From 6296120dadc9088e7c2318358abf4b8bdef01ad2 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 三月 2026 17:02:32 +0800
Subject: [PATCH] refactor: unify station reroute execution flow
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 2108 ++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 1,829 insertions(+), 279 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index de8a651..c54062f 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -3,10 +3,11 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
+import com.zy.asrs.domain.path.StationPathResolvedPolicy;
import com.zy.asrs.domain.vo.StationCycleCapacityVo;
import com.zy.asrs.domain.vo.StationCycleLoopVo;
import com.zy.asrs.entity.*;
@@ -18,6 +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;
@@ -26,6 +29,8 @@
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;
import org.springframework.stereotype.Component;
@@ -35,6 +40,13 @@
@Component
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 = 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";
@Autowired
private BasDevpService basDevpService;
@@ -56,15 +68,25 @@
private BasStationService basStationService;
@Autowired
private StationCycleCapacityService stationCycleCapacityService;
+ @Autowired
+ private StationPathPolicyService stationPathPolicyService;
+ @Autowired
+ 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() {
try {
- DispatchLimitConfig limitConfig = getDispatchLimitConfig();
+ DispatchLimitConfig baseLimitConfig = getDispatchLimitConfig(null, null);
int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
- LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
+ LoadGuardState loadGuardState = buildLoadGuardState(baseLimitConfig);
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -96,12 +118,12 @@
&& stationProtocol.getTaskNo() > 0
) {
//妫�娴嬩换鍔℃槸鍚︾敓鎴�
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
+ WrkMast wrkMast = wrkMastService.getOne(new QueryWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
if (wrkMast == null) {
continue;
}
- if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_INBOUND.sts)) {
continue;
}
@@ -118,6 +140,7 @@
continue;
}
+ DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), targetStationId);
LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), targetStationId, loadGuardState);
if (isDispatchBlocked(limitConfig, currentStationTaskCountRef[0], loadGuardState, loopHitResult.isThroughLoop())) {
@@ -130,13 +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());
@@ -153,11 +179,11 @@
//鎵ц鍫嗗灈鏈鸿緭閫佺珯鐐瑰嚭搴撲换鍔�
public synchronized void crnStationOutExecute() {
try {
- DispatchLimitConfig limitConfig = getDispatchLimitConfig();
+ DispatchLimitConfig baseLimitConfig = getDispatchLimitConfig(null, null);
int[] currentStationTaskCountRef = new int[]{countCurrentStationTask()};
- LoadGuardState loadGuardState = buildLoadGuardState(limitConfig);
+ LoadGuardState loadGuardState = buildLoadGuardState(baseLimitConfig);
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
.isNotNull("crn_no")
);
@@ -192,40 +218,54 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- Integer moveStaNo = wrkMast.getStaNo();
-
- if (!outOrderList.isEmpty()) {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
- for (int i = nodes.size() - 1; i >= 0; i--) {
- NavigateNode node = nodes.get(i);
- JSONObject v = JSONObject.parseObject(node.getNodeValue());
- if (v != null) {
- Integer stationId = v.getInteger("stationId");
- if (outOrderList.contains(stationId)) {
- moveStaNo = stationId;
- break;
- }
- }
- }
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ stationProtocol.getStationId(),
+ wrkMast,
+ outOrderList,
+ pathLenFactor
+ );
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null) {
+ continue;
}
- LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
+ DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
+ 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());
@@ -243,7 +283,7 @@
//鎵ц鍙屽伐浣嶅爢鍨涙満杈撻�佺珯鐐瑰嚭搴撲换鍔�
public synchronized void dualCrnStationOutExecute() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
.isNotNull("dual_crn_no")
);
@@ -276,7 +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;
@@ -286,7 +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);
@@ -302,38 +349,31 @@
//妫�娴嬭緭閫佺珯鐐瑰嚭搴撲换鍔℃墽琛屽畬鎴�
public synchronized void stationOutExecuteFinish() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
Integer targetStaNo = wrkMast.getStaNo();
+ if (wrkNo == null || targetStaNo == null) {
+ continue;
+ }
boolean complete = false;
- BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
- if (basStation == null) {
- continue;
- }
-
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
- if (stationThread == null) {
- continue;
- }
-
- Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
- StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
- if (stationProtocol == null) {
- continue;
- }
-
- if (stationProtocol.getTaskNo().equals(wrkNo)) {
- complete = true;
+ Integer targetDeviceNo = null;
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
+ if (basStation != null) {
+ targetDeviceNo = basStation.getDeviceNo();
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread != null) {
+ Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
+ StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
+ if (stationProtocol != null && wrkNo.equals(stationProtocol.getTaskNo())) {
+ complete = true;
+ }
+ }
}
if (complete) {
- wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
- wrkMast.setIoTime(new Date());
- wrkMastService.updateById(wrkMast);
- notifyUtils.notify(String.valueOf(SlaveType.Devp), basStation.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN_COMPLETE, null);
- redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
+ completeStationRunTask(wrkMast, targetDeviceNo);
}
}
} catch (Exception e) {
@@ -341,10 +381,29 @@
}
}
+ private void completeStationRunTask(WrkMast wrkMast, Integer deviceNo) {
+ 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(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);
+ }
+ redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
+ }
+
// 妫�娴嬩换鍔¤浆瀹屾垚
public synchronized void checkTaskToComplete() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
+ List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
Integer targetStaNo = wrkMast.getStaNo();
@@ -355,7 +414,7 @@
}
boolean complete = false;
- BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", targetStaNo));
if (basStation == null) {
continue;
}
@@ -376,6 +435,9 @@
}
if (complete) {
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.finishSession(wrkNo);
+ }
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
wrkMast.setIoTime(new Date());
wrkMastService.updateById(wrkMast);
@@ -389,7 +451,7 @@
//妫�娴嬭緭閫佺珯鐐规槸鍚﹁繍琛屽牭濉�
public synchronized void checkStationRunBlock() {
try {
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -400,6 +462,7 @@
for (StationObjModel stationObjModel : basDevp.getRunBlockReassignLocStationList$()) {
runBlockReassignLocStationList.add(stationObjModel.getStationId());
}
+ List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
List<StationProtocol> list = stationThread.getStatus();
for (StationProtocol stationProtocol : list) {
@@ -420,101 +483,51 @@
}
redisUtil.set(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo(), "lock", 15);
