From 4351d2b4db890de9f5f456f16a68a270788c6434 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 13:57:08 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 300 +++++++++++++++++++++++++--
src/main/java/com/zy/core/thread/StationThread.java | 7
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 12
src/main/java/com/zy/common/utils/NavigateUtils.java | 330 ++++++++++++++++++++---------
src/main/java/com/zy/core/enums/RedisKeyType.java | 1
5 files changed, 524 insertions(+), 126 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 7f91b77..6219dbc 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -84,110 +84,36 @@
return calcByStationId(startStationId, endStationId, null, true);
}
+ public synchronized List<List<NavigateNode>> calcCandidatePathByStationId(Integer startStationId,
+ Integer endStationId,
+ Integer currentTaskNo) {
+ StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
+ if (context.allList.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(
+ context.allList,
+ context.resolvedPolicy,
+ currentTaskNo,
+ startStationId,
+ endStationId
+ );
+ return normalizeCandidatePaths(orderedPathList);
+ }
+
private synchronized List<NavigateNode> calcByStationId(Integer startStationId,
Integer endStationId,
Integer currentTaskNo,
boolean reachabilityOnly) {
- BasStation startStation = basStationService.getById(startStationId);
- if (startStation == null) {
- throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勭珯鐐规暟鎹�");
- }
- Integer lev = startStation.getStationLev();
-
- NavigateSolution navigateSolution = new NavigateSolution();
- List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
-
- NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
- if (startNode == null) {
- throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勮妭鐐�");
- }
-
- NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
- if (endNode == null) {
- throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
- }
-
- StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
- StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
- ? StationPathProfileConfig.defaultConfig()
- : resolvedPolicy.getProfileConfig();
-
- long startTime = System.currentTimeMillis();
- News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
- int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
- int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
- int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
- List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
- List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
- stationMap,
- startNode,
- endNode,
- calcMaxDepth,
- calcMaxPaths,
- calcMaxCost,
- guideStationSequence
- );
- if (allList.isEmpty()) {
-// throw new CoolException("鏈壘鍒拌璺緞");
+ StationPathSearchContext context = buildStationPathSearchContext(startStationId, endStationId);
+ if (context.allList.isEmpty()) {
return new ArrayList<>();
}
- Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
- allList = filterNonAutoStationPaths(allList, statusMap);
- if (allList.isEmpty()) {
- News.info("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽瓨鍦ㄩ潪鑷姩绔欑偣,startStationId={},endStationId={}", startStationId, endStationId);
- return new ArrayList<>();
- }
- News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
-
- startTime = System.currentTimeMillis();
- News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸寮�濮嬪垎鏋�,startStationId={},endStationId={}", startStationId, endStationId);
List<NavigateNode> list = reachabilityOnly
- ? findStationReachablePath(allList, resolvedPolicy, startStationId, endStationId)
