From 3c31d811aff765b8c5e67c22035b413e0cffb38f Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 三月 2026 13:07:30 +0800
Subject: [PATCH] #V5 beta
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 538 +++++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 479 insertions(+), 59 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 8c5fed5..40e4e19 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -19,6 +19,8 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
+import com.zy.core.move.StationMoveCoordinator;
+import com.zy.core.move.StationMoveSession;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -27,6 +29,7 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
+import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.service.StationTaskLoopService;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
@@ -38,8 +41,9 @@
public class StationOperateProcessUtils {
private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
+ private static final int STATION_COMMAND_DISPATCH_DEDUP_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_RECOVER_LIMIT_SECONDS = 30;
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";
@@ -70,6 +74,10 @@
private BasStationOptService basStationOptService;
@Autowired
private StationTaskLoopService stationTaskLoopService;
+ @Autowired
+ private WrkAnalysisService wrkAnalysisService;
+ @Autowired
+ private StationMoveCoordinator stationMoveCoordinator;
//鎵ц杈撻�佺珯鐐瑰叆搴撲换鍔�
public synchronized void stationInExecute() {
@@ -115,7 +123,7 @@
continue;
}
- if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_INBOUND.sts)) {
continue;
}
@@ -145,13 +153,16 @@
continue;
}
- wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
+ Date now = new Date();
+ wrkMast.setWrkSts(WrkStsType.INBOUND_STATION_RUN.sts);
wrkMast.setSourceStaNo(stationProtocol.getStationId());
wrkMast.setStaNo(targetStationId);
wrkMast.setSystemMsg("");
- wrkMast.setIoTime(new Date());
+ wrkMast.setIoTime(now);
+ wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ wrkAnalysisService.markInboundStationStart(wrkMast, now);
+ offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "stationInExecute");
News.info("杈撻�佺珯鐐瑰叆搴撳懡浠や笅鍙戞垚鍔燂紝绔欑偣鍙�={}锛屽伐浣滃彿={}锛屽懡浠ゆ暟鎹�={}", stationId, wrkMast.getWrkNo(), JSON.toJSONString(command));
redisUtil.set(RedisKeyType.STATION_IN_EXECUTE_LIMIT.key + stationId, "lock", 5);
loadGuardState.reserveLoopTask(loopHitResult.getLoopNo());
@@ -207,10 +218,12 @@
&& 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) {
@@ -218,23 +231,41 @@
}
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;
}
+ Date now = new Date();
wrkMast.setWrkSts(WrkStsType.STATION_RUN.sts);
wrkMast.setSystemMsg("");
- wrkMast.setIoTime(new Date());
+ wrkMast.setIoTime(now);
+ wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ wrkAnalysisService.markOutboundStationStart(wrkMast, now);
+ boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "crnStationOutExecute");
+ if (offered && stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "crnStationOutExecute",
+ command,
+ false
+ );
+ }
News.info("杈撻�佺珯鐐瑰嚭搴撳懡浠や笅鍙戞垚鍔燂紝绔欑偣鍙�={}锛屽伐浣滃彿={}锛屽懡浠ゆ暟鎹�={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
redisUtil.del(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
@@ -285,7 +316,14 @@
&& 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;
@@ -295,7 +333,7 @@
wrkMast.setSystemMsg("");
wrkMast.setIoTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "dualCrnStationOutExecute");
notifyUtils.notify(String.valueOf(SlaveType.Devp), stationObjModel.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN, null);
News.info("杈撻�佺珯鐐瑰嚭搴撳懡浠や笅鍙戞垚鍔燂紝绔欑偣鍙�={}锛屽伐浣滃彿={}锛屽懡浠ゆ暟鎹�={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
@@ -347,9 +385,15 @@
if (wrkMast == null || wrkMast.getWrkNo() == null) {
return;
}
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.finishSession(wrkMast.getWrkNo());
+ }
+ Date now = new Date();
wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