- 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
- //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)) {
- News.taskError(wrkMast.getWrkNo(), "璇锋眰WMS閲嶆柊鍒嗛厤搴撲綅鎺ュ彛澶辫触锛屾帴鍙ｆ湭鍝嶅簲锛侊紒锛乺esponse锛歿}", response);
- continue;
- }
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
- String sourceLocNo = wrkMast.getLocNo();
- String locNo = dto.getLocNo();
-
- LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
- if (sourceLocMast == null) {
- News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 婧愬簱浣嶄俊鎭笉瀛樺湪", sourceLocNo);
- continue;
- }
-
- if (!sourceLocMast.getLocSts().equals("S")) {
- News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 婧愬簱浣嶇姸鎬佷笉澶勪簬鍏ュ簱棰勭害", sourceLocNo);
- continue;
- }
-
- LocMast locMast = locMastService.queryByLoc(locNo);
- if (locMast == null) {
- News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 鐩爣搴撲綅淇℃伅涓嶅瓨鍦�", locNo);
- continue;
- }
-
- if (!locMast.getLocSts().equals("O")) {
- News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 鐩爣搴撲綅鐘舵�佷笉澶勪簬绌哄簱浣�", locNo);
- continue;
- }
-
- FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
- if (findCrnNoResult == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}宸ヤ綔,鏈尮閰嶅埌鍫嗗灈鏈�", wrkMast.getWrkNo());
- continue;
- }
- Integer crnNo = findCrnNoResult.getCrnNo();
-
- Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
- if (targetStationId == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}绔欑偣,鎼滅储鍏ュ簱绔欑偣澶辫触", stationProtocol.getStationId());
- continue;
- }
-
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
- if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}宸ヤ綔,鑾峰彇杈撻�佺嚎鍛戒护澶辫触", wrkMast.getWrkNo());
- continue;
- }
-
- //鏇存柊婧愬簱浣�
- sourceLocMast.setLocSts("O");
- sourceLocMast.setModiTime(new Date());
- locMastService.updateById(sourceLocMast);
-
- //鏇存柊鐩爣搴撲綅
- locMast.setLocSts("S");
- locMast.setModiTime(new Date());
- locMastService.updateById(locMast);
-
- //鏇存柊宸ヤ綔妗ｆ暟鎹�
- wrkMast.setLocNo(locNo);
- wrkMast.setStaNo(targetStationId);
-
- if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
- wrkMast.setCrnNo(crnNo);
- } else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
- wrkMast.setDualCrnNo(crnNo);
- } else {
- throw new CoolException("鏈煡璁惧绫诲瀷");
- }
-
- if (wrkMastService.updateById(wrkMast)) {
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
- }
- } 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�
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
- if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
- continue;
- }
-
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
- 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));
+ if (shouldUseRunBlockDirectReassign(wrkMast, stationProtocol.getStationId(), runBlockReassignLocStationList)) {
+ executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
+ continue;
}
+
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
+ RerouteContext context = RerouteContext.create(
+ RerouteSceneType.RUN_BLOCK_REROUTE,
+ basDevp,
+ stationThread,
+ stationProtocol,
+ wrkMast,
+ outOrderStationIds,
+ pathLenFactor,
+ "checkStationRunBlock_reroute"
+ ).withRunBlockCommand()
+ .withCancelSessionBeforeDispatch()
+ .withResetSegmentCommandsBeforeDispatch();
+ executeSharedReroute(context);
+ }
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ //妫�娴嬭緭閫佺珯鐐逛换鍔″仠鐣欒秴鏃跺悗閲嶆柊璁＄畻璺緞
+ public synchronized void checkStationIdleRecover() {
+ try {
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
+ for (BasDevp basDevp : basDevps) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
+ if (stationThread == null) {
+ continue;
+ }
+
+ List<StationProtocol> list = stationThread.getStatus();
+ for (StationProtocol stationProtocol : list) {
+ if (stationProtocol.isAutoing()
+ && stationProtocol.isLoading()
+ && stationProtocol.getTaskNo() > 0
+ && !stationProtocol.isRunBlock()
+ ) {
+ checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
}
}
}
@@ -528,16 +541,30 @@
return countCurrentStationTask();
}
+ public synchronized int getCurrentOutboundTaskCountByTargetStation(Integer stationId) {
+ if (stationId == null) {
+ return 0;
+ }
+ return (int) wrkMastService.count(new QueryWrapper<WrkMast>()
+ .eq("io_type", WrkIoType.OUT.id)
+ .eq("sta_no", stationId)
+ .in("wrk_sts",
+ WrkStsType.OUTBOUND_RUN.sts,
+ WrkStsType.OUTBOUND_RUN_COMPLETE.sts,
+ WrkStsType.STATION_RUN.sts));
+ }
+
// 妫�娴嬪嚭搴撴帓搴�
public synchronized void checkStationOutOrder() {
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
continue;
}
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
List<StationObjModel> orderList = basDevp.getOutOrderList$();
+ List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
for (StationObjModel stationObjModel : orderList) {
StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
if (stationProtocol == null) {
@@ -564,95 +591,37 @@
if (wrkMast == null) {
continue;
}
-
- if (Cools.isEmpty(wrkMast.getBatch())) {
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ continue;
+ }
+ if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
continue;
}
- if (Cools.isEmpty(wrkMast.getBatchSeq())) {
- continue;
- }
-
- List<WrkMast> batchWrkList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
- .eq("batch", wrkMast.getBatch())
- .orderBy("batch")
- );
- if (batchWrkList.isEmpty()) {
- continue;
- }
- WrkMast firstWrkMast = batchWrkList.get(0);
- Integer currentBatchSeq = firstWrkMast.getBatchSeq();
-
- List<NavigateNode> initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
-
- String commandType = "none";
- Integer seq = getOutStationBatchSeq(initPath, stationProtocol.getStationId(), wrkMast.getBatch());
- if (seq == null) {
- if (currentBatchSeq.equals(wrkMast.getBatchSeq())) {
- commandType = "toTarget";
- }else {
- commandType = "toCircle";
- }
- }else {
- seq++;
- if (seq.equals(wrkMast.getBatchSeq()) && currentBatchSeq.equals(wrkMast.getBatchSeq())) {
- commandType = "toTarget";
- }else {
- commandType = "toCircle";
- }
- }
-
- if (commandType.equals("toTarget")) {
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
- if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
- continue;
- }
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
- News.info("{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
- } else if (commandType.equals("toCircle")) {
- Integer circleTarget = null;
- for (NavigateNode node : initPath) {
- JSONObject v = JSONObject.parseObject(node.getNodeValue());
- if (v != null) {
- Integer stationId = v.getInteger("stationId");
- try {
- List<NavigateNode> enableMovePath = navigateUtils.calcByStationId(stationProtocol.getStationId(), stationId);
- if (enableMovePath.isEmpty()) {
- continue;
- }
- } catch (Exception e) {
- continue;
- }
-
- circleTarget = stationId;
- break;
- }
- }
-
- if (circleTarget == null) {
- continue;
- }
-
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), circleTarget, 0);
- if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
- continue;
- }
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
- redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkMast.getWrkNo(), JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
- News.info("{}浠诲姟杩涜缁曞湀", wrkMast.getWrkNo());
- }
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
+ RerouteContext context = RerouteContext.create(
+ RerouteSceneType.OUT_ORDER,
+ basDevp,
+ stationThread,
