From 6c8ee211ae63de5f4ce0bd13b9c34f0524cd656f Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 06 五月 2026 19:11:49 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java | 167 ++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 139 insertions(+), 28 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
index 92cadb7..81d4c8d 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
@@ -3,7 +3,8 @@
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.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
@@ -29,6 +30,9 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
+import com.zy.core.task.DeviceAsyncLogPublisher;
+import com.zy.core.thread.support.RecentStationArrivalTracker;
+import com.zy.core.thread.support.StationErrLogSupport;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -38,6 +42,7 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
+import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
@@ -46,16 +51,21 @@
public class ZyStationV3Thread implements Runnable, com.zy.core.thread.StationThread {
private List<StationProtocol> statusList = new ArrayList<>();
+ private volatile List<Integer> taskNoList = new ArrayList<>();
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ZyStationConnectDriver zyStationConnectDriver;
private int deviceLogCollectTime = 200;
private long deviceDataLogTime = System.currentTimeMillis();
private ExecutorService executor = Executors.newFixedThreadPool(9999);
+ private final RecentStationArrivalTracker recentArrivalTracker;
+ private final DeviceAsyncLogPublisher devpAsyncLogPublisher;
public ZyStationV3Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
this.deviceConfig = deviceConfig;
this.redisUtil = redisUtil;
+ this.recentArrivalTracker = new RecentStationArrivalTracker(redisUtil);
+ this.devpAsyncLogPublisher = SpringUtils.getBean(DeviceAsyncLogPublisher.class);
}
@Override
@@ -114,7 +124,7 @@
}
BasDevp basDevp = basDevpService
- .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
+ .getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
if (basDevp == null) {
return;
}
@@ -128,6 +138,7 @@
}
List<ZyStationStatusEntity> zyStationStatusEntities = zyStationConnectDriver.getStatus();
+ LinkedHashSet<Integer> taskNoSet = new LinkedHashSet<>();
for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
for (StationProtocol stationProtocol : statusList) {
if (stationProtocol.getStationId().equals(statusEntity.getStationId())) {
@@ -146,23 +157,61 @@
stationProtocol.setRunBlock(statusEntity.isRunBlock());
stationProtocol.setEnableIn(statusEntity.isEnableIn());
stationProtocol.setWeight(statusEntity.getWeight());
+ if (statusEntity.getTaskNo() != null && statusEntity.getTaskNo() > 0) {
+ taskNoSet.add(statusEntity.getTaskNo());
+ }
+ recentArrivalTracker.observe(statusEntity.getStationId(), statusEntity.getTaskNo(), statusEntity.isLoading());
+ }
+
+ if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
+ if (stationProtocol.isAutoing()
+ && !stationProtocol.isLoading()
+ && redisUtil.get(RedisKeyType.GENERATE_STATION_BACK_LIMIT.key + stationProtocol.getStationId()) == null
+ ) {
+ stationProtocol.setSystemWarning("");
+ }
}
}
}
+ taskNoList = new ArrayList<>(taskNoSet);
OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
+ StationErrLogSupport.sync(deviceConfig, redisUtil, statusList);
if (System.currentTimeMillis() - deviceDataLogTime > deviceLogCollectTime) {
- DeviceDataLog deviceDataLog = new DeviceDataLog();
- deviceDataLog.setOriginData(JSON.toJSONString(zyStationStatusEntities));
- deviceDataLog.setWcsData(JSON.toJSONString(statusList));
- deviceDataLog.setType(String.valueOf(SlaveType.Devp));
- deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
- deviceDataLog.setCreateTime(new Date());
-
- redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
+ Date createTime = new Date();
+ HashMap<Integer, ZyStationStatusEntity> originDataMap = buildStationStatusMap(zyStationStatusEntities);
+ for (int i = 0; i < statusList.size(); i++) {
+ StationProtocol stationProtocol = statusList.get(i);
+ if (stationProtocol == null || stationProtocol.getStationId() == null) {
+ continue;
+ }
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ ZyStationStatusEntity originEntity = originDataMap.get(stationProtocol.getStationId());
+ deviceDataLog.setOriginData(originEntity == null ? null : JSON.toJSONString(originEntity));
+ deviceDataLog.setWcsData(JSON.toJSONString(stationProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.Devp));
+ deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