- : findStationBestPathTwoStage(allList, resolvedPolicy, currentTaskNo, startStationId, endStationId);
- News.info("[WCS Debug] 绔欑偣璺緞鏉冮噸鍒嗘瀽瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
-
- //鍘婚噸
- HashSet<Integer> set = new HashSet<>();
- List<NavigateNode> fitlerList = new ArrayList<>();
- for (NavigateNode navigateNode : list) {
- JSONObject valuObject = JSON.parseObject(navigateNode.getNodeValue());
- if (valuObject.containsKey("rgvCalcFlag")) {
- continue;
- }
- if (set.add(valuObject.getInteger("stationId"))) {
- fitlerList.add(navigateNode);
- }
- }
-
- for (int i = 0; i < fitlerList.size(); i++) {
- NavigateNode currentNode = fitlerList.get(i);
- currentNode.setIsInflectionPoint(false);
- currentNode.setIsLiftTransferPoint(false);
-
- try {
- JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
- if (valueObject != null) {
- Object isLiftTransfer = valueObject.get("isLiftTransfer");
- if (isLiftTransfer != null) {
- String isLiftTransferStr = isLiftTransfer.toString();
- if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
- currentNode.setIsLiftTransferPoint(true);
- }
- }
- }
- } catch (Exception ignore) {}
-
- NavigateNode nextNode = (i + 1 < fitlerList.size()) ? fitlerList.get(i + 1) : null;
- NavigateNode prevNode = (i - 1 >= 0) ? fitlerList.get(i - 1) : null;
-
- HashMap<String, Object> result = searchInflectionPoint(currentNode, nextNode, prevNode);
- if (Boolean.parseBoolean(result.get("result").toString())) {
- currentNode.setIsInflectionPoint(true);
- currentNode.setDirection(result.get("direction").toString());
- }
- }
-
- return fitlerList;
+ ? findStationReachablePath(context.allList, context.resolvedPolicy, startStationId, endStationId)
+ : findStationBestPathTwoStage(context.allList, context.resolvedPolicy, currentTaskNo, startStationId, endStationId);
+ return normalizeStationPath(list);
}
public synchronized List<NavigateNode> calcByTrackSiteNo(int lev, Integer startTrackSiteNo, Integer endTrackSiteNo) {
@@ -337,6 +263,18 @@
Integer currentTaskNo,
Integer startStationId,
Integer endStationId) {
+ List<List<NavigateNode>> orderedPathList = orderStationPathCandidates(allList, resolvedPolicy, currentTaskNo, startStationId, endStationId);
+ if (orderedPathList.isEmpty()) {
+ return new ArrayList<>();
+ }
+ return orderedPathList.get(0);
+ }
+
+ private List<List<NavigateNode>> orderStationPathCandidates(List<List<NavigateNode>> allList,
+ StationPathResolvedPolicy resolvedPolicy,
+ Integer currentTaskNo,
+ Integer startStationId,
+ Integer endStationId) {
if (allList == null || allList.isEmpty()) {
return new ArrayList<>();
}
@@ -423,12 +361,41 @@
}
int topK = safeInt(profileConfig.getS1TopK(), 5);
- if (topK > 0 && stage1Selected.size() > topK) {
- stage1Selected = new ArrayList<>(stage1Selected.subList(0, topK));
+ List<PathCandidateMetrics> primaryMetrics = new ArrayList<>(stage1Selected);
+ List<PathCandidateMetrics> secondaryMetrics = new ArrayList<>();
+ if (topK > 0 && primaryMetrics.size() > topK) {
+ secondaryMetrics.addAll(primaryMetrics.subList(topK, primaryMetrics.size()));
+ primaryMetrics = new ArrayList<>(primaryMetrics.subList(0, topK));
}
- stage1Selected.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
- return stage1Selected.get(0).path;
+ primaryMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+ secondaryMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+
+ List<PathCandidateMetrics> remainingMetrics = new ArrayList<>();
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (!stage1Selected.contains(metrics)) {
+ remainingMetrics.add(metrics);
+ }
+ }
+ remainingMetrics.sort((a, b) -> compareDouble(a.dynamicCost, b.dynamicCost, a.pathLen, b.pathLen, a.turnCount, b.turnCount));