+ stationProtocol,
+ wrkMast,
+ outOrderStationIds,
+ pathLenFactor,
+ "checkStationOutOrder"
+ ).withDispatchDeviceNo(stationObjModel.getDeviceNo())
+ .withSuppressDispatchGuard()
+ .withOutOrderDispatchLock()
+ .withResetSegmentCommandsBeforeDispatch();
+ executeSharedReroute(context);
}
}
}
// 鐩戞帶缁曞湀绔欑偣
public synchronized void watchCircleStation() {
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
continue;
}
@@ -672,12 +641,10 @@
continue;
}
- Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + stationProtocol.getTaskNo());
- if (circleObj == null) {
+ StationCommand circleCommand = getWatchCircleCommand(stationProtocol.getTaskNo());
+ if (circleCommand == null) {
continue;
}
-
- StationCommand circleCommand = JSON.parseObject(circleObj.toString(), StationCommand.class);
if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
continue;
}
@@ -686,37 +653,327 @@
if (wrkMast == null) {
continue;
}
-
- Integer moveStaNo = wrkMast.getStaNo();
-
- if (!outOrderList.isEmpty()) {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
- for (int i = nodes.size() - 1; i >= 0; i--) {
- NavigateNode node = nodes.get(i);
- JSONObject v = JSONObject.parseObject(node.getNodeValue());
- if (v != null) {
- Integer stationId = v.getInteger("stationId");
- if (outOrderList.contains(stationId)) {
- moveStaNo = stationId;
- break;
- }
- }
- }
- }
-
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, 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");
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
continue;
}
- MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
+ continue;
+ }
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
+ RerouteContext context = RerouteContext.create(
+ RerouteSceneType.WATCH_CIRCLE,
+ basDevp,
+ stationThread,
+ stationProtocol,
+ wrkMast,
+ outOrderList,
+ pathLenFactor,
+ "watchCircleStation"
+ ).withSuppressDispatchGuard()
+ .withOutOrderDispatchLock()
+ .withResetSegmentCommandsBeforeDispatch();
+ executeSharedReroute(context);
}
}
}
+ 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)
+ );
+ }
+
+ RerouteCommandPlan buildRerouteCommandPlan(RerouteContext context,
+ RerouteDecision decision) {
+ if (context == null) {
+ return RerouteCommandPlan.skip("missing-context");
+ }
+ if (decision == null) {
+ return RerouteCommandPlan.skip("missing-decision");
+ }
+ if (decision.skip()) {
+ return RerouteCommandPlan.skip(decision.skipReason());
+ }
+ if (context.stationThread() == null || context.stationProtocol() == null || context.wrkMast() == null) {
+ return RerouteCommandPlan.skip("missing-runtime-dependency");
+ }
+ Integer currentStationId = context.stationProtocol().getStationId();
+ Integer targetStationId = decision.targetStationId();
+ if (currentStationId == null || targetStationId == null) {
+ return RerouteCommandPlan.skip("missing-target-station");
+ }
+ if (Objects.equals(currentStationId, targetStationId)) {
+ return RerouteCommandPlan.skip("same-station");
+ }
+
+ StationCommand command = context.useRunBlockCommand()
+ ? context.stationThread().getRunBlockRerouteCommand(
+ context.wrkMast().getWrkNo(),
+ currentStationId,
+ targetStationId,
+ 0,
+ context.pathLenFactor()
+ )
+ : buildOutboundMoveCommand(
+ context.stationThread(),
+ context.wrkMast(),
+ currentStationId,
+ targetStationId,
+ context.pathLenFactor()
+ );
+ if (command == null) {
+ if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
+ News.taskInfo(context.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�={}",
+ currentStationId,
+ targetStationId);
+ } else if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
+ News.taskInfo(context.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�={}",
+ currentStationId,
+ targetStationId);
+ } else {
+ News.taskInfo(context.wrkMast().getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ }
+ return RerouteCommandPlan.skip("missing-command");
+ }
+ return RerouteCommandPlan.dispatch(command, decision, context.dispatchScene());
+ }
+
+ RerouteExecutionResult executeReroutePlan(RerouteContext context,
+ RerouteCommandPlan plan) {
+ if (context == null) {
+ return RerouteExecutionResult.skip("missing-context");
+ }
+ if (plan == null) {
+ return RerouteExecutionResult.skip("missing-plan");
+ }
+ if (plan.skip()) {
+ return RerouteExecutionResult.skip(plan.skipReason());
+ }
+ StationProtocol stationProtocol = context.stationProtocol();
+ if (stationProtocol == null) {
+ return RerouteExecutionResult.skip("missing-station-protocol");
+ }
+ Integer taskNo = stationProtocol.getTaskNo();
+ Integer stationId = stationProtocol.getStationId();
+ if (taskNo == null || taskNo <= 0 || stationId == null) {
+ return RerouteExecutionResult.skip("invalid-station-task");
+ }
+ if (context.checkRecentDispatch()
+ && shouldSkipIdleRecoverForRecentDispatch(taskNo, stationId)) {
+ return RerouteExecutionResult.skip("recent-dispatch");
+ }
+ if (countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), taskNo) > 0) {
+ if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
+ 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={}",
+ stationId,
+ taskNo,
+ countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), taskNo));
+ }
+ return RerouteExecutionResult.skip("buffer-has-current-task");
+ }
+ if (context.checkSuppressDispatch()
+ && stationMoveCoordinator != null
+ && stationMoveCoordinator.shouldSuppressDispatch(taskNo, stationId, plan.command())) {
+ return RerouteExecutionResult.skip("dispatch-suppressed");
+ }
+ if (context.requireOutOrderDispatchLock()
+ && !tryAcquireOutOrderDispatchLock(taskNo, stationId)) {
+ return RerouteExecutionResult.skip("out-order-lock");
+ }
+
+ if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
+ stationMoveCoordinator.cancelSession(taskNo);
+ }
+ if (!isBlank(context.executionLockKey())) {
+ Object lock = redisUtil.get(context.executionLockKey());
+ if (lock != null) {
+ return RerouteExecutionResult.skip("scene-lock");
+ }
+ redisUtil.set(context.executionLockKey(), "lock", context.executionLockSeconds());
+ }
+ if (context.resetSegmentCommandsBeforeDispatch()) {
+ resetSegmentMoveCommandsBeforeReroute(taskNo);
+ }
+
+ int clearedCommandCount = 0;
+ if (context.clearIdleIssuedCommands()) {
+ clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(context.idleTrack(), taskNo, stationId);
+ }
+
+ boolean offered = offerDevpCommandWithDedup(context.dispatchDeviceNo(), plan.command(), plan.dispatchScene());
+ if (!offered) {
+ return RerouteExecutionResult.skip("dispatch-dedup");
+ }
+
+ applyRerouteDispatchEffects(context, plan, clearedCommandCount);
+ return RerouteExecutionResult.dispatched(plan.command(), clearedCommandCount);
+ }
+
+ RerouteDecision resolveSharedRerouteDecision(RerouteContext context) {
+ if (context == null || context.wrkMast() == null || context.stationProtocol() == null) {
+ return RerouteDecision.skip("missing-runtime-dependency");
+ }
+ Integer currentStationId = context.stationProtocol().getStationId();
+ if (currentStationId == null) {
+ return RerouteDecision.skip("missing-current-station");
+ }
+
+ if (context.sceneType() == RerouteSceneType.IDLE_RECOVER
+ && !Objects.equals(context.wrkMast().getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ Integer targetStationId = context.wrkMast().getStaNo();
