From 3e28500e76ffd71b7da90f40d1f3126c00a0e5f0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 13 四月 2026 14:49:41 +0800
Subject: [PATCH] #站点运行优化
---
src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java | 180 +++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 137 insertions(+), 43 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
index 2cfd566..f3fbe1d 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
@@ -30,7 +30,10 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
-import com.zy.core.utils.DeviceLogRedisKeyBuilder;
+import com.zy.core.task.DeviceAsyncLogPublisher;
+import com.zy.core.thread.impl.v5.StationMoveSegmentExecutor;
+import com.zy.core.thread.support.RecentStationArrivalTracker;
+import com.zy.core.thread.support.StationErrLogSupport;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.Data;
@@ -48,17 +51,24 @@
private static final double DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO = 0.3d;
private List<StationProtocol> statusList = new ArrayList<>();
+ private volatile List<Integer> taskNoList = new ArrayList<>();
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ZyStationConnectDriver zyStationConnectDriver;
+ private StationMoveSegmentExecutor segmentExecutor;
private int deviceLogCollectTime = 200;
private boolean initStatus = false;
private long deviceDataLogTime = System.currentTimeMillis();
private ExecutorService executor = Executors.newFixedThreadPool(9999);
+ private final RecentStationArrivalTracker recentArrivalTracker;
+ private final DeviceAsyncLogPublisher devpAsyncLogPublisher;
public ZyStationV4Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
this.deviceConfig = deviceConfig;
this.redisUtil = redisUtil;
+ this.recentArrivalTracker = new RecentStationArrivalTracker(redisUtil);
+ this.segmentExecutor = new StationMoveSegmentExecutor(deviceConfig, redisUtil, this::sendCommand);
+ this.devpAsyncLogPublisher = SpringUtils.getBean(DeviceAsyncLogPublisher.class);
}
@Override
@@ -92,7 +102,7 @@
}
if (step == 2) {
StationCommand cmd = (StationCommand) task.getData();
- executor.submit(() -> executeMoveWithSeg(cmd));
+ executor.submit(() -> segmentExecutor.execute(cmd));
}
Thread.sleep(100);
} catch (Exception e) {
@@ -134,6 +144,7 @@
}
List<ZyStationStatusEntity> zyStationStatusEntities = zyStationConnectDriver.getStatus();
+ LinkedHashSet<Integer> taskNoSet = new LinkedHashSet<>();
for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
for (StationProtocol stationProtocol : statusList) {
if (stationProtocol.getStationId().equals(statusEntity.getStationId())) {
@@ -151,8 +162,22 @@
stationProtocol.setBarcode(statusEntity.getBarcode());
stationProtocol.setRunBlock(statusEntity.isRunBlock());
stationProtocol.setEnableIn(statusEntity.isEnableIn());
+ stationProtocol.setInBarcodeError(statusEntity.isInBarcodeError());
stationProtocol.setWeight(statusEntity.getWeight());
stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
+ stationProtocol.setTaskBufferItems(statusEntity.getTaskBufferItems());
+ if (statusEntity.getTaskNo() != null && statusEntity.getTaskNo() > 0) {
+ taskNoSet.add(statusEntity.getTaskNo());
+ }
+ if (statusEntity.getTaskBufferItems() != null) {
+ statusEntity.getTaskBufferItems().forEach(item -> {
+ Integer bufferTaskNo = item == null ? null : item.getTaskNo();
+ if (bufferTaskNo != null && bufferTaskNo > 0) {
+ taskNoSet.add(bufferTaskNo);
+ }
+ });
+ }
+ recentArrivalTracker.observe(statusEntity.getStationId(), statusEntity.getTaskNo(), statusEntity.isLoading());
}
if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -164,20 +189,45 @@
}
}
}
+ taskNoList = new ArrayList<>(taskNoSet);
OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
+ StationErrLogSupport.sync(deviceConfig, redisUtil, statusList);
if (System.currentTimeMillis() - deviceDataLogTime > deviceLogCollectTime) {
- DeviceDataLog deviceDataLog = new DeviceDataLog();
- deviceDataLog.setOriginData(JSON.toJSONString(zyStationStatusEntities));
- deviceDataLog.setWcsData(JSON.toJSONString(statusList));
- deviceDataLog.setType(String.valueOf(SlaveType.Devp));
- deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
- deviceDataLog.setCreateTime(new Date());
-
- redisUtil.set(DeviceLogRedisKeyBuilder.build(deviceDataLog), deviceDataLog, 60 * 60 * 24);
+ Date createTime = new Date();
+ HashMap<Integer, ZyStationStatusEntity> originDataMap = buildStationStatusMap(zyStationStatusEntities);
+ for (int i = 0; i < statusList.size(); i++) {
+ StationProtocol stationProtocol = statusList.get(i);
+ if (stationProtocol == null || stationProtocol.getStationId() == null) {
+ continue;
+ }
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ ZyStationStatusEntity originEntity = originDataMap.get(stationProtocol.getStationId());
+ deviceDataLog.setOriginData(originEntity == null ? null : JSON.toJSONString(originEntity));