+
+ List<List<NavigateNode>> orderedPathList = new ArrayList<>();
+ appendCandidatePathList(orderedPathList, primaryMetrics);
+ appendCandidatePathList(orderedPathList, secondaryMetrics);
+ appendCandidatePathList(orderedPathList, remainingMetrics);
+ return orderedPathList;
+ }
+
+ private void appendCandidatePathList(List<List<NavigateNode>> orderedPathList,
+ List<PathCandidateMetrics> metricsList) {
+ if (orderedPathList == null || metricsList == null) {
+ return;
+ }
+ for (PathCandidateMetrics metrics : metricsList) {
+ if (metrics != null && metrics.path != null && !metrics.path.isEmpty()) {
+ orderedPathList.add(metrics.path);
+ }
+ }
}
private List<List<NavigateNode>> applyRuleFilters(List<List<NavigateNode>> allList,
@@ -1777,10 +1744,171 @@
return text != null && !text.trim().isEmpty();
}
+ private StationPathSearchContext buildStationPathSearchContext(Integer startStationId, Integer endStationId) {
+ BasStation startStation = basStationService.getById(startStationId);
+ if (startStation == null) {
+ throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勭珯鐐规暟鎹�");
+ }
+ Integer lev = startStation.getStationLev();
+
+ NavigateSolution navigateSolution = new NavigateSolution();
+ List<List<NavigateNode>> stationMap = navigateSolution.getStationMap(lev);
+
+ NavigateNode startNode = navigateSolution.findStationNavigateNode(stationMap, startStationId);
+ if (startNode == null) {
+ throw new CoolException("鏈壘鍒拌 璧风偣 瀵瑰簲鐨勮妭鐐�");
+ }
+
+ NavigateNode endNode = navigateSolution.findStationNavigateNode(stationMap, endStationId);
+ if (endNode == null) {
+ throw new CoolException("鏈壘鍒拌 缁堢偣 瀵瑰簲鐨勮妭鐐�");
+ }
+
+ StationPathResolvedPolicy resolvedPolicy = resolveStationPathPolicy(startStationId, endStationId);
+ StationPathProfileConfig profileConfig = resolvedPolicy.getProfileConfig() == null
+ ? StationPathProfileConfig.defaultConfig()
+ : resolvedPolicy.getProfileConfig();
+
+ long startTime = System.currentTimeMillis();
+ News.info("[WCS Debug] 绔欑偣璺緞寮�濮嬭绠�,startStationId={},endStationId={}", startStationId, endStationId);
+ int calcMaxDepth = safeInt(profileConfig.getCalcMaxDepth(), 120);
+ int calcMaxPaths = safeInt(profileConfig.getCalcMaxPaths(), 500);
+ int calcMaxCost = safeInt(profileConfig.getCalcMaxCost(), 300);
+ List<Integer> guideStationSequence = buildGuideStationSequence(startStationId, endStationId, resolvedPolicy.getRuleConfig());
+ List<List<NavigateNode>> allList = navigateSolution.allSimplePaths(
+ stationMap,
+ startNode,
+ endNode,
+ calcMaxDepth,
+ calcMaxPaths,
+ calcMaxCost,
+ guideStationSequence
+ );
+ if (allList.isEmpty()) {
+ return StationPathSearchContext.empty(resolvedPolicy);
+ }
+ Map<Integer, StationProtocol> statusMap = loadStationStatusMap();
+ allList = filterNonAutoStationPaths(allList, statusMap);
+ if (allList.isEmpty()) {
+ News.info("[WCS Debug] 绔欑偣璺緞鍊欓�夊叏閮ㄨ杩囨护锛屽瓨鍦ㄩ潪鑷姩绔欑偣,startStationId={},endStationId={}", startStationId, endStationId);
+ return StationPathSearchContext.empty(resolvedPolicy);
+ }
+ News.info("[WCS Debug] 绔欑偣璺緞璁＄畻瀹屾垚锛岃�楁椂锛歿}ms", System.currentTimeMillis() - startTime);
+ return new StationPathSearchContext(allList, resolvedPolicy);
+ }
+
+ private List<List<NavigateNode>> normalizeCandidatePaths(List<List<NavigateNode>> orderedPathList) {
+ List<List<NavigateNode>> result = new ArrayList<>();
+ if (orderedPathList == null || orderedPathList.isEmpty()) {
+ return result;
+ }
+ Set<String> seenPathSignatures = new LinkedHashSet<>();
+ for (List<NavigateNode> path : orderedPathList) {
+ List<NavigateNode> normalizedPath = normalizeStationPath(path);