+ return targetStationId == null || Objects.equals(targetStationId, currentStationId)
+ ? RerouteDecision.skip("same-station")
+ : RerouteDecision.proceed(targetStationId);
+ }
+
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ currentStationId,
+ context.wrkMast(),
+ context.outOrderStationIds(),
+ context.pathLenFactor()
+ );
+ Integer targetStationId = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (targetStationId == null || Objects.equals(targetStationId, currentStationId)) {
+ return RerouteDecision.skip("same-station");
+ }
+ return RerouteDecision.proceed(targetStationId, dispatchDecision);
+ }
+
+ private RerouteExecutionResult executeSharedReroute(RerouteContext context) {
+ RerouteDecision decision = resolveSharedRerouteDecision(context);
+ if (decision.skip()) {
+ return RerouteExecutionResult.skip(decision.skipReason());
+ }
+ RerouteCommandPlan plan = buildRerouteCommandPlan(context, decision);
+ return executeReroutePlan(context, plan);
+ }
+
+ private void applyRerouteDispatchEffects(RerouteContext context,
+ RerouteCommandPlan plan,
+ int clearedCommandCount) {
+ if (context == null || plan == null || plan.command() == null || context.wrkMast() == null || context.stationProtocol() == null) {
+ return;
+ }
+ WrkMast wrkMast = context.wrkMast();
+ StationProtocol stationProtocol = context.stationProtocol();
+ OutOrderDispatchDecision dispatchDecision = plan.decision() == null ? null : plan.decision().dispatchDecision();
+
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), context.outOrderStationIds(), dispatchDecision, plan.command());
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ plan.dispatchScene(),
+ plan.command(),
+ dispatchDecision != null && dispatchDecision.isCircle()
+ );
+ }
+ if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
+ 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(),
+ plan.command().getTargetStaNo(),
+ wrkMast.getWrkNo(),
+ clearedCommandCount,
+ JSON.toJSONString(plan.command()));
+ return;
+ }
+ if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
+ 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(plan.command()));
+ return;
+ }
+ if (context.sceneType() == RerouteSceneType.OUT_ORDER) {
+ News.info(dispatchDecision != null && dispatchDecision.isCircle() ? "{}浠诲姟杩涜缁曞湀" : "{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
+ }
+ }
+
+ 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() {
List<Integer> list = new ArrayList<>();
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
List<Integer> orderList = basDevp.getOutOrderIntList();
list.addAll(orderList);
@@ -724,7 +981,837 @@
return list;
}
+ private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
+ if (wrkMast == null || wrkMast.getStaNo() == null) {
+ return null;
+ }
+ if (!shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
+ return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ }
+ Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast,
+ wrkMast.getSourceStaNo(),
+ wrkMast.getStaNo(),
+ outOrderStationIds,
+ pathLenFactor
+ );
+ if (dispatchStationId == null) {
+ return null;
+ }
+ if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
+ return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds, pathLenFactor);
+ }
+ if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
+ && isCurrentOutOrderStation(currentStationId, outOrderStationIds)
+ && isWatchingCircleArrival(wrkMast.getWrkNo(), currentStationId)) {
+ return new OutOrderDispatchDecision(dispatchStationId, true, null, false);
+ }
+ return new OutOrderDispatchDecision(dispatchStationId, false);
+ }
+
+ private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
+ if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds, pathLenFactor)) {
+ return null;
+ }
+
+ List<WrkMast> batchWrkList = wrkMastService.list(new QueryWrapper<WrkMast>()
+ .eq("io_type", WrkIoType.OUT.id)
+ .notIn("wrk_sts",
+ WrkStsType.STATION_RUN_COMPLETE.sts,
+ WrkStsType.COMPLETE_OUTBOUND.sts,
+ WrkStsType.SETTLE_OUTBOUND.sts)
+ .eq("batch", wrkMast.getBatch())
+ .orderByAsc("batch_seq")
+ .orderByAsc("wrk_no"));
+ if (batchWrkList.isEmpty()) {
+ return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ }
+
+ WrkMast firstWrkMast = batchWrkList.get(0);
+ Integer currentBatchSeq = firstWrkMast.getBatchSeq();
+ if (currentBatchSeq == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "鎵规:{} 棣栦釜鏈畬鎴愪换鍔＄己灏戞壒娆″簭鍙凤紝褰撳墠浠诲姟鏆備笉鏀捐", wrkMast.getBatch());
+ return null;
+ }
+
+ List<NavigateNode> initPath;
+ try {
+ 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;
+ }
+
+ Integer seq = getOutStationBatchSeq(initPath, currentStationId, wrkMast.getBatch());
+ boolean toTarget;
+ if (seq == null) {
+ toTarget = currentBatchSeq.equals(wrkMast.getBatchSeq());
+ } else {
+ toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
+ }
+ if (toTarget) {
+ if (hasReachableOutReleaseSlot(wrkMast, currentStationId, wrkMast.getStaNo(), pathLenFactor)) {
+ return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ }
+ StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
+ wrkMast.getWrkNo(),
+ currentStationId,
+ outOrderStationIds
+ );
+ Integer circleTarget = resolveNextCircleOrderTarget(
+ wrkMast,
+ currentStationId,
+ outOrderStationIds,
+ 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);
+ return null;
+ }
+ return new OutOrderDispatchDecision(circleTarget, true, loopEvaluation, true);
+ }
+
+ StationTaskLoopService.LoopEvaluation loopEvaluation = evaluateOutOrderLoop(
+ wrkMast.getWrkNo(),
+ currentStationId,
+ outOrderStationIds
+ );
+ Integer circleTarget = resolveNextCircleOrderTarget(
+ wrkMast,
+ currentStationId,
+ outOrderStationIds,
+ 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);
+ return null;
+ }
+ return new OutOrderDispatchDecision(circleTarget, true, loopEvaluation, true);
+ }
+
+ private boolean shouldApplyOutOrder(WrkMast wrkMast, List<Integer> outOrderStationIds) {
+ return wrkMast != null
+ && wrkMast.getStaNo() != null
+ && Objects.equals(wrkMast.getIoType(), WrkIoType.OUT.id)
+ && !Cools.isEmpty(wrkMast.getBatch())
+ && wrkMast.getBatchSeq() != null
+ && outOrderStationIds != null
+ && !outOrderStationIds.isEmpty();
+ }
+
+ private boolean isCurrentOutOrderDispatchStation(Integer currentStationId,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor) {
+ if (!shouldApplyOutOrder(wrkMast, outOrderStationIds) || currentStationId == null) {
+ return false;
+ }
+ Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast,
+ wrkMast.getSourceStaNo(),
+ wrkMast.getStaNo(),
+ outOrderStationIds,
+ pathLenFactor
+ );
+ return dispatchStationId != null
+ && !Objects.equals(dispatchStationId, wrkMast.getStaNo())
+ && Objects.equals(currentStationId, dispatchStationId);
+ }
+
+ private boolean isCurrentOutOrderStation(Integer currentStationId,
+ List<Integer> outOrderStationIds) {
+ return currentStationId != null
+ && outOrderStationIds != null
+ && outOrderStationIds.contains(currentStationId);
+ }
+
+ private void syncOutOrderWatchState(WrkMast wrkMast,
+ Integer currentStationId,
+ List<Integer> outOrderStationIds,
+ OutOrderDispatchDecision dispatchDecision,
+ StationCommand command) {
+ if (dispatchDecision == null || command == null || !shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
+ return;
+ }
+ if (dispatchDecision.isCircle()) {
+ saveWatchCircleCommand(wrkMast.getWrkNo(), command);