- wrkMast.setIoTime(new Date());
+ wrkMast.setIoTime(now);
+ wrkMast.setModiTime(now);
wrkMastService.updateById(wrkMast);
+ wrkAnalysisService.markOutboundStationComplete(wrkMast, now);
if (deviceNo != null) {
notifyUtils.notify(String.valueOf(SlaveType.Devp), deviceNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
}
@@ -391,6 +435,9 @@
}
if (complete) {
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.finishSession(wrkNo);
+ }
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
wrkMast.setIoTime(new Date());
wrkMastService.updateById(wrkMast);
@@ -438,6 +485,20 @@
if (wrkMast.getIoType() == WrkIoType.IN.id && runBlockReassignLocStationList.contains(stationProtocol.getStationId())) {
//绔欑偣澶勪簬閲嶆柊鍒嗛厤搴撲綅鍖哄煙
+ int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(
+ stationProtocol.getTaskBufferItems(),
+ stationProtocol.getTaskNo()
+ );
+ if (currentTaskBufferCommandCount > 0) {
+ News.info("杈撻�佺珯鐐硅繍琛屽牭濉為噸鍒嗛厤宸茶烦杩囷紝缂撳瓨鍖轰粛瀛樺湪褰撳墠浠诲姟鍛戒护銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛屽綋鍓嶄换鍔″懡浠ゆ暟={}",
+ stationProtocol.getStationId(),
+ stationProtocol.getTaskNo(),
+ currentTaskBufferCommandCount);
+ continue;
+ }
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
+ }
//杩愯鍫靛锛岄噸鏂扮敵璇蜂换鍔�
String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
if (Cools.isEmpty(response)) {
@@ -515,20 +576,38 @@
}
if (wrkMastService.updateById(wrkMast)) {
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
+ if (!offered) {
+ continue;
+ }
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "checkStationRunBlock_direct",
+ command,
+ false
+ );
+ }
}
} else {
News.error("璇锋眰WMS鎺ュ彛澶辫触锛侊紒锛乺esponse锛歿}", response);
}
} 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;
+ }
+
+ if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), stationProtocol.getTaskNo()) > 0) {
continue;
}
@@ -536,7 +615,8 @@
wrkMast.getWrkNo(),
stationProtocol.getStationId(),
moveStaNo,
- 0
+ 0,
+ pathLenFactor
);
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(),
@@ -546,8 +626,24 @@
continue;
}
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
+ }
+ resetSegmentMoveCommandsBeforeReroute(wrkMast.getWrkNo());
+ boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_reroute");
+ if (!offered) {
+ continue;
+ }
syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "checkStationRunBlock_reroute",
+ command,
+ dispatchDecision != null && dispatchDecision.isCircle()
+ );
+ }
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));
}
}
@@ -646,30 +742,55 @@
continue;
}
- if (isWatchingCircleArrival(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
+ if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), stationProtocol.getTaskNo()) > 0) {
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;
+ }
+ if (stationMoveCoordinator != null
+ && stationMoveCoordinator.shouldSuppressDispatch(wrkMast.getWrkNo(), stationProtocol.getStationId(), command)) {
continue;
}
if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
continue;
}
+ resetSegmentMoveCommandsBeforeReroute(wrkMast.getWrkNo());
+ boolean offered = offerDevpCommandWithDedup(stationObjModel.getDeviceNo(), command, "checkStationOutOrder");
+ if (!offered) {
+ continue;
+ }
syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "checkStationOutOrder",
+ command,
+ dispatchDecision != null && dispatchDecision.isCircle()
+ );
+ }
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());
}
}
@@ -717,29 +838,141 @@
if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
continue;
}
+ if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), stationProtocol.getTaskNo()) > 0) {
+ 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;
+ }
+ if (stationMoveCoordinator != null
+ && stationMoveCoordinator.shouldSuppressDispatch(wrkMast.getWrkNo(), stationProtocol.getStationId(), command)) {
continue;
}
if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
continue;
}
+ resetSegmentMoveCommandsBeforeReroute(wrkMast.getWrkNo());
+ boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "watchCircleStation");
+ if (!offered) {
+ continue;
+ }
syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "watchCircleStation",
+ command,
+ dispatchDecision != null && dispatchDecision.isCircle()
+ );
+ }
}
}
+ }
+
+ 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 +987,8 @@
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 +996,17 @@
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 +1018,9 @@
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 +1046,7 @@
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 +1060,7 @@
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 +1069,11 @@
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 +1088,11 @@
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 +1113,17 @@
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 +1179,11 @@
);
}
- 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 +1192,7 @@
}
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 +1209,16 @@
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 +1264,11 @@
|| (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 +1283,7 @@
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 +1311,14 @@
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 +1335,11 @@
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();
}
@@ -1105,8 +1357,39 @@
}
private boolean isWatchingCircleArrival(Integer wrkNo, Integer stationId) {
+ if (stationMoveCoordinator != null) {
+ StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
+ if (session != null && session.isActive() && stationId != null) {
+ if (stationId.equals(session.getNextDecisionStationId())) {
+ return true;
+ }
+ if (session.containsStation(stationId)) {
+ return false;
+ }
+ }
+ }
StationCommand command = getWatchCircleCommand(wrkNo);
return command != null && stationId != null && stationId.equals(command.getTargetStaNo());
+ }
+
+ private boolean isWatchingCircleTransit(Integer wrkNo, Integer stationId) {
+ if (stationMoveCoordinator != null) {
+ StationMoveSession session = stationMoveCoordinator.loadSession(wrkNo);
+ if (session != null && session.isActive() && stationId != null) {
+ if (stationId.equals(session.getNextDecisionStationId())) {
+ return false;
+ }
+ if (session.containsStation(stationId)) {
+ return true;
+ }
+ }
+ }
+ StationCommand command = getWatchCircleCommand(wrkNo);
+ if (command == null || stationId == null || Objects.equals(stationId, command.getTargetStaNo())) {
+ return false;
+ }
+ List<Integer> navigatePath = command.getNavigatePath();
+ return navigatePath != null && navigatePath.contains(stationId);
}
private StationCommand getWatchCircleCommand(Integer wrkNo) {
@@ -1151,6 +1434,9 @@
}
StationTaskIdleTrack idleTrack = touchStationTaskIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
+ if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
+ return;
+ }
if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
return;
}
@@ -1164,11 +1450,23 @@
if (lock != null) {
return;
}
+ int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(
+ stationProtocol.getTaskBufferItems(),
+ stationProtocol.getTaskNo()
+ );
+ if (currentTaskBufferCommandCount > 0) {
+ News.info("杈撻�佺珯鐐逛换鍔″仠鐣欒秴鏃讹紝浣嗙紦瀛樺尯浠嶅瓨鍦ㄥ綋鍓嶄换鍔″懡浠わ紝宸茶烦杩囬噸绠椼�傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛屽綋鍓嶄换鍔″懡浠ゆ暟={}",
+ stationProtocol.getStationId(),
+ stationProtocol.getTaskNo(),
+ currentTaskBufferCommandCount);
+ 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();
@@ -1177,24 +1475,39 @@
return;
}
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.cancelSession(stationProtocol.getTaskNo());
+ }
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(),
+ 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);
return;
}
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationIdleRecover");
+ if (!offered) {
+ return;
+ }
syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "checkStationIdleRecover",
+ command,
+ dispatchDecision != null && dispatchDecision.isCircle()