+ String pathSignature = buildPathSignature(normalizedPath);
+ if (pathSignature.isEmpty() || !seenPathSignatures.add(pathSignature)) {
+ continue;
+ }
+ result.add(normalizedPath);
+ }
+ return result;
+ }
+
+ private List<NavigateNode> normalizeStationPath(List<NavigateNode> path) {
+ HashSet<Integer> stationIdSet = new HashSet<>();
+ List<NavigateNode> filterList = new ArrayList<>();
+ for (NavigateNode navigateNode : safeList(path)) {
+ if (navigateNode == null) {
+ continue;
+ }
+ JSONObject valueObject;
+ try {
+ valueObject = JSON.parseObject(navigateNode.getNodeValue());
+ } catch (Exception ignore) {
+ continue;
+ }
+ if (valueObject == null || valueObject.containsKey("rgvCalcFlag")) {
+ continue;
+ }
+ Integer stationId = valueObject.getInteger("stationId");
+ if (stationId == null || !stationIdSet.add(stationId)) {
+ continue;
+ }
+ NavigateNode clonedNode = navigateNode.clone();
+ if (clonedNode == null) {
+ continue;
+ }
+ filterList.add(clonedNode);
+ }
+
+ for (int i = 0; i < filterList.size(); i++) {
+ NavigateNode currentNode = filterList.get(i);
+ currentNode.setIsInflectionPoint(false);
+ currentNode.setIsLiftTransferPoint(false);
+
+ try {
+ JSONObject valueObject = JSON.parseObject(currentNode.getNodeValue());
+ if (valueObject != null) {
+ Object isLiftTransfer = valueObject.get("isLiftTransfer");
+ if (isLiftTransfer != null) {
+ String isLiftTransferStr = isLiftTransfer.toString();
+ if ("1".equals(isLiftTransferStr) || "true".equalsIgnoreCase(isLiftTransferStr)) {
+ currentNode.setIsLiftTransferPoint(true);
+ }
+ }
+ }
+ } catch (Exception ignore) {
+ }
+
+ NavigateNode nextNode = (i + 1 < filterList.size()) ? filterList.get(i + 1) : null;
+ NavigateNode prevNode = (i - 1 >= 0) ? filterList.get(i - 1) : null;
+
+ HashMap<String, Object> searchResult = searchInflectionPoint(currentNode, nextNode, prevNode);
+ if (Boolean.parseBoolean(searchResult.get("result").toString())) {
+ currentNode.setIsInflectionPoint(true);
+ currentNode.setDirection(searchResult.get("direction").toString());
+ }
+ }
+ return filterList;
+ }
+
+ private String buildPathSignature(List<NavigateNode> path) {
+ List<Integer> stationIdList = extractStationIdList(path);
+ if (stationIdList.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Integer stationId : stationIdList) {
+ if (stationId == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append("->");
+ }
+ builder.append(stationId);
+ }
+ return builder.toString();
+ }
+
private <T> List<T> safeList(List<T> list) {
return list == null ? Collections.emptyList() : list;
}
+ private static class StationPathSearchContext {
+ private final List<List<NavigateNode>> allList;
+ private final StationPathResolvedPolicy resolvedPolicy;
+
+ private StationPathSearchContext(List<List<NavigateNode>> allList,
+ StationPathResolvedPolicy resolvedPolicy) {
+ this.allList = allList == null ? new ArrayList<>() : allList;
+ this.resolvedPolicy = resolvedPolicy == null ? new StationPathResolvedPolicy() : resolvedPolicy;
+ }
+
+ private static StationPathSearchContext empty(StationPathResolvedPolicy resolvedPolicy) {
+ return new StationPathSearchContext(new ArrayList<>(), resolvedPolicy);
+ }
+ }
+
private static class PathCandidateMetrics {
private List<NavigateNode> path;
private int pathLen;
diff --git a/src/main/java/com/zy/core/enums/RedisKeyType.java b/src/main/java/com/zy/core/enums/RedisKeyType.java
index d70d094..d02e7f7 100644
--- a/src/main/java/com/zy/core/enums/RedisKeyType.java
+++ b/src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -43,6 +43,7 @@
STATION_OUT_ORDER_DISPATCH_LIMIT_("station_out_order_dispatch_limit_"),
