From 205cb40876114827a2134c29fde159e063e81454 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 09:54:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 757 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 620 insertions(+), 137 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index de8a651..4ec5e35 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -3,10 +3,11 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
+import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.*;
@@ -35,6 +36,12 @@
@Component
public class StationOperateProcessUtils {
private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
+ private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 10;
+ private static final int STATION_IDLE_RECOVER_SECONDS = 10;
+ private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 10;
+ private static final int STATION_IDLE_TRACK_EXPIRE_SECONDS = 60 * 60;
+ private static final long STATION_MOVE_RESET_WAIT_MS = 1000L;
+ private static final String IDLE_RECOVER_CLEARED_MEMO = "idleRecoverRerouteCleared";
@Autowired
private BasDevpService basDevpService;
@@ -56,15 +63,19 @@
private BasStationService basStationService;
@Autowired
private StationCycleCapacityService stationCycleCapacityService;
+ @Autowired
+ private StationPathPolicyService stationPathPolicyService;
+ @Autowired
+ private BasStationOptService basStationOptService;
//鎵ц杈撻�佺珯鐐瑰叆搴撲换鍔�
public synchronized void stationInExecute() {
try {
- DispatchLimitConfig limitConfig = getDispatchLimitConfig();
+ DispatchLimitConfig baseLimitConfig = getDispatchLimitConfig(null, null);
int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
- LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
+ LoadGuardState loadGuardState = buildLoadGuardState(baseLimitConfig);
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -96,7 +107,7 @@
&& stationProtocol.getTaskNo() > 0
) {
//妫�娴嬩换鍔℃槸鍚︾敓鎴�
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
+ WrkMast wrkMast = wrkMastService.getOne(new QueryWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
if (wrkMast == null) {
continue;
}
@@ -118,6 +129,7 @@
continue;
}
+ DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), targetStationId);
LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), targetStationId, loadGuardState);
if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
@@ -153,11 +165,11 @@
//鎵ц鍫嗗灈鏈鸿緭閫佺珯鐐瑰嚭搴撲换鍔�
public synchronized void crnStationOutExecute() {
try {
- DispatchLimitConfig limitConfig = getDispatchLimitConfig();
+ DispatchLimitConfig baseLimitConfig = getDispatchLimitConfig(null, null);
int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
- LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
+ LoadGuardState loadGuardState = buildLoadGuardState(baseLimitConfig);
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
.isNotNull("crn_no")
);
@@ -192,23 +204,17 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- Integer moveStaNo = wrkMast.getStaNo();
-
- if (!outOrderList.isEmpty()) {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
- for (int i = nodes.size() - 1; i >= 0; i--) {
- NavigateNode node = nodes.get(i);
- JSONObject v = JSONObject.parseObject(node.getNodeValue());
- if (v != null) {
- Integer stationId = v.getInteger("stationId");
- if (outOrderList.contains(stationId)) {
- moveStaNo = stationId;
- break;
- }
- }
- }
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ stationProtocol.getStationId(),
+ wrkMast,
+ outOrderList
+ );
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null) {
+ continue;
}
+ DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
@@ -243,7 +249,7 @@
//鎵ц鍙屽伐浣嶅爢鍨涙満杈撻�佺珯鐐瑰嚭搴撲换鍔�
public synchronized void dualCrnStationOutExecute() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
.isNotNull("dual_crn_no")
);
@@ -302,13 +308,13 @@
//妫�娴嬭緭閫佺珯鐐瑰嚭搴撲换鍔℃墽琛屽畬鎴�
public synchronized void stationOutExecuteFinish() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
Integer targetStaNo = wrkMast.getStaNo();
boolean complete = false;
- BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
if (basStation == null) {
continue;
}
@@ -344,7 +350,7 @@
// 妫�娴嬩换鍔¤浆瀹屾垚
public synchronized void checkTaskToComplete() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
Integer targetStaNo = wrkMast.getStaNo();
@@ -355,7 +361,7 @@
}
boolean complete = false;
- BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
if (basStation == null) {
continue;
}
@@ -389,7 +395,7 @@