+ deviceDataLog.setStationId(stationProtocol.getStationId());
+ deviceDataLog.setCreateTime(createTime);
+ devpAsyncLogPublisher.publishLatest(deviceDataLog);
+ }
deviceDataLogTime = System.currentTimeMillis();
}
+ }
+
+ private HashMap<Integer, ZyStationStatusEntity> buildStationStatusMap(List<ZyStationStatusEntity> zyStationStatusEntities) {
+ HashMap<Integer, ZyStationStatusEntity> map = new HashMap<>();
+ if (zyStationStatusEntities == null) {
+ return map;
+ }
+ for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
+ if (statusEntity == null || statusEntity.getStationId() == null) {
+ continue;
+ }
+ map.put(statusEntity.getStationId(), statusEntity);
+ }
+ return map;
}
@Override
@@ -198,7 +247,27 @@
}
@Override
+ public List<Integer> getAllTaskNoList() {
+ return taskNoList;
+ }
+
+ @Override
+ public boolean hasRecentArrival(Integer stationId, Integer taskNo) {
+ return recentArrivalTracker.hasRecentArrival(stationId, taskNo);
+ }
+
+ @Override
public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
@@ -208,7 +277,12 @@
if (commandType == StationCommandType.MOVE) {
if (!stationId.equals(targetStationId)) {
- List<Integer> path = calcPathStationIds(stationId, targetStationId);
+ List<Integer> path = calcPathStationIds(taskNo, stationId, targetStationId, pathLenFactor);
+ if (path == null || path.isEmpty()) {
+ log.warn("杈撻�佺嚎鍛戒护鐢熸垚澶辫触锛岃矾寰勪负绌猴紝taskNo={}, stationId={}, targetStationId={}",
+ taskNo, stationId, targetStationId);
+ return null;
+ }
stationCommand.setNavigatePath(path);
}
}
@@ -250,7 +324,7 @@
JSON.toJSONString(commandResponse)
);
if (optService != null) {
- optService.insert(basStationOpt);
+ optService.save(basStationOpt);
}
}
return commandResponse;
@@ -266,12 +340,15 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
+ private List<Integer> calcPathStationIds(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
+ List<NavigateNode> nodes = navigateUtils.calcOptimalPathByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
List<Integer> ids = new ArrayList<>();
for (NavigateNode n : nodes) {
JSONObject v = JSONObject.parseObject(n.getNodeValue());
@@ -324,12 +401,19 @@
segCmd.setCommandType(original.getCommandType());
segCmd.setPalletSize(original.getPalletSize());
segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
- sendCommand(segCmd);
+ if (!sendSegmentWithRetry(segCmd, original.getTaskNo())) {
+ return;
+ }
long runTime = System.currentTimeMillis();
boolean firstRun = true;
while (true) {
try {
+ Object cancel = redisUtil.get(RedisKeyType.DEVICE_STATION_MOVE_RESET.key + original.getTaskNo());
+ if (cancel != null) {
+ break;//鏀跺埌涓柇淇″彿
+ }
+
StationProtocol currentStation = findCurrentStationByTask(original.getTaskNo());
if (currentStation == null) {
if(System.currentTimeMillis() - runTime > 1000 * 60){
@@ -370,18 +454,8 @@
nextCmd.setPalletSize(original.getPalletSize());
nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
nextCmd.setOriginalNavigatePath(path);
- while (true) {
- CommandResponse commandResponse = sendCommand(nextCmd);
- if (commandResponse == null) {
- Thread.sleep(200);
- continue;
- }
-
- if (commandResponse.getResult()) {
- break;
- }
-
- Thread.sleep(200);
+ if (!sendSegmentWithRetry(nextCmd, original.getTaskNo())) {
+ break;
}
}
Thread.sleep(500);
@@ -401,7 +475,7 @@
if (deviceConfigService == null) {
return null;
}
- List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
.eq("device_type", String.valueOf(SlaveType.Devp)));
for (DeviceConfig dc : devpList) {
com.zy.core.thread.StationThread t = (com.zy.core.thread.StationThread) SlaveConnection.get(SlaveType.Devp, dc.getDeviceNo());
@@ -423,4 +497,41 @@
}
return null;
}
+
+ private boolean sendSegmentWithRetry(StationCommand command, Integer taskNo) {
+ while (true) {
+ if (isTaskMoveReset(taskNo)) {
+ return false;
+ }
+ CommandResponse commandResponse = sendCommand(command);
+ if (commandResponse == null) {
+ sleepQuietly(200L);
+ continue;
+ }
+ if (commandResponse.getResult()) {
+ return true;
+ }
+ sleepQuietly(200L);
+ }
+ }
+
+ private boolean isTaskMoveReset(Integer taskNo) {
+ if (taskNo == null || redisUtil == null) {
+ return false;
+ }
+ Object cancel = redisUtil.get(RedisKeyType.DEVICE_STATION_MOVE_RESET.key + taskNo);
+ return cancel != null;
+ }
+
+ private void sleepQuietly(long millis) {
+ try {
+ Thread.sleep(millis);
+ } catch (Exception ignore) {
+ }
+ }
+
+ @Override
+ public boolean clearPath(Integer taskNo) {
+ return false;
+ }
}
--
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