From 103ca74d9b67ce4f766b5f77451741a76fa696b9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 22 三月 2026 09:50:10 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 37 +++
src/main/java/com/zy/core/thread/StationThread.java | 17 +
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 245 ++++++++++++++++++++++----
src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java | 19 +
src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java | 19 +
src/main/java/com/zy/common/utils/NavigateUtils.java | 164 ++++++++++++++++-
6 files changed, 433 insertions(+), 68 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index eed3ee1..e867aa7 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -73,20 +73,40 @@
private StationTaskTraceRegistry stationTaskTraceRegistry;
public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId) {
- return calcByStationId(startStationId, endStationId, null, false);
+ return calcByStationId(startStationId, endStationId, null, null, false);
+ }
+
+ public synchronized List<NavigateNode> calcByStationId(Integer startStationId,
+ Integer endStationId,
+ Double pathLenFactor) {
+ return calcByStationId(startStationId, endStationId, null, pathLenFactor, false);
}
public synchronized List<NavigateNode> calcByStationId(Integer startStationId, Integer endStationId, Integer currentTaskNo) {
- return calcByStationId(startStationId, endStationId, currentTaskNo, false);
+ return calcByStationId(startStationId, endStationId, currentTaskNo, null, false);
+ }
+
+ public synchronized List<NavigateNode> calcByStationId(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ Double pathLenFactor) {
+ return calcByStationId(startStationId, endStationId, currentTaskNo, pathLenFactor, false);
}
public synchronized List<NavigateNode> calcReachablePathByStationId(Integer startStationId, Integer endStationId) {
- return calcByStationId(startStationId, endStationId, null, true);
+ return calcByStationId(startStationId, endStationId, null, null, true);
}
public synchronized List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
Integer endStationId,
Integer currentTaskNo) {
+ return calcCandidatePathByStationId(startStationId, endStationId, currentTaskNo, null);
+ }
+
+ public synchronized List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo,
+ Double pathLenFactor) {
StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
if (context.allList.isEmpty()) {
return new ArrayList<>();
@@ -96,6 +116,7 @@
context.allList,
context.resolvedPolicy,
currentTaskNo,
+ pathLenFactor,
startStationId,
endStationId
);
@@ -118,6 +139,7 @@
private synchronized List<NavigateNode> calcByStationId(Integer startStationId,
Integer endStationId,
Integer currentTaskNo,
+ Double pathLenFactor,
boolean reachabilityOnly) {
StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
if (context.allList.isEmpty()) {
@@ -125,7 +147,7 @@
}
List<NavigateNode> list = reachabilityOnly
? findStationReachablePath(context.allList, context.resolvedPolicy, startStationId, endStationId)
- : findStationBestPathTwoStage(context.allList, context.resolvedPolicy, currentTaskNo, startStationId, endStationId);
+ : findStationBestPathTwoStage(context.allList, context.resolvedPolicy, currentTaskNo, pathLenFactor, startStationId, endStationId);
return normalizeStationPath(list);
}
@@ -274,9 +296,10 @@
private List<NavigateNode> findStationBestPathTwoStage(List<List<NavigateNode>> allList,
StationPathResolvedPolicy resolvedPolicy,
Integer currentTaskNo,
+ Double pathLenFactor,
Integer startStationId,
Integer endStationId) {
- List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(allList, resolvedPolicy, currentTaskNo, startStationId, endStationId);
+ List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(allList, resolvedPolicy, currentTaskNo, pathLenFactor, startStationId, endStationId);
if (orderedPathList.isEmpty()) {
return new ArrayList<>();
}
@@ -286,6 +309,7 @@
private List<List<NavigateNode>> orderStationPathCandidates(List<List<NavigateNode>> allList,
StationPathResolvedPolicy resolvedPolicy,
Integer currentTaskNo,
+ Double pathLenFactor,
Integer startStationId,
Integer endStationId) {