//妫�娴嬭緭閫佺珯鐐规槸鍚﹁繍琛屽牭濉�
public synchronized void checkStationRunBlock() {
try {
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -400,6 +406,7 @@
for (StationObjModel stationObjModel : basDevp.getRunBlockReassignLocStationList$()) {
runBlockReassignLocStationList.add(stationObjModel.getStationId());
}
+ List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
List<StationProtocol> list = stationThread.getStatus();
for (StationProtocol stationProtocol : list) {
@@ -506,15 +513,52 @@
}
} else {
//杩愯鍫靛锛岄噸鏂拌绠楄矾绾�
- 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(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
}
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
News.info("杈撻�佺珯鐐瑰牭濉炲悗閲嶆柊璁＄畻璺緞鍛戒护涓嬪彂鎴愬姛锛岀珯鐐瑰彿={}锛屽伐浣滃彿={}锛屽懡浠ゆ暟鎹�={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
}
+ }
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ //妫�娴嬭緭閫佺珯鐐逛换鍔″仠鐣欒秴鏃跺悗閲嶆柊璁＄畻璺緞
+ public synchronized void checkStationIdleRecover() {
+ try {
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
+ for (BasDevp basDevp : basDevps) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
+ if (stationThread == null) {
+ continue;
+ }
+
+ List<StationProtocol> list = stationThread.getStatus();
+ for (StationProtocol stationProtocol : list) {
+ if (stationProtocol.isAutoing()
+ && stationProtocol.isLoading()
+ && stationProtocol.getTaskNo() > 0
+ && !stationProtocol.isRunBlock()
+ ) {
+ checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
}
}
}
@@ -530,14 +574,15 @@
// 妫�娴嬪嚭搴撴帓搴�
public synchronized void checkStationOutOrder() {
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
continue;
}
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
List<StationObjModel> orderList = basDevp.getOutOrderList$();
+ List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
for (StationObjModel stationObjModel : orderList) {
StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
if (stationProtocol == null) {
@@ -564,95 +609,47 @@
if (wrkMast == null) {
continue;
}
-
- if (Cools.isEmpty(wrkMast.getBatch())) {
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ continue;
+ }
+ if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
continue;
}
- if (Cools.isEmpty(wrkMast.getBatchSeq())) {
+ if (isWatchingCircleArrival(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
continue;
}
- List<WrkMast> batchWrkList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
- .eq("batch", wrkMast.getBatch())
- .orderBy("batch")
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ stationProtocol.getStationId(),
+ wrkMast,
+ outOrderStationIds
);
- if (batchWrkList.isEmpty()) {
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
continue;
}
- WrkMast firstWrkMast = batchWrkList.get(0);
- Integer currentBatchSeq = firstWrkMast.getBatchSeq();
- List<NavigateNode> initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
-
- String commandType = "none";
- Integer seq = getOutStationBatchSeq(initPath, stationProtocol.getStationId(), wrkMast.getBatch());
- if (seq == null) {
- if (currentBatchSeq.equals(wrkMast.getBatchSeq())) {
- commandType = "toTarget";
- }else {
- commandType = "toCircle";
- }
- }else {
- seq++;
- if (seq.equals(wrkMast.getBatchSeq()) && currentBatchSeq.equals(wrkMast.getBatchSeq())) {
- commandType = "toTarget";
- }else {
- commandType = "toCircle";
- }
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
+ if (command == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ 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(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
- continue;
- }
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
- News.info("{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
- } else if (commandType.equals("toCircle")) {
- Integer circleTarget = null;
- for (NavigateNode node : initPath) {
- JSONObject v = JSONObject.parseObject(node.getNodeValue());
- if (v != null) {
- Integer stationId = v.getInteger("stationId");
- try {
- List<NavigateNode> enableMovePath = navigateUtils.calcByStationId(stationProtocol.getStationId(), stationId);
- if (enableMovePath.isEmpty()) {
- continue;
- }
- } catch (Exception e) {
- continue;
- }
-
- circleTarget = stationId;
- break;
- }
- }
-
- if (circleTarget == null) {
- continue;
- }
-
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), circleTarget, 0);
- if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
- continue;
- }
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
- redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkMast.getWrkNo(), JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
- News.info("{}浠诲姟杩涜缁曞湀", 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() ? "{}浠诲姟杩涜缁曞湀" : "{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
}
}
}
// 鐩戞帶缁曞湀绔欑偣
public synchronized void watchCircleStation() {
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
continue;
}
@@ -672,12 +669,10 @@
continue;
}
- Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + stationProtocol.getTaskNo());
- if (circleObj == null) {
+ StationCommand circleCommand = getWatchCircleCommand(stationProtocol.getTaskNo());
+ if (circleCommand == null) {
continue;
}
-
- StationCommand circleCommand = JSON.parseObject(circleObj.toString(), StationCommand.class);
if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
continue;
}
@@ -686,22 +681,21 @@
if (wrkMast == null) {
continue;
}
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ continue;
+ }
+ if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
+ continue;
+ }
- Integer moveStaNo = wrkMast.getStaNo();
-
- if (!outOrderList.isEmpty()) {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
- for (int i = nodes.size() - 1; i >= 0; i--) {
- NavigateNode node = nodes.get(i);
- JSONObject v = JSONObject.parseObject(node.getNodeValue());
- if (v != null) {
- Integer stationId = v.getInteger("stationId");
- if (outOrderList.contains(stationId)) {
- moveStaNo = stationId;
- break;
- }
- }
- }
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ stationProtocol.getStationId(),
+ wrkMast,
+ outOrderList
+ );
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
+ continue;
}
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
@@ -709,6 +703,10 @@
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
}
+ if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
+ continue;
+ }
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
}
}
@@ -716,7 +714,7 @@
public List<Integer> getAllOutOrderList() {
List<Integer> list = new ArrayList<>();
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
List<Integer> orderList = basDevp.getOutOrderIntList();
list.addAll(orderList);
@@ -724,7 +722,420 @@
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(), "鎵规:{} 棣栦釜鏈畬鎴愪换鍔＄己灏戞壒娆″簭鍙凤紝褰撳墠浠诲姟鏆備笉鏀捐", wrkMast.getBatch());
+ return null;
+ }
+
+ List<NavigateNode> initPath;
+ try {
+ initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
+ } 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;
+ }
+
+ 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(), "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);
+ }
+
+ private boolean shouldApplyOutOrder(WrkMast wrkMast, List<Integer> outOrderStationIds) {
+ return wrkMast != null
+ && wrkMast.getStaNo() != null
+ && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
+ && !Cools.isEmpty(wrkMast.getBatch())
+ && wrkMast.getBatchSeq() != null
+ && outOrderStationIds != null
+ && !outOrderStationIds.isEmpty();
+ }
+
+ private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds) {
+ return currentStationId != null
+ && shouldApplyOutOrder(wrkMast, outOrderStationIds)
+ && !Objects.equals(currentStationId, wrkMast.getStaNo())
+ && outOrderStationIds.contains(currentStationId);
+ }
+
+ private void syncOutOrderWatchState(WrkMast wrkMast,
+ Integer currentStationId,
+ List<Integer> outOrderStationIds,
+ OutOrderDispatchDecision dispatchDecision,
+ StationCommand command) {
+ if (dispatchDecision == null || command == null) {
+ return;
+ }
+ if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
+ return;
+ }
+ if (dispatchDecision.isCircle()) {
+ saveWatchCircleCommand(wrkMast.getWrkNo(), command);
+ } else {
+ clearWatchCircleCommand(wrkMast.getWrkNo());
+ }
+ }
+
+ private Integer resolveDispatchOutOrderTarget(Integer currentStationId,
+ Integer finalTargetStationId,
+ List<Integer> outOrderList,
+ boolean skipCurrentStation) {
+ if (finalTargetStationId == null) {
+ return null;
+ }
+ if (currentStationId == null || outOrderList == null || outOrderList.isEmpty()) {
+ return finalTargetStationId;
+ }
+
+ try {
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
+ for (int i = nodes.size() - 1; i >= 0; i--) {
+ Integer stationId = getStationIdFromNode(nodes.get(i));
+ if (stationId == null) {
+ continue;
+ }
+ if (skipCurrentStation && currentStationId.equals(stationId)) {
+ continue;
+ }
+ if (outOrderList.contains(stationId)) {