STATION_OUT_EXECUTE_COMPLETE_LIMIT("station_out_execute_complete_limit_"),
CHECK_STATION_RUN_BLOCK_LIMIT_("check_station_run_block_limit_"),
+ STATION_RUN_BLOCK_REROUTE_STATE_("station_run_block_reroute_state_"),
CHECK_STATION_IDLE_RECOVER_LIMIT_("check_station_idle_recover_limit_"),
CHECK_SHALLOW_LOC_STATUS_LIMIT("check_shallow_loc_status_limit_"),
GENERATE_ENABLE_IN_STATION_DATA_LIMIT("generate_enable_in_station_data_limit_"),
diff --git a/src/main/java/com/zy/core/thread/StationThread.java b/src/main/java/com/zy/core/thread/StationThread.java
index 011083c..c861b02 100644
--- a/src/main/java/com/zy/core/thread/StationThread.java
+++ b/src/main/java/com/zy/core/thread/StationThread.java
@@ -16,6 +16,13 @@
StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize);
+ default StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize) {
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
+ }
+
CommandResponse sendCommand(StationCommand command);
CommandResponse sendOriginCommand(String address, short[] data);
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
index 622bf8b..e4572e1 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -18,6 +18,7 @@
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
@@ -36,14 +37,19 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
+import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
+import java.util.Objects;
+import java.util.Set;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
@Data
@Slf4j
public class ZyStationV5Thread implements Runnable, com.zy.core.thread.StationThread {
+
+ private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
private List<StationProtocol> statusList = new ArrayList<>();
private DeviceConfig deviceConfig;
@@ -229,31 +235,75 @@
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
- List<Integer> path = new ArrayList<>();
- List<Integer> liftTransferPath = new ArrayList<>();
- for (NavigateNode n : nodes) {
- JSONObject v = JSONObject.parseObject(n.getNodeValue());
- if (v == null) {
- continue;
- }
- Integer stationNo = v.getInteger("stationId");
- if (stationNo == null) {
- continue;
- }
- path.add(stationNo);
- 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);
+ return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
}
return stationCommand;
+ }
+
+ @Override
+ public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize) {
+ if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
+ return null;
+ }
+ if (Objects.equals(stationId, targetStationId)) {
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
+ }
+
+ RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
+ rerouteState.setTaskNo(taskNo);
+ rerouteState.setBlockStationId(stationId);
+ rerouteState.setLastTargetStationId(targetStationId);
+ rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
+ rerouteState.setLastPlanTime(System.currentTimeMillis());
+
+ List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
+ if (candidatePathList.isEmpty()) {
+ saveRunBlockRerouteState(rerouteState);
+ log.warn("杈撻�佺嚎鍫靛閲嶈鍒掑け璐ワ紝鍊欓�夎矾寰勪负绌猴紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
+ taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
+ return null;
+ }
+
+ StationCommand rerouteCommand = selectAvailableRerouteCommand(
+ rerouteState,
+ candidatePathList,
+ taskNo,
+ stationId,
+ targetStationId,
+ palletSize
+ );
+ if (rerouteCommand == null) {
+ log.info("杈撻�佺嚎鍫靛閲嶈鍒掑�欓�夎矾绾垮凡鍏ㄩ儴璇曡繃锛岄噸缃矾绾垮巻鍙插悗閲嶆柊寮�濮嬶紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
+ taskNo, rerouteState.getPlanCount(), stationId, targetStationId);
+ rerouteState.resetIssuedRoutes();
+ rerouteCommand = selectAvailableRerouteCommand(
