From 56ace0ff2072625bfb93131d59b39cce6a5ffd1a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 20:38:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 236 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
src/main/java/com/zy/core/enums/RedisKeyType.java | 1
2 files changed, 232 insertions(+), 5 deletions(-)
diff --git a/src/main/java/com/zy/core/enums/RedisKeyType.java b/src/main/java/com/zy/core/enums/RedisKeyType.java
index d02e7f7..122baa0 100644
--- a/src/main/java/com/zy/core/enums/RedisKeyType.java
+++ b/src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -44,6 +44,7 @@
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_"),
+ STATION_RUN_BLOCK_TASK_LOOP_STATE_("station_run_block_task_loop_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/impl/ZyStationV5Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
index 1e43a85..f35e6b1 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -6,12 +6,15 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
+import com.zy.asrs.domain.vo.StationCycleCapacityVo;
+import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasStationOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasStationOptService;
+import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.NavigateUtils;
@@ -35,8 +38,10 @@
import java.text.MessageFormat;
import java.util.ArrayList;
+import java.util.Collections;
import java.util.Date;
import java.util.HashMap;
+import java.util.HashSet;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
@@ -51,6 +56,7 @@
private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
private static final int SHORT_PATH_REPEAT_AVOID_THRESHOLD = 2;
+ private static final int SMALL_LOOP_REPEAT_AVOID_THRESHOLD = 2;
private List<StationProtocol> statusList = new ArrayList<>();
private DeviceConfig deviceConfig;
@@ -254,11 +260,14 @@
}
RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
+ TaskLoopRerouteState taskLoopRerouteState = loadTaskLoopRerouteState(taskNo);
+ LoopIdentity currentLoopIdentity = resolveStationLoopIdentity(stationId);
rerouteState.setTaskNo(taskNo);
rerouteState.setBlockStationId(stationId);
rerouteState.setLastTargetStationId(targetStationId);
rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
rerouteState.setLastPlanTime(System.currentTimeMillis());
+ taskLoopRerouteState.setTaskNo(taskNo);
List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
if (candidatePathList.isEmpty()) {
@@ -270,6 +279,8 @@
StationCommand rerouteCommand = selectAvailableRerouteCommand(
rerouteState,
+ taskLoopRerouteState,
+ currentLoopIdentity,
candidatePathList,
taskNo,
stationId,
@@ -282,6 +293,8 @@
rerouteState.resetIssuedRoutes();
rerouteCommand = selectAvailableRerouteCommand(
rerouteState,
+ taskLoopRerouteState,
+ currentLoopIdentity,
candidatePathList,
taskNo,
stationId,
@@ -292,6 +305,8 @@
if (rerouteCommand != null) {
saveRunBlockRerouteState(rerouteState);
+ touchTaskLoopRerouteState(taskLoopRerouteState, currentLoopIdentity);
+ saveTaskLoopRerouteState(taskLoopRerouteState);
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;
@@ -428,6 +443,8 @@
}
private StationCommand selectAvailableRerouteCommand(RunBlockRerouteState rerouteState,
+ TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity,
List<List<NavigateNode>> candidatePathList,
Integer taskNo,
Integer stationId,
@@ -438,6 +455,7 @@
}
Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
+ int currentLoopIssuedCount = resolveCurrentLoopIssuedCount(taskLoopRerouteState, currentLoopIdentity);
List<RerouteCandidateCommand> candidateCommandList = new ArrayList<>();
for (List<NavigateNode> candidatePath : candidatePathList) {
StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
@@ -453,6 +471,9 @@
candidateCommand.setRouteSignature(routeSignature);
candidateCommand.setPathLength(rerouteCommand.getNavigatePath().size());
candidateCommand.setIssuedCount(rerouteState.getRouteIssueCountMap().getOrDefault(routeSignature, 0));
+ candidateCommand.setLoopFingerprint(currentLoopIdentity.getLoopFingerprint());
+ candidateCommand.setLoopIssuedCount(currentLoopIssuedCount);
+ candidateCommand.setCurrentLoopHitCount(countCurrentLoopStationHit(rerouteCommand.getNavigatePath(), currentLoopIdentity.getStationIdSet()));
candidateCommandList.add(candidateCommand);
}
if (candidateCommandList.isEmpty()) {
