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/utils/StationOperateProcessUtils.java | 551 +++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 479 insertions(+), 72 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 4ec5e35..550ad32 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -27,6 +27,7 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
+import com.zy.core.service.StationTaskLoopService;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -36,7 +37,7 @@
@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 OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
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;
@@ -67,6 +68,8 @@
private StationPathPolicyService stationPathPolicyService;
@Autowired
private BasStationOptService basStationOptService;
+ @Autowired
+ private StationTaskLoopService stationTaskLoopService;
//鎵ц杈撻�佺珯鐐瑰叆搴撲换鍔�
public synchronized void stationInExecute() {
@@ -204,10 +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) {
@@ -215,13 +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;
@@ -282,7 +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;
@@ -312,39 +330,45 @@
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
Integer targetStaNo = wrkMast.getStaNo();
+ if (wrkNo == null || targetStaNo == null) {
+ continue;
+ }
boolean complete = false;
+ Integer targetDeviceNo = null;
BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
- if (basStation == null) {
- continue;
- }
-
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
- if (stationThread == null) {
- continue;
- }
-
- Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
- StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
- if (stationProtocol == null) {
- continue;
- }
-
- if (stationProtocol.getTaskNo().equals(wrkNo)) {
- complete = true;
+ if (basStation != null) {
+ targetDeviceNo = basStation.getDeviceNo();
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread != null) {
+ Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
+ StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
+ if (stationProtocol != null && wrkNo.equals(stationProtocol.getTaskNo())) {
+ complete = true;
+ }
+ }
}
if (complete) {
- wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
- wrkMast.setIoTime(new Date());
- wrkMastService.updateById(wrkMast);
- notifyUtils.notify(String.valueOf(SlaveType.Devp), basStation.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
- redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
+ completeStationRunTask(wrkMast, targetDeviceNo);
}
}
} catch (Exception e) {
e.printStackTrace();
}
+ }
+
+ private void completeStationRunTask(WrkMast wrkMast, Integer deviceNo) {
+ if (wrkMast == null || wrkMast.getWrkNo() == null) {
+ return;
+ }
+ wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
+ wrkMast.setIoTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ if (deviceNo != null) {
+ notifyUtils.notify(String.valueOf(SlaveType.Devp), deviceNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
+ }
+ redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
}
// 妫�娴嬩换鍔¤浆瀹屾垚
@@ -513,19 +537,30 @@
}
} 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())) {
continue;
}
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
+ StationCommand command = stationThread.getRunBlockRerouteCommand(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ moveStaNo,
+ 0,
+ pathLenFactor
+ );
if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ News.taskInfo(wrkMast.getWrkNo(),
+ "杈撻�佺珯鐐瑰牭濉為噸瑙勫垝鏈壘鍒板彲涓嬪彂璺嚎锛屽綋鍓嶇珯鐐�={}锛岀洰鏍囩珯鐐�={}",
+ stationProtocol.getStationId(),
+ moveStaNo);
continue;
}
@@ -570,6 +605,19 @@
//鑾峰彇杈撻�佺嚎浠诲姟鏁伴噺
public synchronized int getCurrentStationTaskCount() {
return countCurrentStationTask();
+ }
+
+ public synchronized int getCurrentOutboundTaskCountByTargetStation(Integer stationId) {
+ if (stationId == null) {
+ return 0;
+ }
+ return (int) wrkMastService.count(new QueryWrapper<WrkMast>()