+ return stationId;
+ }
+ }
+ } catch (Exception ignore) {}
+ return finalTargetStationId;
+ }
+
+ private Integer resolveNextCircleOrderTarget(Integer currentStationId, List<Integer> orderedOutStationList) {
+ if (currentStationId == null || orderedOutStationList == null || orderedOutStationList.size() <= 1) {
+ return null;
+ }
+
+ int startIndex = orderedOutStationList.indexOf(currentStationId);
+ int total = orderedOutStationList.size();
+ for (int offset = 1; offset < total; offset++) {
+ int candidateIndex = (startIndex + offset + total) % total;
+ Integer candidateStationId = orderedOutStationList.get(candidateIndex);
+ if (candidateStationId == null || currentStationId.equals(candidateStationId)) {
+ continue;
+ }
+ try {
+ List<NavigateNode> path = navigateUtils.calcByStationId(currentStationId, candidateStationId);
+ if (path != null && !path.isEmpty()) {
+ return candidateStationId;
+ }
+ } catch (Exception ignore) {}
+ }
+ return null;
+ }
+
+ private boolean tryAcquireOutOrderDispatchLock(Integer wrkNo, Integer stationId) {
+ if (wrkNo == null || wrkNo <= 0 || stationId == null) {
+ return true;
+ }
+ String key = RedisKeyType.STATION_OUT_ORDER_DISPATCH_LIMIT_.key + wrkNo + "_" + stationId;
+ Object lock = redisUtil.get(key);
+ if (lock != null) {
+ return false;
+ }
+ redisUtil.set(key, "lock", OUT_ORDER_DISPATCH_LIMIT_SECONDS);
+ return true;
+ }
+
+ private boolean isWatchingCircleArrival(Integer wrkNo, Integer stationId) {
+ StationCommand command = getWatchCircleCommand(wrkNo);
+ return command != null && stationId != null && stationId.equals(command.getTargetStaNo());
+ }
+
+ private StationCommand getWatchCircleCommand(Integer wrkNo) {
+ if (wrkNo == null || wrkNo <= 0) {
+ return null;
+ }
+ Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo);
+ if (circleObj == null) {
+ return null;
+ }
+ try {
+ return JSON.parseObject(circleObj.toString(), StationCommand.class);
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private void saveWatchCircleCommand(Integer wrkNo, StationCommand command) {
+ if (wrkNo == null || wrkNo <= 0 || command == null) {
+ return;
+ }
+ redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo,
+ JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
+ }
+
+ private void clearWatchCircleCommand(Integer wrkNo) {
+ if (wrkNo == null || wrkNo <= 0) {
+ return;
+ }
+ redisUtil.del(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo);
+ }
+
+ private void checkStationIdleRecover(BasDevp basDevp,
+ StationThread stationThread,
+ StationProtocol stationProtocol,
+ List<Integer> outOrderList) {
+ if (stationProtocol == null || stationProtocol.getTaskNo() == null || stationProtocol.getTaskNo() <= 0) {
+ return;
+ }
+ if (!Objects.equals(stationProtocol.getStationId(), stationProtocol.getTargetStaNo())) {
+ return;
+ }
+
+ StationTaskIdleTrack idleTrack = touchStationTaskIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
+ if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
+ return;
+ }
+
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
+ if (!canRecoverIdleStationTask(wrkMast, stationProtocol.getStationId())) {
+ return;
+ }
+
+ Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo());
+ if (lock != null) {
+ return;
+ }
+
+ OutOrderDispatchDecision dispatchDecision = null;
+ Integer moveStaNo;
+ if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList);
+ moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ } else {
+ moveStaNo = wrkMast.getStaNo();
+ }
+ if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
+ return;
+ }
+
+ redisUtil.set(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), "lock", STATION_IDLE_RECOVER_LIMIT_SECONDS);
+ resetSegmentMoveCommandsBeforeReroute(stationProtocol.getTaskNo());
+ int clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId());
+
+ StationCommand command = stationThread.getCommand(
+ StationCommandType.MOVE,
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ moveStaNo,
+ 0
+ );
+ 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);
+ return;
+ }
+
+ MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
+ saveStationTaskIdleTrack(new StationTaskIdleTrack(wrkMast.getWrkNo(), stationProtocol.getStationId(), System.currentTimeMillis()));
+ News.info("杈撻�佺珯鐐逛换鍔″仠鐣檣}绉掓湭杩愯锛屽凡閲嶆柊璁＄畻璺緞骞堕噸鍚繍琛岋紝绔欑偣鍙�={}锛岀洰鏍囩珯={}锛屽伐浣滃彿={}锛屾竻鐞嗘棫鍒嗘鍛戒护鏁�={}锛屽懡浠ゆ暟鎹�={}",
+ STATION_IDLE_RECOVER_SECONDS, stationProtocol.getStationId(), moveStaNo, wrkMast.getWrkNo(), clearedCommandCount, JSON.toJSONString(command));
