#

Junjie

21 小时以前 f0112d195798e5b52e234fdb7648edeafd98e14f

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

@@ -202,12 +202,15 @@
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0
                ) {
                    Integer moveStaNo = resolveDispatchOutOrderTarget(
                    OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                            stationProtocol.getStationId(),
                            wrkMast.getStaNo(),
                            outOrderList,
                            true
                            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);
@@ -401,6 +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) {
@@ -507,13 +511,24 @@
                            }
                        } 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));
                        }
                    }
@@ -528,10 +543,6 @@
    public synchronized void checkStationIdleRecover() {
        try {
            List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
            List<Integer> outOrderList = new ArrayList<>();
            for (BasDevp basDevp : basDevps) {
                outOrderList.addAll(basDevp.getOutOrderIntList());
            }
            for (BasDevp basDevp : basDevps) {
                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
                if (stationThread == null) {
@@ -545,7 +556,7 @@
                            && stationProtocol.getTaskNo() > 0
                            && !stationProtocol.isRunBlock()
                    ) {
                        checkStationIdleRecover(basDevp, stationThread, stationProtocol, outOrderList);
                        checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
                    }
                }
            }
@@ -596,81 +607,38 @@
                if (wrkMast == null) {
                    continue;
                }
                if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
                    continue;
                }
                if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }

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

                if (Cools.isEmpty(wrkMast.getBatch())) {
                    continue;
                }

                if (Cools.isEmpty(wrkMast.getBatchSeq())) {
                    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_seq")
                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;
                    }
                    if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                        continue;
                    }
                    clearWatchCircleCommand(wrkMast.getWrkNo());
                    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 = resolveNextCircleOrderTarget(stationProtocol.getStationId(), 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={}", stationProtocol.getStationId());
                        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;
                    }
                    if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                        continue;
                    }
                    MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    saveWatchCircleCommand(wrkMast.getWrkNo(), command);
                    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());
            }
        }
    }
@@ -711,13 +679,22 @@
                if (wrkMast == null) {
                    continue;
                }
                if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
                    continue;
                }
                if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
                    continue;
                }

                Integer moveStaNo = resolveDispatchOutOrderTarget(
                OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
                        stationProtocol.getStationId(),
                        wrkMast.getStaNo(),
                        outOrderList,
                        true
                        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);
                if (command == null) {
@@ -727,11 +704,7 @@
                if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
                    continue;
                }
                if (Objects.equals(moveStaNo, wrkMast.getStaNo())) {
                    clearWatchCircleCommand(wrkMast.getWrkNo());
                } else {
                    saveWatchCircleCommand(wrkMast.getWrkNo(), command);
                }
                syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
            }
        }
@@ -745,6 +718,118 @@
            list.addAll(orderList);
        }
        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,
@@ -877,7 +962,14 @@
            return;
        }

        Integer moveStaNo = resolveIdleRecoverTarget(stationProtocol, wrkMast, outOrderList);
        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;
        }
@@ -897,6 +989,7 @@
        }

        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));
@@ -911,22 +1004,6 @@
        }
        return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_DEVICE_RUN.sts)
                || Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
    }

    private Integer resolveIdleRecoverTarget(StationProtocol stationProtocol,
                                             WrkMast wrkMast,
                                             List<Integer> outOrderList) {
        if (stationProtocol == null || wrkMast == null) {
            return null;
        }
        Integer currentStationId = stationProtocol.getStationId();
        if (currentStationId == null) {
            return null;
        }
        if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
            return resolveDispatchOutOrderTarget(currentStationId, wrkMast.getStaNo(), outOrderList, true);
        }
        return wrkMast.getStaNo();
    }

    private boolean hasFollowUpMoveCommandAfterStay(StationTaskIdleTrack idleTrack,
@@ -1006,6 +1083,9 @@
    }

    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);
@@ -1185,6 +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;