+ rerouteState,
+ candidatePathList,
+ taskNo,
+ stationId,
+ targetStationId,
+ palletSize
+ );
+ }
+
+ if (rerouteCommand != null) {
+ saveRunBlockRerouteState(rerouteState);
+ log.info("杈撻�佺嚎鍫靛閲嶈鍒掗�変腑鍊欓�夎矾绾匡紝taskNo={}, planCount={}, stationId={}, targetStationId={}, route={}",
+ taskNo, rerouteState.getPlanCount(), stationId, targetStationId, JSON.toJSONString(rerouteCommand.getNavigatePath()));
+ return rerouteCommand;
+ }
+
+ saveRunBlockRerouteState(rerouteState);
+ log.warn("杈撻�佺嚎鍫靛閲嶈鍒掓湭鎵惧埌鍙笅鍙戣矾绾匡紝taskNo={}, planCount={}, stationId={}, targetStationId={}, triedRoutes={}",
+ taskNo,
+ rerouteState.getPlanCount(),
+ stationId,
+ targetStationId,
+ JSON.toJSONString(rerouteState.getIssuedRoutePathList()));
+ return null;
}
@Override
@@ -314,4 +364,208 @@
}
return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
}
+
+ private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId) {
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return new ArrayList<>();
+ }
+ return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo);
+ }
+
+ private StationCommand buildMoveCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ List<NavigateNode> nodes) {
+ StationCommand stationCommand = new StationCommand();
+ stationCommand.setTaskNo(taskNo);
+ stationCommand.setStationId(stationId);
+ stationCommand.setTargetStaNo(targetStationId);
+ stationCommand.setPalletSize(palletSize);
+ stationCommand.setCommandType(StationCommandType.MOVE);
+ return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
+ }
+
+ private StationCommand fillMoveCommandPath(StationCommand stationCommand,
+ List<NavigateNode> nodes,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId) {
+ List<Integer> path = new ArrayList<>();
+ List<Integer> liftTransferPath = new ArrayList<>();
+ for (NavigateNode node : nodes) {
+ JSONObject valueObject;
+ try {
+ valueObject = JSONObject.parseObject(node.getNodeValue());
+ } catch (Exception ignore) {
+ continue;
+ }
+ if (valueObject == null) {
+ continue;
+ }
+ Integer stationNo = valueObject.getInteger("stationId");
+ if (stationNo == null) {
+ continue;
+ }
+ path.add(stationNo);
+ if (Boolean.TRUE.equals(node.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);
+ stationCommand.setTargetStaNo(path.get(path.size() - 1));
+ return stationCommand;
+ }
+
+ private StationCommand selectAvailableRerouteCommand(RunBlockRerouteState rerouteState,
+ List<List<NavigateNode>> candidatePathList,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize) {
+ if (rerouteState == null || candidatePathList == null || candidatePathList.isEmpty()) {
+ return null;
+ }
+
+ Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
+ for (List<NavigateNode> candidatePath : candidatePathList) {
+ StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
+ if (rerouteCommand == null || rerouteCommand.getNavigatePath() == null || rerouteCommand.getNavigatePath().isEmpty()) {
+ continue;
+ }
+ String routeSignature = buildPathSignature(rerouteCommand.getNavigatePath());
+ if (Cools.isEmpty(routeSignature) || issuedRouteSignatureSet.contains(routeSignature)) {
+ continue;
+ }
+
+ issuedRouteSignatureSet.add(routeSignature);
+ rerouteState.getIssuedRoutePathList().add(new ArrayList<>(rerouteCommand.getNavigatePath()));
+ rerouteState.setLastSelectedRoute(new ArrayList<>(rerouteCommand.getNavigatePath()));
+ return rerouteCommand;
+ }
+ return null;
+ }
+
+ private RunBlockRerouteState loadRunBlockRerouteState(Integer taskNo, Integer blockStationId) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0 || blockStationId == null || blockStationId <= 0) {