+ .eq("io_type", WrkIoType.OUT.id)
+ .eq("sta_no", stationId)
+ .in("wrk_sts",
+ WrkStsType.OUTBOUND_RUN.sts,
+ WrkStsType.OUTBOUND_RUN_COMPLETE.sts,
+ WrkStsType.STATION_RUN.sts));
}
// 妫�娴嬪嚭搴撴帓搴�
@@ -620,17 +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;
@@ -688,17 +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;
@@ -710,6 +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() {
@@ -724,28 +872,40 @@
private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
WrkMast wrkMast,
- List<Integer> outOrderStationIds) {
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
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) {
+ Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast,
+ wrkMast.getSourceStaNo(),
+ wrkMast.getStaNo(),
+ outOrderStationIds,
+ pathLenFactor
+ );
+ if (dispatchStationId == null) {
return null;
}
- return new OutOrderDispatchDecision(moveStaNo, false);
+ if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
+ return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds, pathLenFactor);
+ }
+ if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
+ && isCurrentOutOrderStation(currentStationId, outOrderStationIds)
+ && isWatchingCircleArrival(wrkMast.getWrkNo(), currentStationId)) {
+ return new OutOrderDispatchDecision(dispatchStationId, true, null, false);
+ }
+ return new OutOrderDispatchDecision(dispatchStationId, false);
}
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;
}
@@ -771,7 +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;
@@ -782,19 +942,48 @@
if (seq == null) {
toTarget = currentBatchSeq.equals(wrkMast.getBatchSeq());
} else {
- toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq())
- && currentBatchSeq.equals(wrkMast.getBatchSeq());
+ toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
}
if (toTarget) {
- return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ if (hasReachableOutReleaseSlot(wrkMast, currentStationId, wrkMast.getStaNo(), pathLenFactor)) {
+ return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ }
+ StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
+ wrkMast.getWrkNo(),
+ currentStationId,
+ outOrderStationIds
+ );
+ Integer circleTarget = resolveNextCircleOrderTarget(
+ wrkMast,
+ currentStationId,
+ outOrderStationIds,
+ 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);
+ return null;
+ }
+ return new OutOrderDispatchDecision(circleTarget, true, loopEvaluation, true);
}
- Integer circleTarget = resolveNextCircleOrderTarget(currentStationId, outOrderStationIds);
+ StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
+ wrkMast.getWrkNo(),
+ currentStationId,
+ outOrderStationIds
+ );
+ Integer circleTarget = resolveNextCircleOrderTarget(
+ wrkMast,
+ currentStationId,
+ outOrderStationIds,
+ 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);
return null;
}
- return new OutOrderDispatchDecision(circleTarget, true);
+ return new OutOrderDispatchDecision(circleTarget, true, loopEvaluation, true);
}
private boolean shouldApplyOutOrder(WrkMast wrkMast, List<Integer> outOrderStationIds) {
@@ -809,10 +998,27 @@
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,
+ pathLenFactor
+ );
+ return dispatchStationId != null
+ && !Objects.equals(dispatchStationId, wrkMast.getStaNo())
+ && Objects.equals(currentStationId, dispatchStationId);
+ }
+
+ private boolean isCurrentOutOrderStation(Integer currentStationId,
+ List<Integer> outOrderStationIds) {
return currentStationId != null
- && shouldApplyOutOrder(wrkMast, outOrderStationIds)
- && !Objects.equals(currentStationId, wrkMast.getStaNo())
+ && outOrderStationIds != null
&& outOrderStationIds.contains(currentStationId);
}
@@ -821,38 +1027,63 @@
List<Integer> outOrderStationIds,
OutOrderDispatchDecision dispatchDecision,
StationCommand command) {
- if (dispatchDecision == null || command == null) {
- return;
- }
- if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