if (allList == null || allList.isEmpty()) {
@@ -358,7 +382,8 @@
return new ArrayList<>();
}
- metricsList.sort((a, b) -> compareDouble(a.staticCost, b.staticCost, a.turnCount, b.turnCount, a.pathLen, b.pathLen));
+ applyPathLengthPreference(metricsList, profileConfig, globalPolicy, pathLenFactor);
+ metricsList.sort((a, b) -> compareStaticCandidateMetrics(a, b, pathLenFactor));
PathCandidateMetrics preferred = metricsList.get(0);
int maxLen = (int) Math.ceil(preferred.pathLen * safeDouble(profileConfig.getS1MaxLenRatio(), 1.15d));
int maxTurns = preferred.turnCount + safeInt(profileConfig.getS1MaxTurnDiff(), 1);
@@ -381,8 +406,8 @@
primaryMetrics = new ArrayList<>(primaryMetrics.subList(0, topK));
}
- primaryMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
- secondaryMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ primaryMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
+ secondaryMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
List<PathCandidateMetrics> remainingMetrics = new ArrayList<>();
for (PathCandidateMetrics metrics : metricsList) {
@@ -390,7 +415,7 @@
remainingMetrics.add(metrics);
}
}
- remainingMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ remainingMetrics.sort((a, b) -> compareDynamicCandidateMetrics(a, b, pathLenFactor));
List<List<NavigateNode>> orderedPathList = new ArrayList<>();
appendCandidatePathList(orderedPathList, primaryMetrics);
@@ -661,9 +686,9 @@
double congWeightFactor = globalPolicy == null ? 1.0d : globalPolicy.congWeightFactor;
double passOtherOutStationPenaltyWeight = globalPolicy == null ? 0.0d : globalPolicy.passOtherOutStationPenaltyWeight;
- metrics.staticCost =
- safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor * metrics.pathLen
- + safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
+ metrics.baseLengthWeight = safeDouble(profileConfig.getS1LenWeight(), 1.0d) * lenWeightFactor;
+ metrics.otherStaticCost =
+ safeDouble(profileConfig.getS1TurnWeight(), 3.0d) * metrics.turnCount
+ safeDouble(profileConfig.getS1LiftWeight(), 8.0d) * metrics.liftTransferCount
+ passOtherOutStationPenaltyWeight * metrics.passOtherOutStationCount
+ softDeviationWeight * metrics.softDeviationCount;
@@ -704,6 +729,105 @@
int leftLiftCount = countLiftTransferCount(left);
int rightLiftCount = countLiftTransferCount(right);
return compareDouble(leftLen, rightLen, leftTurnCount, rightTurnCount, leftLiftCount, rightLiftCount);
+ }
+
+ private void applyPathLengthPreference(List<PathCandidateMetrics> metricsList,
+ StationPathProfileConfig profileConfig,
+ PathGlobalPolicy globalPolicy,
+ Double pathLenFactor) {
+ if (metricsList == null || metricsList.isEmpty()) {
+ return;
+ }
+ double normalizedFactor = normalizePathLenFactor(pathLenFactor);
+ int minPathLen = Integer.MAX_VALUE;
+ int maxPathLen = Integer.MIN_VALUE;
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics == null) {
+ continue;
+ }
+ minPathLen = Math.min(minPathLen, metrics.pathLen);
+ maxPathLen = Math.max(maxPathLen, metrics.pathLen);
+ }
+ if (minPathLen == Integer.MAX_VALUE || maxPathLen == Integer.MIN_VALUE) {
+ return;
+ }
+ double targetPathLen = normalizedFactor <= 0.0d || maxPathLen <= minPathLen
+ ? minPathLen
+ : minPathLen + normalizedFactor * (maxPathLen - minPathLen);
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics == null) {
+ continue;
+ }
+ metrics.pathLenPreferenceDistance = normalizedFactor <= 0.0d
+ ? metrics.pathLen
+ : Math.abs(metrics.pathLen - targetPathLen);
+ metrics.staticCost = metrics.baseLengthWeight * metrics.pathLenPreferenceDistance + metrics.otherStaticCost;
+ }
+ }
+
+ private int compareStaticCandidateMetrics(PathCandidateMetrics left,
+ PathCandidateMetrics right,
+ Double pathLenFactor) {
+ if (left == right) {
+ return 0;
+ }
+ if (left == null) {
+ return 1;
+ }
+ if (right == null) {
+ return -1;
+ }
+ int result = Double.compare(left.staticCost, right.staticCost);
+ if (result != 0) {
+ return result;
+ }
+ result = Double.compare(left.pathLenPreferenceDistance, right.pathLenPreferenceDistance);
+ if (result != 0) {
+ return result;
+ }