+ );
+ }
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));
@@ -1207,8 +1520,31 @@
if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
return false;
}
- return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_DEVICE_RUN.sts)
+ return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN.sts)
|| Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
+ }
+
+ private boolean shouldSkipIdleRecoverForRecentDispatch(Integer taskNo, Integer stationId) {
+ if (stationMoveCoordinator == null || taskNo == null || taskNo <= 0 || stationId == null) {
+ return false;
+ }
+ StationMoveSession session = stationMoveCoordinator.loadSession(taskNo);
+ if (session == null || !session.isActive() || session.getLastIssuedAt() == null) {
+ return false;
+ }
+ if (!Objects.equals(stationId, session.getCurrentStationId())
+ && !Objects.equals(stationId, session.getDispatchStationId())) {
+ return false;
+ }
+ long elapsedMs = System.currentTimeMillis() - session.getLastIssuedAt();
+ long thresholdMs = STATION_IDLE_RECOVER_SECONDS * 1000L;
+ if (elapsedMs >= thresholdMs) {
+ return false;
+ }
+ saveStationTaskIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
+ News.info("杈撻�佺珯鐐逛换鍔″垰瀹屾垚鍛戒护涓嬪彂锛屽凡璺宠繃鍋滅暀閲嶇畻銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛岃窛涓婃涓嬪彂={}ms锛宺outeVersion={}",
+ stationId, taskNo, elapsedMs, session.getRouteVersion());
+ return true;
}
private void resetSegmentMoveCommandsBeforeReroute(Integer taskNo) {
@@ -1224,6 +1560,69 @@
} catch (Exception ignore) {
}
redisUtil.del(key);
+ }
+
+ private int countCurrentTaskBufferCommands(List<StationTaskBufferItem> taskBufferItems, Integer currentTaskNo) {
+ if (taskBufferItems == null || taskBufferItems.isEmpty() || currentTaskNo == null || currentTaskNo <= 0) {
+ return 0;
+ }
+ int count = 0;
+ for (StationTaskBufferItem item : taskBufferItems) {
+ if (item == null || item.getTaskNo() == null) {
+ continue;
+ }
+ if (currentTaskNo.equals(item.getTaskNo())) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private boolean offerDevpCommandWithDedup(Integer deviceNo, StationCommand command, String scene) {
+ if (deviceNo == null || command == null) {
+ return false;
+ }
+ String dedupKey = buildStationCommandDispatchDedupKey(deviceNo, command);
+ if (redisUtil != null) {
+ Object lock = redisUtil.get(dedupKey);
+ if (lock != null) {
+ News.info("杈撻�佺珯鐐瑰懡浠ょ煭鏃堕噸澶嶆淳鍙戯紝宸茶烦杩囥�俿cene={}锛宒eviceNo={}锛宼askNo={}锛宻tationId={}锛宼argetStaNo={}锛宑ommandType={}",
+ scene,
+ deviceNo,
+ command.getTaskNo(),
+ command.getStationId(),
+ command.getTargetStaNo(),
+ command.getCommandType());
+ return false;
+ }
+ redisUtil.set(dedupKey, "lock", STATION_COMMAND_DISPATCH_DEDUP_SECONDS);
+ }
+ boolean offered = MessageQueue.offer(SlaveType.Devp, deviceNo, new Task(2, command));
+ if (!offered && redisUtil != null) {
+ redisUtil.del(dedupKey);
+ }
+ return offered;
+ }
+
+ private String buildStationCommandDispatchDedupKey(Integer deviceNo, StationCommand command) {
+ return RedisKeyType.STATION_COMMAND_DISPATCH_DEDUP_.key
+ + deviceNo + "_"
+ + command.getTaskNo() + "_"
+ + command.getStationId() + "_"
+ + (stationMoveCoordinator == null ? Integer.toHexString(buildFallbackPathSignature(command).hashCode())
+ : stationMoveCoordinator.buildPathSignatureHash(command));
+ }
+
+ private String buildFallbackPathSignature(StationCommand command) {
+ if (command == null) {
+ return "";
+ }
+ return String.valueOf(command.getCommandType())
+ + "_" + command.getStationId()
+ + "_" + command.getTargetStaNo()
+ + "_" + command.getNavigatePath()
+ + "_" + command.getLiftTransferPath()
+ + "_" + command.getOriginalNavigatePath();
}
private int clearIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
@@ -1465,6 +1864,15 @@
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 +1884,9 @@
}
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 +1930,16 @@
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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