+ if (dispatchDecision.shouldCountLoopIssue()
+ && stationTaskLoopService != null
+ && dispatchDecision.getLoopEvaluation() != null) {
+ stationTaskLoopService.recordLoopIssue(dispatchDecision.getLoopEvaluation(), "OUT_ORDER_CIRCLE");
+ }
+ } else {
+ clearWatchCircleCommand(wrkMast.getWrkNo());
+ }
+ }
+
+ private StationTaskLoopService.LoopEvaluation evaluateOutOrderLoop(Integer taskNo,
+ Integer currentStationId,
+ List<Integer> outOrderStationIds) {
+ if (stationTaskLoopService == null) {
+ return new StationTaskLoopService.LoopEvaluation(
+ taskNo,
+ currentStationId,
+ StationTaskLoopService.LoopIdentitySnapshot.empty(),
+ 0,
+ 0,
+ false
+ );
+ }
+ return stationTaskLoopService.evaluateLoop(
+ taskNo,
+ currentStationId,
+ true,
+ outOrderStationIds,
+ "outOrderCircle"
+ );
+ }
+
+ private Integer resolveDispatchOutOrderTarget(WrkMast wrkMast,
+ Integer sourceStationId,
+ Integer finalTargetStationId,
+ List<Integer> outOrderList,
+ Double pathLenFactor) {
+ if (finalTargetStationId == null) {
+ return null;
+ }
+ if (sourceStationId == null || outOrderList == null || outOrderList.isEmpty()) {
+ return finalTargetStationId;
+ }
+
+ try {
+ 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) {
+ continue;
+ }
+ if (Objects.equals(stationId, finalTargetStationId)) {
+ continue;
+ }
+ if (outOrderList.contains(stationId)) {
+ return stationId;
+ }
+ }
+ } catch (Exception ignore) {}
+ return finalTargetStationId;
+ }
+
+ private boolean hasReachableOutReleaseSlot(WrkMast wrkMast,
+ Integer currentStationId,
+ Integer finalTargetStationId,
+ Double pathLenFactor) {
+ if (currentStationId == null || finalTargetStationId == null) {
+ return true;
+ }
+
+ try {
+ List<NavigateNode> nodes = calcOutboundNavigatePath(wrkMast, currentStationId, finalTargetStationId, pathLenFactor);
+ if (nodes == null || nodes.isEmpty()) {
+ return true;
+ }
+
+ for (NavigateNode node : nodes) {
+ Integer stationId = getStationIdFromNode(node);
+ if (stationId == null || Objects.equals(stationId, currentStationId)) {
+ continue;
+ }
+
+ if (!isPathStationBlocked(stationId)) {
+ return true;
+ }
+ }
+ return false;
+ } catch (Exception ignore) {
+ return true;
+ }
+ }
+
+ private boolean isPathStationBlocked(Integer stationId) {
+ if (stationId == null) {
+ return true;
+ }
+
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", stationId));
+ if (basStation == null) {
+ return true;
+ }
+
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread == null) {
+ return true;
+ }
+
+ StationProtocol stationProtocol = stationThread.getStatusMap().get(stationId);
+ if (stationProtocol == null) {
+ return true;
+ }
+
+ return !stationProtocol.isAutoing()
+ || stationProtocol.isLoading()
+ || (stationProtocol.getTaskNo() != null && stationProtocol.getTaskNo() > 0);
+ }
+
+ private Integer resolveNextCircleOrderTarget(WrkMast wrkMast,
+ Integer currentStationId,
+ List<Integer> orderedOutStationList,
+ Integer expectedLoopIssueCount,
+ Double pathLenFactor) {
+ if (currentStationId == null || orderedOutStationList == null || orderedOutStationList.size() <= 1) {
+ return null;
+ }
+
+ int startIndex = orderedOutStationList.indexOf(currentStationId);
+ int total = orderedOutStationList.size();
+ List<CircleTargetCandidate> candidateList = new ArrayList<>();
+ for (int offset = 1; offset < total; offset++) {
+ int candidateIndex = (startIndex + offset + total) % total;
+ Integer candidateStationId = orderedOutStationList.get(candidateIndex);
+ if (candidateStationId == null || currentStationId.equals(candidateStationId)) {
+ continue;
+ }
+ try {
+ List<NavigateNode> path = calcOutboundNavigatePath(wrkMast, currentStationId, candidateStationId, pathLenFactor);
+ if (path != null && !path.isEmpty()) {
+ candidateList.add(new CircleTargetCandidate(candidateStationId, path.size(), offset));
+ }
+ } catch (Exception ignore) {}
+ }
+ if (candidateList.isEmpty()) {
+ return null;
+ }
+ candidateList.sort(new Comparator<CircleTargetCandidate>() {
+ @Override
+ public int compare(CircleTargetCandidate left, CircleTargetCandidate right) {
+ if (left == right) {
+ return 0;
+ }
+ if (left == null) {
+ return 1;
+ }
+ if (right == null) {
+ return -1;
+ }
+ int pathCompare = Integer.compare(left.getPathLength(), right.getPathLength());
+ if (pathCompare != 0) {
+ return pathCompare;
+ }
+ return Integer.compare(left.getOffset(), right.getOffset());
+ }
+ });
+ return resolveGradualCircleTargetByPathLength(expectedLoopIssueCount, candidateList, pathLenFactor);
+ }
+
+ private Integer resolveGradualCircleTargetByPathLength(Integer expectedLoopIssueCount,
+ List<CircleTargetCandidate> candidateList,
+ Double pathLenFactor) {
+ if (candidateList == null || candidateList.isEmpty()) {
+ return null;
+ }
+
+ List<CircleTargetCandidate> tierList = new ArrayList<>();
+ Integer lastPathLength = null;
+ for (CircleTargetCandidate candidate : candidateList) {
+ if (candidate == null) {
+ continue;
+ }
+ if (lastPathLength == null || !Objects.equals(lastPathLength, candidate.getPathLength())) {
+ tierList.add(candidate);
+ lastPathLength = candidate.getPathLength();
+ }
+ }
+ if (tierList.isEmpty()) {
+ return candidateList.get(0).getStationId();
+ }
+ 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();
+ }
+
+ private boolean tryAcquireOutOrderDispatchLock(Integer wrkNo, Integer stationId) {
+ if (wrkNo == null || wrkNo <= 0 || stationId == null) {
+ return true;
+ }
+ String key = RedisKeyType.STATION_OUT_ORDER_DISPATCH_LIMIT_.key + wrkNo + "_" + stationId;
+ Object lock = redisUtil.get(key);
+ if (lock != null) {
+ return false;
+ }
+ redisUtil.set(key, "lock", OUT_ORDER_DISPATCH_LIMIT_SECONDS);
+ return true;
+ }
+
+ 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) {
+ if (wrkNo == null || wrkNo <= 0) {
+ return null;
+ }
+ Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo);
+ if (circleObj == null) {
+ return null;
+ }
+ try {
+ return JSON.parseObject(circleObj.toString(), StationCommand.class);
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private void saveWatchCircleCommand(Integer wrkNo, StationCommand command) {
+ if (wrkNo == null || wrkNo <= 0 || command == null) {
+ return;
+ }
+ redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo,
+ JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
+ }
+
+ private void clearWatchCircleCommand(Integer wrkNo) {
+ if (wrkNo == null || wrkNo <= 0) {
+ return;
+ }
+ redisUtil.del(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkNo);
+ }
+
+ private void checkStationIdleRecover(BasDevp basDevp,
+ StationThread stationThread,
+ StationProtocol stationProtocol,
+ List<Integer> outOrderList) {
+ if (stationProtocol == null || stationProtocol.getTaskNo() == null || stationProtocol.getTaskNo() <= 0) {
+ return;
+ }
+ if (!Objects.equals(stationProtocol.getStationId(), stationProtocol.getTargetStaNo())) {
+ return;
+ }
+
+ StationTaskIdleTrack idleTrack = touchStationTaskIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
+ if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
+ return;
+ }
+ if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
+ return;
+ }
+
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
+ if (!canRecoverIdleStationTask(wrkMast, stationProtocol.getStationId())) {
+ return;
+ }
+
+ Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo());
