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 +++++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 277 insertions(+), 23 deletions(-)
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();
+ }
+ }
}
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