+ if (dispatchDecision == null || command == null || !shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
return;
}
if (dispatchDecision.isCircle()) {
saveWatchCircleCommand(wrkMast.getWrkNo(), command);
+ if (dispatchDecision.shouldCountLoopIssue()
+ && stationTaskLoopService != null
+ && dispatchDecision.getLoopEvaluation() != null) {
+ stationTaskLoopService.recordLoopIssue(dispatchDecision.getLoopEvaluation(), "OUT_ORDER_CIRCLE");
+ }
} else {
clearWatchCircleCommand(wrkMast.getWrkNo());
}
}
- private Integer resolveDispatchOutOrderTarget(Integer currentStationId,
+ private StationTaskLoopService.LoopEvaluation evaluateOutOrderLoop(Integer taskNo,
+ Integer currentStationId,
+ List<Integer> outOrderStationIds) {
+ if (stationTaskLoopService == null) {
+ return new StationTaskLoopService.LoopEvaluation(
+ taskNo,
+ currentStationId,
+ StationTaskLoopService.LoopIdentitySnapshot.empty(),
+ 0,
+ 0,
+ false
+ );
+ }
+ return stationTaskLoopService.evaluateLoop(
+ taskNo,
+ currentStationId,
+ true,
+ outOrderStationIds,
+ "outOrderCircle"
+ );
+ }
+
+ private Integer resolveDispatchOutOrderTarget(WrkMast wrkMast,
+ Integer sourceStationId,
Integer finalTargetStationId,
List<Integer> outOrderList,
- boolean skipCurrentStation) {
+ Double pathLenFactor) {
if (finalTargetStationId == null) {
return null;
}
- if (currentStationId == null || outOrderList == null || outOrderList.isEmpty()) {
+ if (sourceStationId == null || outOrderList == null || outOrderList.isEmpty()) {
return finalTargetStationId;
}
try {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, 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) {
continue;
}
- if (skipCurrentStation && currentStationId.equals(stationId)) {
+ if (Objects.equals(stationId, finalTargetStationId)) {
continue;
}
if (outOrderList.contains(stationId)) {
@@ -863,13 +1094,73 @@
return finalTargetStationId;
}
- private Integer resolveNextCircleOrderTarget(Integer currentStationId, List<Integer> orderedOutStationList) {
+ private boolean hasReachableOutReleaseSlot(WrkMast wrkMast,
+ Integer currentStationId,
+ Integer finalTargetStationId,
+ Double pathLenFactor) {
+ if (currentStationId == null || finalTargetStationId == null) {
+ return true;
+ }
+
+ try {
+ List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, currentStationId, finalTargetStationId, pathLenFactor);
+ if (nodes == null || nodes.isEmpty()) {
+ return true;
+ }
+
+ for (NavigateNode node : nodes) {
+ Integer stationId = getStationIdFromNode(node);
+ if (stationId == null || Objects.equals(stationId, currentStationId)) {
+ continue;
+ }
+
+ if (!isPathStationBlocked(stationId)) {
+ return true;
+ }
+ }
+ return false;
+ } catch (Exception ignore) {
+ return true;
+ }
+ }
+
+ private boolean isPathStationBlocked(Integer stationId) {
+ if (stationId == null) {
+ return true;
+ }
+
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", stationId));
+ if (basStation == null) {
+ return true;
+ }
+
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread == null) {
+ return true;
+ }
+
+ StationProtocol stationProtocol = stationThread.getStatusMap().get(stationId);
+ if (stationProtocol == null) {
+ return true;
+ }
+
+ return !stationProtocol.isAutoing()
+ || stationProtocol.isLoading()
+ || (stationProtocol.getTaskNo() != null && stationProtocol.getTaskNo() > 0);
+ }
+
+ private Integer resolveNextCircleOrderTarget(WrkMast wrkMast,
+ Integer currentStationId,
+ List<Integer> orderedOutStationList,
+ Integer expectedLoopIssueCount,
+ Double pathLenFactor) {
if (currentStationId == null || orderedOutStationList == null || orderedOutStationList.size() <= 1) {
return null;
}
int startIndex = orderedOutStationList.indexOf(currentStationId);
int total = orderedOutStationList.size();
+ List<CircleTargetCandidate> candidateList = new ArrayList<>();
for (int offset = 1; offset < total; offset++) {