+ if (lock != null) {
+ return;
+ }
+ Double pathLenFactor = resolveOutboundPathLenFactor(wrkMast);
+ RerouteContext context = RerouteContext.create(
+ RerouteSceneType.IDLE_RECOVER,
+ basDevp,
+ stationThread,
+ stationProtocol,
+ wrkMast,
+ outOrderList,
+ pathLenFactor,
+ "checkStationIdleRecover"
+ ).withCancelSessionBeforeDispatch()
+ .withExecutionLock(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), STATION_IDLE_RECOVER_LIMIT_SECONDS)
+ .withResetSegmentCommandsBeforeDispatch()
+ .clearIdleIssuedCommands(idleTrack);
+ executeSharedReroute(context);
+ }
+
+ boolean shouldUseRunBlockDirectReassign(WrkMast wrkMast,
+ Integer stationId,
+ List<Integer> runBlockReassignLocStationList) {
+ return wrkMast != null
+ && Objects.equals(wrkMast.getIoType(), WrkIoType.IN.id)
+ && stationId != null
+ && runBlockReassignLocStationList != null
+ && runBlockReassignLocStationList.contains(stationId);
+ }
+
+ private void executeRunBlockDirectReassign(BasDevp basDevp,
+ StationThread stationThread,
+ StationProtocol stationProtocol,
+ WrkMast wrkMast) {
+ if (basDevp == null || stationThread == null || stationProtocol == null || wrkMast == null) {
+ return;
+ }
+ 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);
+ return;
+ }
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
+ }
+ String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
+ if (Cools.isEmpty(response)) {
+ News.taskError(wrkMast.getWrkNo(), "璇锋眰WMS閲嶆柊鍒嗛厤搴撲綅鎺ュ彛澶辫触锛屾帴鍙ｆ湭鍝嶅簲锛侊紒锛乺esponse锛歿}", response);
+ return;
+ }
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (!jsonObject.getInteger("code").equals(200)) {
+ News.error("璇锋眰WMS鎺ュ彛澶辫触锛侊紒锛乺esponse锛歿}", response);
+ return;
+ }
+
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ String sourceLocNo = wrkMast.getLocNo();
+ String locNo = dto.getLocNo();
+
+ LocMast sourceLocMast = locMastService.queryByLoc(sourceLocNo);
+ if (sourceLocMast == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 婧愬簱浣嶄俊鎭笉瀛樺湪", sourceLocNo);
+ return;
+ }
+ if (!sourceLocMast.getLocSts().equals("S")) {
+ News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 婧愬簱浣嶇姸鎬佷笉澶勪簬鍏ュ簱棰勭害", sourceLocNo);
+ return;
+ }
+
+ LocMast locMast = locMastService.queryByLoc(locNo);
+ if (locMast == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 鐩爣搴撲綅淇℃伅涓嶅瓨鍦�", locNo);
+ return;
+ }
+ if (!locMast.getLocSts().equals("O")) {
+ News.taskInfo(wrkMast.getWrkNo(), "搴撲綅鍙�:{} 鐩爣搴撲綅鐘舵�佷笉澶勪簬绌哄簱浣�", locNo);
+ return;
+ }
+
+ FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(locNo);
+ if (findCrnNoResult == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}宸ヤ綔,鏈尮閰嶅埌鍫嗗灈鏈�", wrkMast.getWrkNo());
+ return;
+ }
+ Integer crnNo = findCrnNoResult.getCrnNo();
+
+ Integer targetStationId = commonService.findInStationId(findCrnNoResult, stationProtocol.getStationId());
+ if (targetStationId == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}绔欑偣,鎼滅储鍏ュ簱绔欑偣澶辫触", stationProtocol.getStationId());
+ return;
+ }
+
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
+ if (command == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}宸ヤ綔,鑾峰彇杈撻�佺嚎鍛戒护澶辫触", wrkMast.getWrkNo());
+ return;
+ }
+
+ sourceLocMast.setLocSts("O");
+ sourceLocMast.setModiTime(new Date());
+ locMastService.updateById(sourceLocMast);
+
+ locMast.setLocSts("S");
+ locMast.setModiTime(new Date());
+ locMastService.updateById(locMast);
+
+ wrkMast.setLocNo(locNo);
+ wrkMast.setStaNo(targetStationId);
+
+ if (findCrnNoResult.getCrnType().equals(SlaveType.Crn)) {
+ wrkMast.setCrnNo(crnNo);
+ } else if (findCrnNoResult.getCrnType().equals(SlaveType.DualCrn)) {
+ wrkMast.setDualCrnNo(crnNo);
+ } else {
+ throw new CoolException("鏈煡璁惧绫诲瀷");
+ }
+
+ if (!wrkMastService.updateById(wrkMast)) {
+ return;
+ }
+ boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
+ if (!offered) {
+ return;
+ }
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.recordDispatch(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ "checkStationRunBlock_direct",
+ command,
+ false
+ );
+ }
+ }
+
+ private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
+ if (wrkMast == null || currentStationId == null || wrkMast.getStaNo() == null) {
+ return false;
+ }
+ if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
+ return false;
+ }
+ 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) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0) {
+ return;
+ }
+ String key = RedisKeyType.DEVICE_STATION_MOVE_RESET.key + taskNo;
+ redisUtil.set(key, "cancel", 3);
+ try {
+ Thread.sleep(STATION_MOVE_RESET_WAIT_MS);
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ } 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,
+ Integer taskNo,
+ Integer stationId) {
+ if (basStationOptService == null) {
+ return 0;
+ }
+ List<BasStationOpt> optList;
+ try {
+ optList = listIssuedMoveCommandsDuringIdleStay(idleTrack, taskNo);
+ } catch (Exception e) {
+ return 0;
+ }
+ if (optList == null || optList.isEmpty()) {
+ return 0;
+ }
+
+ Date now = new Date();
+ String cleanupMemo = buildIdleRecoverClearedMemo(stationId);
+ int clearedCount = 0;
+ for (BasStationOpt opt : optList) {
+ if (opt == null || opt.getId() == null) {
+ continue;
+ }
+ opt.setSend(0);
+ opt.setUpdateTime(now);
+ opt.setMemo(appendCleanupMemo(opt.getMemo(), cleanupMemo));
+ clearedCount++;
+ }
+ if (clearedCount > 0) {
+ basStationOptService.updateBatchById(optList);
+ }
+ return clearedCount;
+ }
+
+ private List<BasStationOpt> listIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
+ Integer taskNo) {
+ if (idleTrack == null || taskNo == null || taskNo <= 0 || idleTrack.firstSeenTime == null || basStationOptService == null) {
+ return Collections.emptyList();
+ }
+ List<BasStationOpt> optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
+ .select("id", "task_no", "send_time", "target_station_id", "memo", "send")
+ .eq("task_no", taskNo)
+ .eq("mode", String.valueOf(StationCommandType.MOVE))
+ .eq("send", 1)
+ .ge("send_time", new Date(idleTrack.firstSeenTime))
+ .orderByAsc("send_time"));
+ if (optList == null || optList.isEmpty()) {
+ return Collections.emptyList();
+ }
+ return optList;
+ }
+
+ private String buildIdleRecoverClearedMemo(Integer stationId) {
+ if (stationId == null) {
+ return IDLE_RECOVER_CLEARED_MEMO;
+ }
+ return IDLE_RECOVER_CLEARED_MEMO + "(stationId=" + stationId + ")";
+ }
+
+ private String appendCleanupMemo(String memo, String cleanupMemo) {
+ if (Cools.isEmpty(cleanupMemo)) {
+ return memo;
+ }
+ if (Cools.isEmpty(memo)) {
+ return cleanupMemo;
+ }
+ if (memo.contains(cleanupMemo)) {
+ return memo;
+ }
+ return memo + " | " + cleanupMemo;
+ }
+
+ private StationTaskIdleTrack touchStationTaskIdleTrack(Integer taskNo, Integer stationId) {
+ if (taskNo == null || taskNo <= 0 || stationId == null) {
+ return null;
+ }
+ long now = System.currentTimeMillis();
+ StationTaskIdleTrack idleTrack = getStationTaskIdleTrack(taskNo);
+ if (idleTrack == null || !Objects.equals(idleTrack.stationId, stationId)) {
+ idleTrack = new StationTaskIdleTrack(taskNo, stationId, now);
+ saveStationTaskIdleTrack(idleTrack);
+ }
+ return idleTrack;
+ }
+
+ private StationTaskIdleTrack getStationTaskIdleTrack(Integer taskNo) {
+ if (taskNo == null || taskNo <= 0) {
+ return null;
+ }
+ Object obj = redisUtil.get(RedisKeyType.STATION_TASK_IDLE_TRACK_.key + taskNo);