@@ -487,7 +508,9 @@
}
int shortestPathLength = Integer.MAX_VALUE;
+ int shortestPathLoopHitCount = Integer.MAX_VALUE;
boolean shortestPathOverused = false;
+ boolean currentLoopOverused = false;
boolean hasLongerCandidate = false;
for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
@@ -503,6 +526,9 @@
if (candidateCommand == null || candidateCommand.getPathLength() == null || candidateCommand.getPathLength() <= 0) {
continue;
}
+ if (candidateCommand.getPathLength() == shortestPathLength) {
+ shortestPathLoopHitCount = Math.min(shortestPathLoopHitCount, safeInt(candidateCommand.getCurrentLoopHitCount()));
+ }
if (candidateCommand.getPathLength() > shortestPathLength) {
hasLongerCandidate = true;
}
@@ -511,28 +537,68 @@
&& candidateCommand.getIssuedCount() >= SHORT_PATH_REPEAT_AVOID_THRESHOLD) {
shortestPathOverused = true;
}
+ if (!Cools.isEmpty(candidateCommand.getLoopFingerprint())
+ && candidateCommand.getLoopIssuedCount() != null
+ && candidateCommand.getLoopIssuedCount() >= SMALL_LOOP_REPEAT_AVOID_THRESHOLD) {
+ currentLoopOverused = true;
+ }
}
- if (!shortestPathOverused || !hasLongerCandidate) {
+ if (!shortestPathOverused && !currentLoopOverused) {
+ return candidateCommandList;
+ }
+ if (shortestPathLoopHitCount == Integer.MAX_VALUE) {
+ shortestPathLoopHitCount = 0;
+ }
+
+ boolean hasLoopExitCandidate = false;
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null) {
+ continue;
+ }
+ if (safeInt(candidateCommand.getCurrentLoopHitCount()) < shortestPathLoopHitCount) {
+ hasLoopExitCandidate = true;
+ break;
+ }
+ }
+ if (!hasLongerCandidate && !hasLoopExitCandidate) {
return candidateCommandList;
}
List<RerouteCandidateCommand> reorderedList = new ArrayList<>();
+ if (currentLoopOverused && hasLoopExitCandidate) {
+ for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
+ if (candidateCommand == null) {
+ continue;
+ }
+ if (safeInt(candidateCommand.getCurrentLoopHitCount()) < shortestPathLoopHitCount) {
+ appendCandidateIfAbsent(reorderedList, candidateCommand);
+ }
+ }
+ }
for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
if (candidateCommand != null
&& candidateCommand.getPathLength() != null
&& candidateCommand.getPathLength() > shortestPathLength) {
- reorderedList.add(candidateCommand);
+ appendCandidateIfAbsent(reorderedList, candidateCommand);
}
}
for (RerouteCandidateCommand candidateCommand : candidateCommandList) {
if (candidateCommand == null || candidateCommand.getPathLength() == null) {
continue;
}
- if (candidateCommand.getPathLength() <= shortestPathLength) {
- reorderedList.add(candidateCommand);
- }
+ appendCandidateIfAbsent(reorderedList, candidateCommand);
}
return reorderedList;
+ }
+
+ private void appendCandidateIfAbsent(List<RerouteCandidateCommand> reorderedList,
+ RerouteCandidateCommand candidateCommand) {
+ if (reorderedList == null || candidateCommand == null) {
+ return;
+ }
+ if (!reorderedList.contains(candidateCommand)) {
+ reorderedList.add(candidateCommand);
+ }
}
private RunBlockRerouteState loadRunBlockRerouteState(Integer taskNo, Integer blockStationId) {
@@ -568,6 +634,71 @@
);
}
+ private TaskLoopRerouteState loadTaskLoopRerouteState(Integer taskNo) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0) {
+ return new TaskLoopRerouteState();
+ }
+ Object stateObj = redisUtil.get(RedisKeyType.STATION_RUN_BLOCK_TASK_LOOP_STATE_.key + taskNo);
+ if (stateObj == null) {
+ return new TaskLoopRerouteState();
+ }
+ try {
+ TaskLoopRerouteState state = JSON.parseObject(String.valueOf(stateObj), TaskLoopRerouteState.class);
+ return state == null ? new TaskLoopRerouteState() : state.normalize();
+ } catch (Exception ignore) {
+ return new TaskLoopRerouteState();
+ }
+ }
+
+ private void saveTaskLoopRerouteState(TaskLoopRerouteState taskLoopRerouteState) {
+ if (redisUtil == null
+ || taskLoopRerouteState == null
+ || taskLoopRerouteState.getTaskNo() == null
+ || taskLoopRerouteState.getTaskNo() <= 0) {
+ return;
+ }
+ taskLoopRerouteState.normalize();
+ redisUtil.set(
+ RedisKeyType.STATION_RUN_BLOCK_TASK_LOOP_STATE_.key + taskLoopRerouteState.getTaskNo(),
+ JSON.toJSONString(taskLoopRerouteState),
+ RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS
+ );
+ }
+
+ private void touchTaskLoopRerouteState(TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity) {