+ result = Integer.compare(left.turnCount, right.turnCount);
+ if (result != 0) {
+ return result;
+ }
+ return comparePathLenTie(left.pathLen, right.pathLen, pathLenFactor);
+ }
+
+ private int compareDynamicCandidateMetrics(PathCandidateMetrics left,
+ PathCandidateMetrics right,
+ Double pathLenFactor) {
+ if (left == right) {
+ return 0;
+ }
+ if (left == null) {
+ return 1;
+ }
+ if (right == null) {
+ return -1;
+ }
+ int result = Double.compare(left.dynamicCost, right.dynamicCost);
+ if (result != 0) {
+ return result;
+ }
+ result = Double.compare(left.pathLenPreferenceDistance, right.pathLenPreferenceDistance);
+ if (result != 0) {
+ return result;
+ }
+ result = comparePathLenTie(left.pathLen, right.pathLen, pathLenFactor);
+ if (result != 0) {
+ return result;
+ }
+ return Integer.compare(left.turnCount, right.turnCount);
+ }
+
+ private int comparePathLenTie(int leftPathLen, int rightPathLen, Double pathLenFactor) {
+ double normalizedFactor = normalizePathLenFactor(pathLenFactor);
+ if (normalizedFactor <= 0.0d) {
+ return Integer.compare(leftPathLen, rightPathLen);
+ }
+ if (normalizedFactor >= 0.5d) {
+ return Integer.compare(rightPathLen, leftPathLen);
+ }
+ return Integer.compare(leftPathLen, rightPathLen);
}
private int countLiftTransferCount(List<NavigateNode> path) {
@@ -1753,6 +1877,19 @@
return value == null ? defaultValue : value;
}
+ private double normalizePathLenFactor(Double pathLenFactor) {
+ if (pathLenFactor == null) {
+ return 0.0d;
+ }
+ if (pathLenFactor < 0.0d) {
+ return 0.0d;
+ }
+ if (pathLenFactor > 1.0d) {
+ return 1.0d;
+ }
+ return pathLenFactor;
+ }
+
private boolean notBlank(String text) {
return text != null && !text.trim().isEmpty();
}
@@ -1935,6 +2072,9 @@
private int runBlockCount;
private int softDeviationCount;
private double loopPenalty;
+ private double baseLengthWeight;
+ private double otherStaticCost;
+ private double pathLenPreferenceDistance;
private double staticCost;
private double dynamicCost;
}
diff --git a/src/main/java/com/zy/core/thread/StationThread.java b/src/main/java/com/zy/core/thread/StationThread.java
index c861b02..1e8ee61 100644
--- a/src/main/java/com/zy/core/thread/StationThread.java
+++ b/src/main/java/com/zy/core/thread/StationThread.java
@@ -16,6 +16,15 @@
StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize);
+ default StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize);
+ }
+
default StationCommand getRunBlockRerouteCommand(Integer taskNo,
Integer stationId,
Integer targetStationId,
@@ -23,6 +32,14 @@
return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
}
+ default StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize, pathLenFactor);
+ }
+
CommandResponse sendCommand(StationCommand command);
CommandResponse sendOriginCommand(String address, short[] data);
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
index af286c8..bcbe804 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
@@ -209,6 +209,16 @@
@Override
public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
@@ -218,7 +228,7 @@
if (commandType == StationCommandType.MOVE) {
if (!stationId.equals(targetStationId)) {
- List<Integer> path = calcPathStationIds(stationId, targetStationId);
+ List<Integer> path = calcPathStationIds(taskNo, stationId, targetStationId, pathLenFactor);
if (path == null || path.isEmpty()) {
log.warn("杈撻�佺嚎鍛戒护鐢熸垚澶辫触锛岃矾寰勪负绌猴紝taskNo={}, stationId={}, targetStationId={}",
taskNo, stationId, targetStationId);
@@ -281,12 +291,15 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
+ private List<Integer> calcPathStationIds(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
List<Integer> ids = new ArrayList<>();
for (NavigateNode n : nodes) {
JSONObject v = JSONObject.parseObject(n.getNodeValue());
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
index 19b3642..064b5cd 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
@@ -214,6 +214,16 @@
@Override
public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
@@ -223,7 +233,7 @@
if (commandType == StationCommandType.MOVE) {
if (!stationId.equals(targetStationId)) {
- List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