+ if (obj == null) {
+ return null;
+ }
+ try {
+ return JSON.parseObject(obj.toString(), StationTaskIdleTrack.class);
+ } catch (Exception e) {
+ return null;
+ }
+ }
+
+ private void saveStationTaskIdleTrack(StationTaskIdleTrack idleTrack) {
+ if (idleTrack == null || idleTrack.taskNo == null || idleTrack.taskNo <= 0) {
+ return;
+ }
+ redisUtil.set(
+ RedisKeyType.STATION_TASK_IDLE_TRACK_.key + idleTrack.taskNo,
+ JSON.toJSONString(idleTrack, SerializerFeature.DisableCircularReferenceDetect),
+ STATION_IDLE_TRACK_EXPIRE_SECONDS
+ );
+ }
+
public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
+ if (pathList == null || pathList.isEmpty() || searchStationId == null || Cools.isEmpty(searchBatch)) {
+ return null;
+ }
List<Integer> checkList = new ArrayList<>();
for (int i = pathList.size() - 1; i >= 0; i--) {
NavigateNode node = pathList.get(i);
@@ -741,7 +1828,7 @@
HashMap<String, Integer> batchMap = new HashMap<>();
for (Integer station : checkList) {
- BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", station));
+ BasStation basStation = basStationService.getOne(new QueryWrapper<BasStation>().eq("station_id", station));
if (basStation == null) {
continue;
}
@@ -773,7 +1860,7 @@
private int countCurrentStationTask() {
int currentStationTaskCount = 0;
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -823,7 +1910,8 @@
}
state.totalStationCount = toNonNegative(capacityVo.getTotalStationCount());
- state.projectedTaskStationCount = toNonNegative(capacityVo.getTaskStationCount());
+ Integer occupiedStationCount = capacityVo.getOccupiedStationCount();
+ state.projectedTaskStationCount = toNonNegative(occupiedStationCount != null ? occupiedStationCount : capacityVo.getTaskStationCount());
List<StationCycleLoopVo> loopList = capacityVo.getLoopList();
if (loopList != null) {
@@ -848,6 +1936,15 @@
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;
}
@@ -859,7 +1956,9 @@
}
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;
}
@@ -903,6 +2002,404 @@
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;
+ }
+
+ enum RerouteSceneType {
+ RUN_BLOCK_REROUTE,
+ IDLE_RECOVER,
+ OUT_ORDER,
+ WATCH_CIRCLE
+ }
+
+ static final class RerouteDecision {
+ private final boolean skip;
+ private final String skipReason;
+ private final Integer targetStationId;
+ private final OutOrderDispatchDecision dispatchDecision;
+
+ private RerouteDecision(boolean skip,
+ String skipReason,
+ Integer targetStationId,
+ OutOrderDispatchDecision dispatchDecision) {
+ this.skip = skip;
+ this.skipReason = skipReason;
+ this.targetStationId = targetStationId;
+ this.dispatchDecision = dispatchDecision;
+ }
+
+ static RerouteDecision skip(String reason) {
+ return new RerouteDecision(true, reason, null, null);
+ }
+
+ static RerouteDecision proceed(Integer targetStationId) {
+ return new RerouteDecision(false, null, targetStationId, null);
+ }
+
+ static RerouteDecision proceed(Integer targetStationId,
+ OutOrderDispatchDecision dispatchDecision) {
+ return new RerouteDecision(false, null, targetStationId, dispatchDecision);
+ }
+
+ boolean skip() {
+ return skip;
+ }
+
+ String skipReason() {
+ return skipReason;
+ }
+
+ Integer targetStationId() {
+ return targetStationId;
+ }
+
+ OutOrderDispatchDecision dispatchDecision() {
+ return dispatchDecision;
+ }
+ }
+
+ static final class RerouteContext {
+ private final RerouteSceneType sceneType;
+ private final BasDevp basDevp;
+ private final StationThread stationThread;
+ private final StationProtocol stationProtocol;
+ private final WrkMast wrkMast;
+ private final List<Integer> outOrderStationIds;
+ private final Double pathLenFactor;
+ private final String dispatchScene;
+ private Integer dispatchDeviceNo;
+ private boolean useRunBlockCommand;
+ private boolean checkSuppressDispatch;
+ private boolean requireOutOrderDispatchLock;
+ private boolean cancelSessionBeforeDispatch;
+ private boolean resetSegmentCommandsBeforeDispatch;
+ private boolean clearIdleIssuedCommands;
+ private boolean checkRecentDispatch;
+ private String executionLockKey;
+ private int executionLockSeconds;
+ private StationTaskIdleTrack idleTrack;
+
+ private RerouteContext(RerouteSceneType sceneType,
+ BasDevp basDevp,
+ StationThread stationThread,
+ StationProtocol stationProtocol,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor,
+ String dispatchScene) {
+ this.sceneType = sceneType;
+ this.basDevp = basDevp;
+ this.stationThread = stationThread;
+ this.stationProtocol = stationProtocol;
+ this.wrkMast = wrkMast;
+ this.outOrderStationIds = outOrderStationIds == null ? Collections.emptyList() : outOrderStationIds;
+ this.pathLenFactor = pathLenFactor;
+ this.dispatchScene = dispatchScene;
+ this.dispatchDeviceNo = basDevp == null ? null : basDevp.getDevpNo();
+ }
+
+ static RerouteContext create(RerouteSceneType sceneType,
+ BasDevp basDevp,
+ StationThread stationThread,
+ StationProtocol stationProtocol,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds,
+ Double pathLenFactor,
+ String dispatchScene) {
+ return new RerouteContext(sceneType, basDevp, stationThread, stationProtocol, wrkMast, outOrderStationIds, pathLenFactor, dispatchScene);
+ }
+
+ RerouteContext withDispatchDeviceNo(Integer dispatchDeviceNo) {
+ this.dispatchDeviceNo = dispatchDeviceNo;
+ return this;
+ }
+
+ RerouteContext withRunBlockCommand() {
+ this.useRunBlockCommand = true;
+ return this;
+ }
+
+ RerouteContext withSuppressDispatchGuard() {
+ this.checkSuppressDispatch = true;
+ return this;
+ }
+
+ RerouteContext withOutOrderDispatchLock() {
+ this.requireOutOrderDispatchLock = true;
+ return this;
+ }
+
+ RerouteContext withCancelSessionBeforeDispatch() {
+ this.cancelSessionBeforeDispatch = true;
+ return this;
+ }
+
+ RerouteContext withResetSegmentCommandsBeforeDispatch() {
+ this.resetSegmentCommandsBeforeDispatch = true;
+ return this;
+ }
+
+ RerouteContext clearIdleIssuedCommands(StationTaskIdleTrack idleTrack) {
+ this.clearIdleIssuedCommands = true;
+ this.idleTrack = idleTrack;
+ return this;
+ }
+
+ RerouteContext withRecentDispatchGuard() {
+ this.checkRecentDispatch = true;
+ return this;
+ }
+
+ RerouteContext withExecutionLock(String executionLockKey, int executionLockSeconds) {
+ this.executionLockKey = executionLockKey;
+ this.executionLockSeconds = executionLockSeconds;
+ return this;
+ }
+
+ RerouteSceneType sceneType() {
+ return sceneType;
+ }
+
+ BasDevp basDevp() {
+ return basDevp;
+ }
+
+ StationThread stationThread() {
+ return stationThread;
+ }
+
+ StationProtocol stationProtocol() {
+ return stationProtocol;
+ }
+
+ WrkMast wrkMast() {
+ return wrkMast;
+ }
+
+ List<Integer> outOrderStationIds() {
+ return outOrderStationIds;
+ }
+
+ Double pathLenFactor() {
+ return pathLenFactor;
+ }
+
+ String dispatchScene() {
+ return dispatchScene;
+ }
+
+ Integer dispatchDeviceNo() {
+ return dispatchDeviceNo;
+ }
+
+ boolean useRunBlockCommand() {
+ return useRunBlockCommand;
+ }
+
+ boolean checkSuppressDispatch() {
+ return checkSuppressDispatch;
+ }
+
+ boolean requireOutOrderDispatchLock() {
+ return requireOutOrderDispatchLock;
+ }
+
+ boolean cancelSessionBeforeDispatch() {
+ return cancelSessionBeforeDispatch;
+ }
+
+ boolean resetSegmentCommandsBeforeDispatch() {
+ return resetSegmentCommandsBeforeDispatch;
+ }
+
+ boolean clearIdleIssuedCommands() {