+ if (taskLoopRerouteState == null || currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return;
+ }
+ taskLoopRerouteState.getLoopIssueCountMap().put(
+ currentLoopIdentity.getLoopFingerprint(),
+ taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0) + 1
+ );
+ taskLoopRerouteState.setLastLoopFingerprint(currentLoopIdentity.getLoopFingerprint());
+ taskLoopRerouteState.setLastIssueTime(System.currentTimeMillis());
+ }
+
+ private int resolveCurrentLoopIssuedCount(TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity) {
+ if (taskLoopRerouteState == null || currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return 0;
+ }
+ return taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0);
+ }
+
+ private int countCurrentLoopStationHit(List<Integer> path, Set<Integer> currentLoopStationIdSet) {
+ if (path == null || path.isEmpty() || currentLoopStationIdSet == null || currentLoopStationIdSet.isEmpty()) {
+ return 0;
+ }
+ int hitCount = 0;
+ for (Integer stationId : path) {
+ if (stationId != null && currentLoopStationIdSet.contains(stationId)) {
+ hitCount++;
+ }
+ }
+ return hitCount;
+ }
+
private String buildPathSignature(List<Integer> path) {
if (path == null || path.isEmpty()) {
return "";
@@ -587,6 +718,68 @@
private String buildRunBlockRerouteStateKey(Integer taskNo, Integer blockStationId) {
return RedisKeyType.STATION_RUN_BLOCK_REROUTE_STATE_.key + taskNo + "_" + blockStationId;
+ }
+
+ private LoopIdentity resolveStationLoopIdentity(Integer stationId) {
+ if (stationId == null || stationId <= 0) {
+ return LoopIdentity.empty();
+ }
+ try {
+ StationCycleCapacityService stationCycleCapacityService = SpringUtils.getBean(StationCycleCapacityService.class);
+ if (stationCycleCapacityService == null) {
+ return LoopIdentity.empty();
+ }
+ StationCycleCapacityVo capacityVo = stationCycleCapacityService.getLatestSnapshot();
+ if (capacityVo == null || capacityVo.getLoopList() == null || capacityVo.getLoopList().isEmpty()) {
+ return LoopIdentity.empty();
+ }
+ for (StationCycleLoopVo loopVo : capacityVo.getLoopList()) {
+ List<Integer> loopStationIdList = normalizeLoopStationIdList(loopVo == null ? null : loopVo.getStationIdList());
+ if (loopStationIdList.isEmpty() || !loopStationIdList.contains(stationId)) {
+ continue;
+ }
+ return new LoopIdentity(buildLoopFingerprint(loopStationIdList), new HashSet<>(loopStationIdList));
+ }
+ } catch (Exception ignore) {
+ }
+ return LoopIdentity.empty();
+ }
+
+ private List<Integer> normalizeLoopStationIdList(List<Integer> stationIdList) {
+ if (stationIdList == null || stationIdList.isEmpty()) {
+ return new ArrayList<>();
+ }
+ List<Integer> normalizedList = new ArrayList<>();
+ Set<Integer> seenStationIdSet = new HashSet<>();
+ for (Integer stationId : stationIdList) {
+ if (stationId == null || stationId <= 0 || !seenStationIdSet.add(stationId)) {
+ continue;
+ }
+ normalizedList.add(stationId);
+ }
+ Collections.sort(normalizedList);
+ return normalizedList;
+ }
+
+ private String buildLoopFingerprint(List<Integer> stationIdList) {
+ if (stationIdList == null || 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 int safeInt(Integer value) {
+ return value == null ? 0 : value;
}
@Data
@@ -660,5 +853,38 @@
private String routeSignature;
private Integer pathLength;
private Integer issuedCount;
+ private String loopFingerprint;
+ private Integer loopIssuedCount;
+ private Integer currentLoopHitCount;
+ }
+
+ @Data
+ private static class TaskLoopRerouteState {
+ private Integer taskNo;
+ private String lastLoopFingerprint;
+ private Long lastIssueTime;
+ private Map<String, Integer> loopIssueCountMap = new HashMap<>();
+
+ private TaskLoopRerouteState normalize() {
+ if (loopIssueCountMap == null) {
+ loopIssueCountMap = new HashMap<>();
+ }
+ return this;
+ }
+ }
+
+ @Data
+ private static class LoopIdentity {
+ private String loopFingerprint;
+ private Set<Integer> stationIdSet = new HashSet<>();
+
+ private LoopIdentity(String loopFingerprint, Set<Integer> stationIdSet) {
+ this.loopFingerprint = loopFingerprint;
+ this.stationIdSet = stationIdSet == null ? new HashSet<>() : stationIdSet;
+ }
+
+ private static LoopIdentity empty() {
+ return new LoopIdentity("", new HashSet<>());
+ }
}
}
--
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