+ List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
List<Integer> path = new ArrayList<>();
List<Integer> liftTransferPath = new ArrayList<>();
for (NavigateNode n : nodes) {
@@ -303,12 +313,15 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
+ private List<NavigateNode> calcPathNavigateNodes(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcByStationId(startStationId, targetStationId);
+ return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private void executeMoveWithSeg(StationCommand original) {
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
index f8d7abb..ca34f74 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -238,6 +238,16 @@
Integer stationId,
Integer targetStationId,
Integer palletSize) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
@@ -246,7 +256,7 @@
stationCommand.setCommandType(commandType);
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
- List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
+ List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
}
return stationCommand;
@@ -257,11 +267,20 @@
Integer stationId,
Integer targetStationId,
Integer palletSize) {
+ return getRunBlockRerouteCommand(taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
return null;
}
if (Objects.equals(stationId, targetStationId)) {
- return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize, pathLenFactor);
}
RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
@@ -281,7 +300,7 @@
rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
rerouteState.setLastPlanTime(System.currentTimeMillis());
- List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
+ List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
if (candidatePathList.isEmpty()) {
saveRunBlockRerouteState(rerouteState);
log.warn("杈撻�佺嚎鍫靛閲嶈鍒掑け璐ワ紝鍊欓�夎矾寰勪负绌猴紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
@@ -384,22 +403,26 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, Integer startStationId, Integer targetStationId) {
+ private List<NavigateNode> calcPathNavigateNodes(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
+ return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
Integer startStationId,
- Integer targetStationId) {
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo);
+ return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private StationCommand buildMoveCommand(Integer taskNo,
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 8c5fed5..550ad32 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -207,10 +207,12 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
stationProtocol.getStationId(),
wrkMast,
- outOrderList
+ outOrderList,
+ pathLenFactor
);
Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
if (moveStaNo == null) {
@@ -218,13 +220,19 @@
}
DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
- LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
+ LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState, wrkMast, pathLenFactor);
if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
return;
}
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
+ StationCommand command = buildOutboundMoveCommand(
+ stationThread,
+ wrkMast,
+ stationProtocol.getStationId(),
+ moveStaNo,
+ pathLenFactor
+ );
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -285,7 +293,14 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
+ StationCommand command = buildOutboundMoveCommand(
+ stationThread,
+ wrkMast,
+ stationProtocol.getStationId(),
+ wrkMast.getStaNo(),
+ pathLenFactor
+ );
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -522,10 +537,12 @@
}
} else {
//杩愯鍫靛锛岄噸鏂拌绠楄矾绾�
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
stationProtocol.getStationId(),
wrkMast,
- outOrderStationIds
+ outOrderStationIds,
+ pathLenFactor
);
Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
@@ -536,7 +553,8 @@
wrkMast.getWrkNo(),
stationProtocol.getStationId(),
moveStaNo,
- 0
+ 0,
+ pathLenFactor
);
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(),
@@ -650,17 +668,25 @@
continue;
}
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
stationProtocol.getStationId(),
wrkMast,
- outOrderStationIds
