo = taskNo;
        }

        public Integer getStationId() {
            return stationId;
        }

        public void setStationId(Integer stationId) {
            this.stationId = stationId;
        }

        public Long getFirstSeenTime() {
            return firstSeenTime;
        }

        public void setFirstSeenTime(Long firstSeenTime) {
            this.firstSeenTime = firstSeenTime;
        }
    }

}