+ }
+
+ private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
+ if (wrkMast == null || currentStationId == null || wrkMast.getStaNo() == null) {
+ return false;
+ }
+ if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
+ return false;
+ }
+ return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_DEVICE_RUN.sts)
+ || Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
+ }
+
+ private void resetSegmentMoveCommandsBeforeReroute(Integer taskNo) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0) {
+ return;
+ }
+ String key = RedisKeyType.DEVICE_STATION_MOVE_RESET.key + taskNo;
+ redisUtil.set(key, "cancel", 3);
+ try {
+ Thread.sleep(STATION_MOVE_RESET_WAIT_MS);
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ } catch (Exception ignore) {
+ }
+ redisUtil.del(key);
+ }
+
+ private int clearIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
+ Integer taskNo,
+ Integer stationId) {
+ if (basStationOptService == null) {
+ return 0;
+ }
+ List<BasStationOpt> optList;
+ try {
+ optList = listIssuedMoveCommandsDuringIdleStay(idleTrack, taskNo);
+ } catch (Exception e) {
+ return 0;
+ }
+ if (optList == null || optList.isEmpty()) {
+ return 0;
+ }
+
+ Date now = new Date();
+ String cleanupMemo = buildIdleRecoverClearedMemo(stationId);
+ int clearedCount = 0;
+ for (BasStationOpt opt : optList) {
+ if (opt == null || opt.getId() == null) {
+ continue;
+ }
+ opt.setSend(0);
+ opt.setUpdateTime(now);
+ opt.setMemo(appendCleanupMemo(opt.getMemo(), cleanupMemo));
+ clearedCount++;
+ }
+ if (clearedCount > 0) {
+ basStationOptService.updateBatchById(optList);
+ }
+ return clearedCount;
+ }
+
+ private List<BasStationOpt> listIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
+ Integer taskNo) {
+ if (idleTrack == null || taskNo == null || taskNo <= 0 || idleTrack.firstSeenTime == null || basStationOptService == null) {
+ return Collections.emptyList();
+ }
+ List<BasStationOpt> optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
+ .select("id", "task_no", "send_time", "target_station_id", "memo", "send")
+ .eq("task_no", taskNo)
+ .eq("mode", String.valueOf(StationCommandType.MOVE))
+ .eq("send", 1)
+ .ge("send_time", new Date(idleTrack.firstSeenTime))
+ .orderByAsc("send_time"));
+ if (optList == null || optList.isEmpty()) {
+ return Collections.emptyList();
+ }
+ return optList;
+ }
+
+ private String buildIdleRecoverClearedMemo(Integer stationId) {
+ if (stationId == null) {
+ return IDLE_RECOVER_CLEARED_MEMO;
+ }
+ return IDLE_RECOVER_CLEARED_MEMO + "(stationId=" + stationId + ")";
+ }
+
+ private String appendCleanupMemo(String memo, String cleanupMemo) {
+ if (Cools.isEmpty(cleanupMemo)) {
+ return memo;
+ }
+ if (Cools.isEmpty(memo)) {
+ return cleanupMemo;
+ }
+ if (memo.contains(cleanupMemo)) {
+ return memo;
+ }
+ return memo + " | " + cleanupMemo;
+ }
+
+ private StationTaskIdleTrack touchStationTaskIdleTrack(Integer taskNo, Integer stationId) {
+ if (taskNo == null || taskNo <= 0 || stationId == null) {
+ return null;
+ }
+ long now = System.currentTimeMillis();
+ StationTaskIdleTrack idleTrack = getStationTaskIdleTrack(taskNo);
+ if (idleTrack == null || !Objects.equals(idleTrack.stationId, stationId)) {
+ idleTrack = new StationTaskIdleTrack(taskNo, stationId, now);
+ saveStationTaskIdleTrack(idleTrack);
+ }
+ return idleTrack;
+ }
+
+ private StationTaskIdleTrack getStationTaskIdleTrack(Integer taskNo) {
+ if (taskNo == null || taskNo <= 0) {
+ return null;
+ }
+ Object obj = redisUtil.get(RedisKeyType.STATION_TASK_IDLE_TRACK_.key + taskNo);
+ if (obj == null) {
+ return null;
+ }
+ try {
+ return JSON.parseObject(obj.toString(), StationTaskIdleTrack.class);
+ } catch (Exception e) {
+ return null;
+ }
+ }
+
+ private void saveStationTaskIdleTrack(StationTaskIdleTrack idleTrack) {
+ if (idleTrack == null || idleTrack.taskNo == null || idleTrack.taskNo <= 0) {
+ return;
+ }
+ redisUtil.set(
+ RedisKeyType.STATION_TASK_IDLE_TRACK_.key + idleTrack.taskNo,
+ JSON.toJSONString(idleTrack, SerializerFeature.DisableCircularReferenceDetect),
+ STATION_IDLE_TRACK_EXPIRE_SECONDS
+ );
+ }
+
public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
+ if (pathList == null || pathList.isEmpty() || searchStationId == null || Cools.isEmpty(searchBatch)) {
+ return null;
+ }
List<Integer> checkList = new ArrayList<>();
for (int i = pathList.size() - 1; i >= 0; i--) {