+ outOrderStationIds,
+ pathLenFactor
);
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);
+ StationCommand command = buildOutboundMoveCommand(
+ stationThread,
+ wrkMast,
+ stationProtocol.getStationId(),
+ moveStaNo,
+ pathLenFactor
+ );
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -718,17 +744,25 @@
continue;
}
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
stationProtocol.getStationId(),
wrkMast,
- outOrderList
+ outOrderList,
+ pathLenFactor
);
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);
+ StationCommand command = buildOutboundMoveCommand(
+ stationThread,
+ wrkMast,
+ stationProtocol.getStationId(),
+ moveStaNo,
+ pathLenFactor
+ );
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -740,6 +774,90 @@
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
}
}
+ }
+
+ private StationCommand buildOutboundMoveCommand(StationThread stationThread,
+ WrkMast wrkMast,
+ Integer stationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
+ if (stationThread == null || wrkMast == null) {
+ return null;
+ }
+ return stationThread.getCommand(
+ StationCommandType.MOVE,
+ wrkMast.getWrkNo(),
+ stationId,
+ targetStationId,
+ 0,
+ normalizePathLenFactor(pathLenFactor)
+ );
+ }
+
+ private List<NavigateNode> calcOutboundNavigatePath(WrkMast wrkMast,
+ Integer sourceStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
+ Double normalizedFactor = normalizePathLenFactor(pathLenFactor);
+ Integer currentTaskNo = wrkMast == null ? null : wrkMast.getWrkNo();
+ if (currentTaskNo == null) {
+ return navigateUtils.calcByStationId(sourceStationId, targetStationId, normalizedFactor);
+ }
+ return navigateUtils.calcByStationId(sourceStationId, targetStationId, currentTaskNo, normalizedFactor);
+ }
+
+ private Double resolveOutboundPathLenFactor(WrkMast wrkMast) {
+ if (!isBatchOutboundTaskWithSeq(wrkMast)) {
+ return 0.0d;
+ }
+ List<WrkMast> activeBatchTaskList = loadActiveBatchTaskList(wrkMast.getBatch());
+ if (activeBatchTaskList.size() <= 1) {
+ return 0.0d;
+ }
+
+ int activeTaskCount = 0;
+ int predecessorCount = 0;
+ for (WrkMast item : activeBatchTaskList) {
+ if (!isFactorCandidateTask(item)) {
+ continue;
+ }
+ activeTaskCount++;
+ if (item.getBatchSeq() < wrkMast.getBatchSeq()) {
+ predecessorCount++;
+ }
+ }
+ if (activeTaskCount <= 1 || predecessorCount <= 0) {
+ return 0.0d;
+ }
+ return normalizePathLenFactor((double) predecessorCount / (double) (activeTaskCount - 1));
+ }
+
+ private boolean isBatchOutboundTaskWithSeq(WrkMast wrkMast) {
+ return wrkMast != null
+ && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
+ && !Cools.isEmpty(wrkMast.getBatch())
+ && wrkMast.getBatchSeq() != null
+ && wrkMast.getWrkNo() != null;
+ }
+
+ private List<WrkMast> loadActiveBatchTaskList(String batch) {
+ if (Cools.isEmpty(batch)) {
+ return Collections.emptyList();
+ }
+ return wrkMastService.list(new QueryWrapper<WrkMast>()
+ .eq("io_type", WrkIoType.OUT.id)
+ .eq("batch", batch)
+ .notIn("wrk_sts",
+ WrkStsType.STATION_RUN_COMPLETE.sts,
+ WrkStsType.COMPLETE_OUTBOUND.sts,
+ WrkStsType.SETTLE_OUTBOUND.sts));
+ }
+
+ private boolean isFactorCandidateTask(WrkMast wrkMast) {
+ return wrkMast != null
+ && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
+ && wrkMast.getBatchSeq() != null
+ && !"taskCancel".equals(wrkMast.getMk());
}
public List<Integer> getAllOutOrderList() {
@@ -754,7 +872,8 @@
private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
WrkMast wrkMast,
- List<Integer> outOrderStationIds) {
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
if (wrkMast == null || wrkMast.getStaNo() == null) {
return null;
}
@@ -762,15 +881,17 @@
return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
}
Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast,
wrkMast.getSourceStaNo(),
wrkMast.getStaNo(),
- outOrderStationIds
+ outOrderStationIds,
+ pathLenFactor
);
if (dispatchStationId == null) {
return null;
}
- if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
- return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds);
+ if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