+ return clearIdleIssuedCommands;
+ }
+
+ boolean checkRecentDispatch() {
+ return checkRecentDispatch;
+ }
+
+ String executionLockKey() {
+ return executionLockKey;
+ }
+
+ int executionLockSeconds() {
+ return executionLockSeconds;
+ }
+
+ StationTaskIdleTrack idleTrack() {
+ return idleTrack;
+ }
+ }
+
+ static final class RerouteCommandPlan {
+ private final boolean skip;
+ private final String skipReason;
+ private final StationCommand command;
+ private final RerouteDecision decision;
+ private final String dispatchScene;
+
+ private RerouteCommandPlan(boolean skip,
+ String skipReason,
+ StationCommand command,
+ RerouteDecision decision,
+ String dispatchScene) {
+ this.skip = skip;
+ this.skipReason = skipReason;
+ this.command = command;
+ this.decision = decision;
+ this.dispatchScene = dispatchScene;
+ }
+
+ static RerouteCommandPlan skip(String reason) {
+ return new RerouteCommandPlan(true, reason, null, null, null);
+ }
+
+ static RerouteCommandPlan dispatch(StationCommand command,
+ RerouteDecision decision,
+ String dispatchScene) {
+ return new RerouteCommandPlan(false, null, command, decision, dispatchScene);
+ }
+
+ boolean skip() {
+ return skip;
+ }
+
+ String skipReason() {
+ return skipReason;
+ }
+
+ StationCommand command() {
+ return command;
+ }
+
+ RerouteDecision decision() {
+ return decision;
+ }
+
+ String dispatchScene() {
+ return dispatchScene;
+ }
+ }
+
+ static final class RerouteExecutionResult {
+ private final boolean skipped;
+ private final String skipReason;
+ private final boolean dispatched;
+ private final StationCommand command;
+ private final int clearedCommandCount;
+
+ private RerouteExecutionResult(boolean skipped,
+ String skipReason,
+ boolean dispatched,
+ StationCommand command,
+ int clearedCommandCount) {
+ this.skipped = skipped;
+ this.skipReason = skipReason;
+ this.dispatched = dispatched;
+ this.command = command;
+ this.clearedCommandCount = clearedCommandCount;
+ }
+
+ static RerouteExecutionResult skip(String reason) {
+ return new RerouteExecutionResult(true, reason, false, null, 0);
+ }
+
+ static RerouteExecutionResult dispatched(StationCommand command,
+ int clearedCommandCount) {
+ return new RerouteExecutionResult(false, null, true, command, clearedCommandCount);
+ }
+
+ boolean skipped() {
+ return skipped;
+ }
+
+ String skipReason() {
+ return skipReason;
+ }
+
+ boolean dispatched() {
+ return dispatched;
+ }
+
+ StationCommand command() {
+ return command;
+ }
+
+ int clearedCommandCount() {
+ return clearedCommandCount;
+ }
+ }
+
+ private static class OutOrderDispatchDecision {
+ private final Integer targetStationId;
+ private final boolean circle;
+ private final StationTaskLoopService.LoopEvaluation loopEvaluation;
+ private final boolean countLoopIssue;
+
+ private OutOrderDispatchDecision(Integer targetStationId, boolean circle) {
+ this(targetStationId, circle, null, false);
+ }
+
+ private OutOrderDispatchDecision(Integer targetStationId,
+ boolean circle,
+ StationTaskLoopService.LoopEvaluation loopEvaluation,
+ boolean countLoopIssue) {
+ this.targetStationId = targetStationId;
+ this.circle = circle;
+ this.loopEvaluation = loopEvaluation;
+ this.countLoopIssue = countLoopIssue;
+ }
+
+ private Integer getTargetStationId() {
+ return targetStationId;
+ }
+
+ private boolean isCircle() {
+ return circle;
+ }
+
+ private StationTaskLoopService.LoopEvaluation getLoopEvaluation() {
+ return loopEvaluation;
+ }
+
+ private boolean shouldCountLoopIssue() {
+ return countLoopIssue;
+ }
+ }
+
+ private static class CircleTargetCandidate {
+ private final Integer stationId;
+ private final Integer pathLength;
+ private final Integer offset;
+
+ private CircleTargetCandidate(Integer stationId, Integer pathLength, Integer offset) {
+ this.stationId = stationId;
+ this.pathLength = pathLength == null ? 0 : pathLength;
+ this.offset = offset == null ? 0 : offset;
+ }
+
+ private Integer getStationId() {
+ return stationId;
+ }
+
+ private Integer getPathLength() {
+ return pathLength;
+ }
+
+ private Integer getOffset() {
+ return offset;
+ }
+ }
+
private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
if (wrkNo == null || wrkNo <= 0 || loopHitResult == null || !loopHitResult.isThroughLoop()) {
return;
@@ -916,23 +2413,31 @@
redisUtil.expire(RedisKeyType.STATION_CYCLE_LOAD_RESERVE.key, LOOP_LOAD_RESERVE_EXPIRE_SECONDS);
}
- private DispatchLimitConfig getDispatchLimitConfig() {
+ private DispatchLimitConfig getDispatchLimitConfig(Integer startStationId, Integer endStationId) {
DispatchLimitConfig config = new DispatchLimitConfig();
Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
- if (!(systemConfigMapObj instanceof Map)) {
- return config;
+ if (systemConfigMapObj instanceof Map) {
+ Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;
+ config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
+ String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
+ if (isBlank(loopModeValue)) {
+ loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
+ }
+ if (isBlank(loopModeValue)) {
+ loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
+ }
+ config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);
}
- Map<?, ?> systemConfigMap = (Map<?, ?>) systemConfigMapObj;
- config.circleMaxLoadLimit = parseLoadLimit(getConfigValue(systemConfigMap, "circleMaxLoadLimit"), config.circleMaxLoadLimit);
- String loopModeValue = getConfigValue(systemConfigMap, "circleLoopModeEnable");
- if (isBlank(loopModeValue)) {
- loopModeValue = getConfigValue(systemConfigMap, "circleModeEnable");
+ if (stationPathPolicyService != null && startStationId != null && endStationId != null) {
+ try {
+ StationPathResolvedPolicy resolvedPolicy = stationPathPolicyService.resolvePolicy(startStationId, endStationId);
+ if (resolvedPolicy != null && resolvedPolicy.getProfileConfig() != null) {
+ config.circleMaxLoadLimit = parseLoadLimit(String.valueOf(resolvedPolicy.getProfileConfig().getCircleMaxLoadLimit()), config.circleMaxLoadLimit);
+ }
+ } catch (Exception ignore) {
+ }
}
- if (isBlank(loopModeValue)) {
- loopModeValue = getConfigValue(systemConfigMap, "isCircleMode");
- }
- config.loopModeEnable = parseBoolean(loopModeValue, config.loopModeEnable);
return config;
}
@@ -1073,4 +2578,49 @@
}
}
+ private static class StationTaskIdleTrack {
+ private Integer taskNo;
+ private Integer stationId;
+ private Long firstSeenTime;
+
+ private StationTaskIdleTrack() {}
+
+ private StationTaskIdleTrack(Integer taskNo, Integer stationId, Long firstSeenTime) {
+ this.taskNo = taskNo;
+ this.stationId = stationId;
+ this.firstSeenTime = firstSeenTime;
+ }
+
+ private boolean isTimeout(int seconds) {
+ if (firstSeenTime == null) {
+ return false;
+ }
+ return System.currentTimeMillis() - firstSeenTime >= seconds * 1000L;
+ }
+
+ public Integer getTaskNo() {
+ return taskNo;
+ }
+
+ public void setTaskNo(Integer taskNo) {
+ this.taskNo = taskNo;
+ }
+
+ public Integer getStationId() {
+ return stationId;
+ }
+
+ public void setStationId(Integer stationId) {
+ this.stationId = stationId;
+ }
+
+ public Long getFirstSeenTime() {
+ return firstSeenTime;
+ }
+
+ public void setFirstSeenTime(Long firstSeenTime) {
+ this.firstSeenTime = firstSeenTime;
+ }
+ }
+
}
--
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