int candidateIndex = (startIndex + offset + total) % total;
Integer candidateStationId = orderedOutStationList.get(candidateIndex);
@@ -877,13 +1168,64 @@
continue;
}
try {
- List<NavigateNode> path = navigateUtils.calcByStationId(currentStationId, candidateStationId);
+ List<NavigateNode> path = calcOutboundNavigatePath(wrkMast, currentStationId, candidateStationId, pathLenFactor);
if (path != null && !path.isEmpty()) {
- return candidateStationId;
+ candidateList.add(new CircleTargetCandidate(candidateStationId, path.size(), offset));
}
} catch (Exception ignore) {}
}
- return null;
+ if (candidateList.isEmpty()) {
+ return null;
+ }
+ candidateList.sort(new Comparator<CircleTargetCandidate>() {
+ @Override
+ public int compare(CircleTargetCandidate left, CircleTargetCandidate right) {
+ if (left == right) {
+ return 0;
+ }
+ if (left == null) {
+ return 1;
+ }
+ if (right == null) {
+ return -1;
+ }
+ int pathCompare = Integer.compare(left.getPathLength(), right.getPathLength());
+ if (pathCompare != 0) {
+ return pathCompare;
+ }
+ return Integer.compare(left.getOffset(), right.getOffset());
+ }
+ });
+ return resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList, pathLenFactor);
+ }
+
+ private Integer resolveGradualCircleTargetByPathLength(Integer expectedLoopIssueCount,
+ List<CircleTargetCandidate> candidateList,
+ Double pathLenFactor) {
+ if (candidateList == null || candidateList.isEmpty()) {
+ return null;
+ }
+
+ List<CircleTargetCandidate> tierList = new ArrayList<>();
+ Integer lastPathLength = null;
+ for (CircleTargetCandidate candidate : candidateList) {
+ if (candidate == null) {
+ continue;
+ }
+ if (lastPathLength == null || !Objects.equals(lastPathLength, candidate.getPathLength())) {
+ tierList.add(candidate);
+ lastPathLength = candidate.getPathLength();
+ }
+ }
+ if (tierList.isEmpty()) {
+ return candidateList.get(0).getStationId();
+ }
+ 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();
}
private boolean tryAcquireOutOrderDispatchLock(Integer wrkNo, Integer stationId) {
@@ -960,10 +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();
@@ -976,12 +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);
@@ -1260,6 +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;
}
@@ -1271,7 +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;
}
@@ -1315,13 +1669,34 @@
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;
+ private final StationTaskLoopService.LoopEvaluation loopEvaluation;
+ private final boolean countLoopIssue;
private OutOrderDispatchDecision(Integer targetStationId, boolean circle) {
+ this(targetStationId, circle, null, false);
+ }
+
+ private OutOrderDispatchDecision(Integer targetStationId,
+ boolean circle,
+ StationTaskLoopService.LoopEvaluation loopEvaluation,
+ boolean countLoopIssue) {
this.targetStationId = targetStationId;
this.circle = circle;
+ this.loopEvaluation = loopEvaluation;
+ this.countLoopIssue = countLoopIssue;
}
private Integer getTargetStationId() {
@@ -1331,6 +1706,38 @@
private boolean isCircle() {
return circle;
}
+
+ private StationTaskLoopService.LoopEvaluation getLoopEvaluation() {
+ return loopEvaluation;
+ }
+
+ private boolean shouldCountLoopIssue() {
+ return countLoopIssue;
+ }
+ }
+
+ private static class CircleTargetCandidate {
+ private final Integer stationId;
+ private final Integer pathLength;
+ private final Integer offset;
+
+ private CircleTargetCandidate(Integer stationId, Integer pathLength, Integer offset) {
+ this.stationId = stationId;
+ this.pathLength = pathLength == null ? 0 : pathLength;
+ this.offset = offset == null ? 0 : offset;
+ }
+
+ private Integer getStationId() {
+ return stationId;
+ }
+
+ private Integer getPathLength() {
+ return pathLength;
+ }
+
+ private Integer getOffset() {
+ return offset;
+ }
}
private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
--
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