+ return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds, pathLenFactor);
}
if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
&& isCurrentOutOrderStation(currentStationId, outOrderStationIds)
@@ -782,8 +903,9 @@
private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
WrkMast wrkMast,
- List<Integer> outOrderStationIds) {
- if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
+ if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
return null;
}
@@ -809,7 +931,7 @@
List<NavigateNode> initPath;
try {
- initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
+ initPath = calcOutboundNavigatePath(wrkMast, wrkMast.getSourceStaNo(), wrkMast.getStaNo(), pathLenFactor);
} catch (Exception e) {
News.taskInfo(wrkMast.getWrkNo(), "鎵规:{} 璁＄畻鎺掑簭璺緞澶辫触锛屽綋鍓嶇珯鐐�={}", wrkMast.getBatch(), currentStationId);
return null;
@@ -823,7 +945,7 @@
toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
}
if (toTarget) {
- if (hasReachableOutReleaseSlot(currentStationId, wrkMast.getStaNo())) {
+ if (hasReachableOutReleaseSlot(wrkMast, currentStationId, wrkMast.getStaNo(), pathLenFactor)) {
return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
}
StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
@@ -832,9 +954,11 @@
outOrderStationIds
);
Integer circleTarget = resolveNextCircleOrderTarget(
+ wrkMast,
currentStationId,
outOrderStationIds,
- loopEvaluation.getExpectedLoopIssueCount()
+ loopEvaluation.getExpectedLoopIssueCount(),
+ pathLenFactor
);
if (circleTarget == null) {
News.taskInfo(wrkMast.getWrkNo(), "鐩爣绔欏綋鍓嶄笉鍙繘锛屼笖鏈壘鍒板彲鎵ц鐨勪笅涓�鎺掑簭妫�娴嬬偣锛屽綋鍓嶇珯鐐�={}", currentStationId);
@@ -849,9 +973,11 @@
outOrderStationIds
);
Integer circleTarget = resolveNextCircleOrderTarget(
+ wrkMast,
currentStationId,
outOrderStationIds,
- loopEvaluation.getExpectedLoopIssueCount()
+ loopEvaluation.getExpectedLoopIssueCount(),
+ pathLenFactor
);
if (circleTarget == null) {
News.taskInfo(wrkMast.getWrkNo(), "鏈壘鍒板彲鎵ц鐨勪笅涓�鎺掑簭妫�娴嬬偣锛屽綋鍓嶇珯鐐�={}", currentStationId);
@@ -872,14 +998,17 @@
private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
WrkMast wrkMast,
- List<Integer> outOrderStationIds) {
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
if (!shouldApplyOutOrder(wrkMast, outOrderStationIds) || currentStationId == null) {
return false;
}
Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast,
wrkMast.getSourceStaNo(),
wrkMast.getStaNo(),
- outOrderStationIds
+ outOrderStationIds,
+ pathLenFactor
);
return dispatchStationId != null
&& !Objects.equals(dispatchStationId, wrkMast.getStaNo())
@@ -935,9 +1064,11 @@
);
}
- private Integer resolveDispatchOutOrderTarget(Integer sourceStationId,
+ private Integer resolveDispatchOutOrderTarget(WrkMast wrkMast,
+ Integer sourceStationId,
Integer finalTargetStationId,
- List<Integer> outOrderList) {
+ List<Integer> outOrderList,
+ Double pathLenFactor) {
if (finalTargetStationId == null) {
return null;
}
@@ -946,7 +1077,7 @@
}
try {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, finalTargetStationId);
+ List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, sourceStationId, finalTargetStationId, pathLenFactor);
for (int i = nodes.size() - 1; i >= 0; i--) {
Integer stationId = getStationIdFromNode(nodes.get(i));
if (stationId == null) {
@@ -963,14 +1094,16 @@
return finalTargetStationId;
}
- private boolean hasReachableOutReleaseSlot(Integer currentStationId,
- Integer finalTargetStationId) {
+ private boolean hasReachableOutReleaseSlot(WrkMast wrkMast,
+ Integer currentStationId,
+ Integer finalTargetStationId,
+ Double pathLenFactor) {
if (currentStationId == null || finalTargetStationId == null) {
return true;
}
try {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
+ List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, currentStationId, finalTargetStationId, pathLenFactor);
if (nodes == null || nodes.isEmpty()) {
return true;
}
@@ -1016,9 +1149,11 @@
|| (stationProtocol.getTaskNo() != null && stationProtocol.getTaskNo() > 0);
}
- private Integer resolveNextCircleOrderTarget(Integer currentStationId,
+ private Integer resolveNextCircleOrderTarget(WrkMast wrkMast,
+ Integer currentStationId,
List<Integer> orderedOutStationList,