+ return new RunBlockRerouteState();
+ }
+ Object stateObj = redisUtil.get(buildRunBlockRerouteStateKey(taskNo, blockStationId));
+ if (stateObj == null) {
+ return new RunBlockRerouteState();
+ }
+ try {
+ RunBlockRerouteState state = JSON.parseObject(String.valueOf(stateObj), RunBlockRerouteState.class);
+ return state == null ? new RunBlockRerouteState() : state.normalize();
+ } catch (Exception ignore) {
+ return new RunBlockRerouteState();
+ }
+ }
+
+ private void saveRunBlockRerouteState(RunBlockRerouteState rerouteState) {
+ if (redisUtil == null
+ || rerouteState == null
+ || rerouteState.getTaskNo() == null
+ || rerouteState.getTaskNo() <= 0
+ || rerouteState.getBlockStationId() == null
+ || rerouteState.getBlockStationId() <= 0) {
+ return;
+ }
+ rerouteState.normalize();
+ redisUtil.set(
+ buildRunBlockRerouteStateKey(rerouteState.getTaskNo(), rerouteState.getBlockStationId()),
+ JSON.toJSONString(rerouteState),
+ RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
+ );
+ }
+
+ private String buildPathSignature(List<Integer> path) {
+ if (path == null || path.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Integer stationNo : path) {
+ if (stationNo == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append("->");
+ }
+ builder.append(stationNo);
+ }
+ return builder.toString();
+ }
+
+ private String buildRunBlockRerouteStateKey(Integer taskNo, Integer blockStationId) {
+ return RedisKeyType.STATION_RUN_BLOCK_REROUTE_STATE_.key + taskNo + "_" + blockStationId;
+ }
+
+ @Data
+ private static class RunBlockRerouteState {
+ private Integer taskNo;
+ private Integer blockStationId;
+ private Integer planCount = 0;
+ private Integer lastTargetStationId;
+ private Long lastPlanTime;
+ private List<List<Integer>> issuedRoutePathList = new ArrayList<>();
+ private List<Integer> lastSelectedRoute = new ArrayList<>();
+ private Set<String> issuedRouteSignatureSet = new LinkedHashSet<>();
+
+ private RunBlockRerouteState normalize() {
+ if (planCount == null || planCount < 0) {
+ planCount = 0;
+ }
+ if (issuedRoutePathList == null) {
+ issuedRoutePathList = new ArrayList<>();
+ }
+ if (lastSelectedRoute == null) {
+ lastSelectedRoute = new ArrayList<>();
+ }
+ if (issuedRouteSignatureSet == null) {
+ issuedRouteSignatureSet = new LinkedHashSet<>();
+ }
+ for (List<Integer> routePath : issuedRoutePathList) {
+ if (routePath == null || routePath.isEmpty()) {
+ continue;
+ }
+ StringBuilder builder = new StringBuilder(buildPathSignatureText(routePath));
+ if (builder.length() > 0) {
+ issuedRouteSignatureSet.add(builder.toString());
+ }
+ }
+ return this;
+ }
+
+ private void resetIssuedRoutes() {
+ this.issuedRoutePathList = new ArrayList<>();
+ this.lastSelectedRoute = new ArrayList<>();
+ this.issuedRouteSignatureSet = new LinkedHashSet<>();
+ }
+
+ private static String buildPathSignatureText(List<Integer> routePath) {
+ if (routePath == null || routePath.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Integer stationId : routePath) {
+ if (stationId == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append("->");
+ }
+ builder.append(stationId);
+ }
+ return builder.toString();
+ }
+ }
}
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index eb1a6a7..a053d49 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -523,9 +523,17 @@
continue;
}
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
+ StationCommand command = stationThread.getRunBlockRerouteCommand(
+ 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");
+ 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;
}
--
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