+ deviceDataLog.setWcsData(JSON.toJSONString(stationProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.Devp));
+ deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
+ deviceDataLog.setStationId(stationProtocol.getStationId());
+ deviceDataLog.setCreateTime(createTime);
+ devpAsyncLogPublisher.publishLatest(deviceDataLog);
+ }
deviceDataLogTime = System.currentTimeMillis();
}
+ }
+
+ private HashMap<Integer, ZyStationStatusEntity> buildStationStatusMap(List<ZyStationStatusEntity> zyStationStatusEntities) {
+ HashMap<Integer, ZyStationStatusEntity> map = new HashMap<>();
+ if (zyStationStatusEntities == null) {
+ return map;
+ }
+ for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
+ if (statusEntity == null || statusEntity.getStationId() == null) {
+ continue;
+ }
+ map.put(statusEntity.getStationId(), statusEntity);
+ }
+ return map;
}
@Override
@@ -213,7 +263,27 @@
}
@Override
+ public List<Integer> getAllTaskNoList() {
+ return taskNoList;
+ }
+
+ @Override
+ public boolean hasRecentArrival(Integer stationId, Integer taskNo) {
+ return recentArrivalTracker.hasRecentArrival(stationId, taskNo);
+ }
+
+ @Override
public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
@@ -223,7 +293,7 @@
if (commandType == StationCommandType.MOVE) {
if (!stationId.equals(targetStationId)) {
- List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
+ List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
List<Integer> path = new ArrayList<>();
List<Integer> liftTransferPath = new ArrayList<>();
for (NavigateNode n : nodes) {
@@ -239,6 +309,11 @@
if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
liftTransferPath.add(stationNo);
}
+ }
+ if (path.isEmpty()) {
+ log.warn("杈撻�佺嚎鍛戒护鐢熸垚澶辫触锛岃矾寰勪负绌猴紝taskNo={}, stationId={}, targetStationId={}",
+ taskNo, stationId, targetStationId);
+ return null;
}
stationCommand.setNavigatePath(path);
stationCommand.setLiftTransferPath(liftTransferPath);
@@ -256,6 +331,9 @@
e.printStackTrace();
} finally {
BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
+ if (optService == null) {
+ return commandResponse;
+ }
List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
ZyStationStatusEntity matched = null;
if (statusListEntity != null) {
@@ -278,12 +356,10 @@
null,
JSON.toJSONString(command),
JSON.toJSONString(matched),
- 1,
+ commandResponse != null && Boolean.TRUE.equals(commandResponse.getResult()) ? 1 : 0,
JSON.toJSONString(commandResponse)
);
- if (optService != null) {
- optService.save(basStationOpt);
- }
+ optService.save(basStationOpt);
}
return commandResponse;
}
@@ -298,12 +374,15 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
+ private List<NavigateNode> calcPathNavigateNodes(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcByStationId(startStationId, targetStationId);
+ return navigateUtils.calcOptimalPathByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private void executeMoveWithSeg(StationCommand original) {
@@ -378,20 +457,8 @@
}
int segCursor = 0;
- while (true) {
- CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
- if (commandResponse == null) {
- try {
- Thread.sleep(200);
- } catch (Exception ignore) {}
- continue;
- }
- if (commandResponse.getResult()) {
- break;
- }
- try {
- Thread.sleep(200);
- } catch (Exception ignore) {}
+ if (!sendSegmentWithRetry(segmentCommands.get(segCursor), original.getTaskNo())) {
+ return;
}
long runTime = System.currentTimeMillis();
@@ -432,18 +499,8 @@
int thresholdSegment = (int) Math.ceil(segLen * segmentAdvanceRatio);
if (remainingSegment <= thresholdSegment && segCursor < segmentCommands.size() - 1) {
segCursor++;
- while (true) {
- CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
- if (commandResponse == null) {
- Thread.sleep(200);
- continue;
- }
-
- if (commandResponse.getResult()) {
- break;
- }
-
- Thread.sleep(200);
+ if (!sendSegmentWithRetry(segmentCommands.get(segCursor), original.getTaskNo())) {
+ break;
}
}
Thread.sleep(500);
@@ -530,4 +587,41 @@
}
return null;
}
+
+ private boolean sendSegmentWithRetry(StationCommand command, Integer taskNo) {
+ while (true) {
+ if (isTaskMoveReset(taskNo)) {
+ return false;
+ }
+ CommandResponse commandResponse = sendCommand(command);
+ if (commandResponse == null) {
+ sleepQuietly(200L);
+ continue;
+ }
+ if (commandResponse.getResult()) {
+ return true;
+ }
+ sleepQuietly(200L);
+ }
+ }
+
+ private boolean isTaskMoveReset(Integer taskNo) {
+ if (taskNo == null || redisUtil == null) {
+ return false;
+ }
+ Object cancel = redisUtil.get(RedisKeyType.DEVICE_STATION_MOVE_RESET.key + taskNo);
+ return cancel != null;
+ }
+
+ private void sleepQuietly(long millis) {
+ try {
+ Thread.sleep(millis);
+ } catch (Exception ignore) {
+ }
+ }
+
+ @Override
+ public boolean clearPath(Integer taskNo) {
+ return false;
+ }
}
--
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