- Integer expectedLoopIssueCount) {
+ Integer expectedLoopIssueCount,
+ Double pathLenFactor) {
if (currentStationId == null || orderedOutStationList == null || orderedOutStationList.size() <= 1) {
return null;
}
@@ -1033,7 +1168,7 @@
continue;
}
try {
- List<NavigateNode> path = navigateUtils.calcByStationId(currentStationId, candidateStationId);
+ List<NavigateNode> path = calcOutboundNavigatePath(wrkMast, currentStationId, candidateStationId, pathLenFactor);
if (path != null && !path.isEmpty()) {
candidateList.add(new CircleTargetCandidate(candidateStationId, path.size(), offset));
}
@@ -1061,16 +1196,14 @@
return Integer.compare(left.getOffset(), right.getOffset());
}
});
- return resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList);
+ return resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList, pathLenFactor);
}
private Integer resolveGradualCircleTargetByPathLength(Integer expectedLoopIssueCount,
- List<CircleTargetCandidate> candidateList) {
+ List<CircleTargetCandidate> candidateList,
+ Double pathLenFactor) {
if (candidateList == null || candidateList.isEmpty()) {
return null;
- }
- if (expectedLoopIssueCount == null || expectedLoopIssueCount <= 2) {
- return candidateList.get(0).getStationId();
}
List<CircleTargetCandidate> tierList = new ArrayList<>();
@@ -1087,7 +1220,11 @@
if (tierList.isEmpty()) {
return candidateList.get(0).getStationId();
}
- int tierIndex = Math.min(expectedLoopIssueCount - 2, tierList.size() - 1);
+ int defaultTierIndex = expectedLoopIssueCount == null || expectedLoopIssueCount <= 2
+ ? 0
+ : Math.min(expectedLoopIssueCount - 2, tierList.size() - 1);
+ int factorTierIndex = (int) Math.round(normalizePathLenFactor(pathLenFactor) * (tierList.size() - 1));
+ int tierIndex = Math.max(defaultTierIndex, factorTierIndex);
return tierList.get(tierIndex).getStationId();
}
@@ -1165,10 +1302,11 @@
return;
}
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
OutOrderDispatchDecision dispatchDecision = null;
Integer moveStaNo;
if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
- dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList);
+ dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList, pathLenFactor);
moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
} else {
moveStaNo = wrkMast.getStaNo();
@@ -1181,12 +1319,12 @@
resetSegmentMoveCommandsBeforeReroute(stationProtocol.getTaskNo());
int clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId());
- StationCommand command = stationThread.getCommand(
- StationCommandType.MOVE,
- wrkMast.getWrkNo(),
+ StationCommand command = buildOutboundMoveCommand(
+ stationThread,
+ wrkMast,
stationProtocol.getStationId(),
moveStaNo,
- 0
+ pathLenFactor
);
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(), "绔欑偣浠诲姟鍋滅暀瓒呮椂鍚庨噸绠楄矾寰勫け璐ワ紝褰撳墠绔欑偣={}锛岀洰鏍囩珯鐐�={}", stationProtocol.getStationId(), moveStaNo);
@@ -1465,6 +1603,15 @@
Integer sourceStationId,
Integer targetStationId,
LoadGuardState loadGuardState) {
+ return findPathLoopHit(config, sourceStationId, targetStationId, loadGuardState, null, null);
+ }
+
+ private LoopHitResult findPathLoopHit(DispatchLimitConfig config,
+ Integer sourceStationId,
+ Integer targetStationId,
+ LoadGuardState loadGuardState,
+ WrkMast wrkMast,
+ Double pathLenFactor) {
if (!config.loopModeEnable) {
return LoopHitResult.NO_HIT;
}
@@ -1476,7 +1623,9 @@
}
try {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, targetStationId);
+ List<NavigateNode> nodes = wrkMast == null
+ ? navigateUtils.calcByStationId(sourceStationId, targetStationId)
+ : calcOutboundNavigatePath(wrkMast, sourceStationId, targetStationId, pathLenFactor);
if (nodes == null || nodes.isEmpty()) {
return LoopHitResult.NO_HIT;
}
@@ -1520,6 +1669,16 @@
return value;
}
+ private Double normalizePathLenFactor(Double pathLenFactor) {
+ if (pathLenFactor == null || pathLenFactor < 0.0d) {
+ return 0.0d;
+ }
+ if (pathLenFactor > 1.0d) {
+ return 1.0d;
+ }
+ return pathLenFactor;
+ }
+
private static class OutOrderDispatchDecision {
private final Integer targetStationId;
private final boolean circle;
--
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