NavigateNode node = pathList.get(i);
@@ -741,7 +1152,7 @@
HashMap<String, Integer> batchMap = new HashMap<>();
for (Integer station : checkList) {
- BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", station));
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", station));
if (basStation == null) {
continue;
}
@@ -773,7 +1184,7 @@
private int countCurrentStationTask() {
int currentStationTaskCount = 0;
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -823,7 +1234,8 @@
}
state.totalStationCount = toNonNegative(capacityVo.getTotalStationCount());
- state.projectedTaskStationCount = toNonNegative(capacityVo.getTaskStationCount());
+ Integer occupiedStationCount = capacityVo.getOccupiedStationCount();
+ state.projectedTaskStationCount = toNonNegative(occupiedStationCount != null ? occupiedStationCount : capacityVo.getTaskStationCount());
List<StationCycleLoopVo> loopList = capacityVo.getLoopList();
if (loopList != null) {
@@ -903,6 +1315,24 @@
return value;
}
+ private static class OutOrderDispatchDecision {
+ private final Integer targetStationId;
+ private final boolean circle;
+
+ private OutOrderDispatchDecision(Integer targetStationId, boolean circle) {
+ this.targetStationId = targetStationId;
+ this.circle = circle;
+ }
+
+ private Integer getTargetStationId() {
+ return targetStationId;
+ }
+
+ private boolean isCircle() {
+ return circle;
+ }
+ }
+
private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
if (wrkNo == null || wrkNo <= 0 || loopHitResult == null || !loopHitResult.isThroughLoop()) {
return;
@@ -916,23 +1346,31 @@
redisUtil.expire(RedisKeyType.STATION_CYCLE_LOAD_RESERVE.key, LOOP_LOAD_RESERVE_EXPIRE_SECONDS);
}
- private DispatchLimitConfig getDispatchLimitConfig() {
+ private DispatchLimitConfig getDispatchLimitConfig(Integer startStationId, Integer endStationId) {
DispatchLimitConfig config = new DispatchLimitConfig();
Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
- if (!(systemConfigMapObj instanceof Map)) {
- return config;
+ if (systemConfigMapObj instanceof Map) {
+ Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;
+ config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
+ String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
+ if (isBlank(loopModeValue)) {
+ loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
+ }
+ if (isBlank(loopModeValue)) {
+ loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
+ }
+ config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);
}
- Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;
- config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
- String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
- if (isBlank(loopModeValue)) {
- loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
+ if (stationPathPolicyService != null && startStationId != null && endStationId != null) {
+ try {
+ StationPathResolvedPolicy resolvedPolicy = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
+ if (resolvedPolicy != null && resolvedPolicy.getProfileConfig() != null) {
+ config.circleMaxLoadLimit = parseLoadLimit(String.valueOf(resolvedPolicy.getProfileConfig().getCircleMaxLoadLimit()), config.circleMaxLoadLimit);
+ }
+ } catch (Exception ignore) {
+ }
}
- if (isBlank(loopModeValue)) {
- loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
- }
- config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);
return config;
}
@@ -1073,4 +1511,49 @@
}
}
+ private static class StationTaskIdleTrack {
+ private Integer taskNo;
+ private Integer stationId;
+ private Long firstSeenTime;
+
+ private StationTaskIdleTrack() {}
+
+ private StationTaskIdleTrack(Integer taskNo, Integer stationId, Long firstSeenTime) {
+ this.taskNo = taskNo;
+ this.stationId = stationId;
+ this.firstSeenTime = firstSeenTime;
+ }
+
+ private boolean isTimeout(int seconds) {
+ if (firstSeenTime == null) {
+ return false;
+ }
+ return System.currentTimeMillis() - firstSeenTime >= seconds * 1000L;
+ }
+
+ public Integer getTaskNo() {
+ return taskNo;
+ }
+
+ public void setTaskNo(Integer taskNo) {
+ this.taskNo = taskNo;
+ }
+
+ public Integer getStationId() {
+ return stationId;
+ }
+
+ public void setStationId(Integer stationId) {
+ this.stationId = stationId;
+ }
+
+ public Long getFirstSeenTime() {
+ return firstSeenTime;
+ }
+
+ public void setFirstSeenTime(Long firstSeenTime) {
+ this.firstSeenTime = firstSeenTime;
+ }
+ }
+
}
--
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