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Junjie

昨天 3f7bea2d7e66c853118c6f7da7122ac890e44550

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 src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java

@@ -50,6 +50,7 @@
public class ZyStationV5Thread implements Runnable, com.zy.core.thread.StationThread {

    private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
    private static final int SHORT_PATH_REPEAT_AVOID_THRESHOLD = 3;

    private List<StationProtocol> statusList = new ArrayList<>();
    private DeviceConfig deviceConfig;
@@ -437,22 +438,101 @@
        }

        Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
        List<RerouteCandidateCommand> candidateCommandList = new ArrayList<>();
        for (List<NavigateNode> candidatePath : candidatePathList) {
            StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
            if (rerouteCommand == null || rerouteCommand.getNavigatePath() == null || rerouteCommand.getNavigatePath().isEmpty()) {
                continue;
            }
            String routeSignature = buildPathSignature(rerouteCommand.getNavigatePath());
            if (Cools.isEmpty(routeSignature) || issuedRouteSignatureSet.contains(routeSignature)) {
            if (Cools.isEmpty(routeSignature)) {
                continue;
            }
            RerouteCandidateCommand candidateCommand = new RerouteCandidateCommand();
            candidateCommand.setCommand(rerouteCommand);
            candidateCommand.setRouteSignature(routeSignature);
            candidateCommand.setPathLength(rerouteCommand.getNavigatePath().size());
            candidateCommand.setIssuedCount(rerouteState.getRouteIssueCountMap().getOrDefault(routeSignature, 0));
            candidateCommandList.add(candidateCommand);
        }
        if (candidateCommandList.isEmpty()) {
            return null;
        }

        List<RerouteCandidateCommand> orderedCandidateCommandList = reorderCandidateCommandsForLoopRelease(candidateCommandList);
        for (RerouteCandidateCommand candidateCommand : orderedCandidateCommandList) {
            if (candidateCommand == null || candidateCommand.getCommand() == null) {
                continue;
            }
            if (issuedRouteSignatureSet.contains(candidateCommand.getRouteSignature())) {
                continue;
            }

            issuedRouteSignatureSet.add(routeSignature);
            StationCommand rerouteCommand = candidateCommand.getCommand();
            issuedRouteSignatureSet.add(candidateCommand.getRouteSignature());
            rerouteState.getIssuedRoutePathList().add(new ArrayList<>(rerouteCommand.getNavigatePath()));
            rerouteState.setLastSelectedRoute(new ArrayList<>(rerouteCommand.getNavigatePath()));
            rerouteState.getRouteIssueCountMap().put(
                    candidateCommand.getRouteSignature(),
                    rerouteState.getRouteIssueCountMap().getOrDefault(candidateCommand.getRouteSignature(), 0) + 1
            );
            return rerouteCommand;
        }
        return null;
    }

    private List<RerouteCandidateCommand> reorderCandidateCommandsForLoopRelease(List<RerouteCandidateCommand> candidateCommandList) {
        if (candidateCommandList == null || candidateCommandList.isEmpty()) {
            return new ArrayList<>();
        }

        int shortestPathLength = Integer.MAX_VALUE;
        boolean shortestPathOverused = false;
        boolean hasLongerCandidate = false;
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
                continue;
            }
            shortestPathLength = Math.min(shortestPathLength, candidateCommand.getPathLength());
        }
        if (shortestPathLength == Integer.MAX_VALUE) {
            return candidateCommandList;
        }

        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
                continue;
            }
            if (candidateCommand.getPathLength() > shortestPathLength) {
                hasLongerCandidate = true;
            }
            if (candidateCommand.getPathLength() == shortestPathLength
                    && candidateCommand.getIssuedCount() != null
                    && candidateCommand.getIssuedCount() >= SHORT_PATH_REPEAT_AVOID_THRESHOLD) {
                shortestPathOverused = true;
            }
        }
        if (!shortestPathOverused || !hasLongerCandidate) {
            return candidateCommandList;
        }

        List<RerouteCandidateCommand> reorderedList = new ArrayList<>();
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand != null
                    && candidateCommand.getPathLength() != null
                    && candidateCommand.getPathLength() > shortestPathLength) {
                reorderedList.add(candidateCommand);
            }
        }
        for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
            if (candidateCommand == null || candidateCommand.getPathLength() == null) {
                continue;
            }
            if (candidateCommand.getPathLength() <= shortestPathLength) {
                reorderedList.add(candidateCommand);
            }
        }
        return reorderedList;
    }

    private RunBlockRerouteState loadRunBlockRerouteState(Integer taskNo, Integer blockStationId) {
@@ -519,6 +599,7 @@
        private List<List<Integer>> issuedRoutePathList = new ArrayList<>();
        private List<Integer> lastSelectedRoute = new ArrayList<>();
        private Set<String> issuedRouteSignatureSet = new LinkedHashSet<>();
        private Map<String, Integer> routeIssueCountMap = new HashMap<>();

        private RunBlockRerouteState normalize() {
            if (planCount == null || planCount < 0) {
@@ -533,13 +614,17 @@
            if (issuedRouteSignatureSet == null) {
                issuedRouteSignatureSet = new LinkedHashSet<>();
            }
            if (routeIssueCountMap == null) {
                routeIssueCountMap = new HashMap<>();
            }
            for (List<Integer> routePath : issuedRoutePathList) {
                if (routePath == null || routePath.isEmpty()) {
                    continue;
                }
                StringBuilder builder = new StringBuilder(buildPathSignatureText(routePath));
                if (builder.length() > 0) {
                    issuedRouteSignatureSet.add(builder.toString());
                String pathSignature = buildPathSignatureText(routePath);
                if (!Cools.isEmpty(pathSignature)) {
                    issuedRouteSignatureSet.add(pathSignature);
                    routeIssueCountMap.putIfAbsent(pathSignature, 1);
                }
            }
            return this;
@@ -568,4 +653,12 @@
            return builder.toString();
        }
    }

    @Data
    private static class RerouteCandidateCommand {
        private StationCommand command;
        private String routeSignature;
        private Integer pathLength;
        private Integer issuedCount;
    }
}