From 802e2b36bb16d3f169b00652ccc65fd361082451 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 14:58:17 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 496 ++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 365 insertions(+), 131 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 27c84fc..a7c3712 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -40,6 +40,8 @@
private static final int STATION_IDLE_RECOVER_SECONDS = 10;
private static final int STATION_IDLE_RECOVER_LIMIT_SECONDS = 10;
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;
@@ -202,12 +204,15 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- Integer moveStaNo = resolveDispatchOutOrderTarget(
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
stationProtocol.getStationId(),
- wrkMast.getStaNo(),
- outOrderList,
- true
+ wrkMast,
+ outOrderList
);
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null) {
+ continue;
+ }
DispatchLimitConfig limitConfig = getDispatchLimitConfig(stationProtocol.getStationId(), moveStaNo);
LoopHitResult loopHitResult = findPathLoopHit(limitConfig, stationProtocol.getStationId(), moveStaNo, loadGuardState);
@@ -401,6 +406,7 @@
for (StationObjModel stationObjModel : basDevp.getRunBlockReassignLocStationList$()) {
runBlockReassignLocStationList.add(stationObjModel.getStationId());
}
+ List<Integer> outOrderStationIds = basDevp.getOutOrderIntList();
List<StationProtocol> list = stationThread.getStatus();
for (StationProtocol stationProtocol : list) {
@@ -507,13 +513,32 @@
}
} 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);
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ stationProtocol.getStationId(),
+ wrkMast,
+ outOrderStationIds
+ );
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
+ continue;
+ }
+
+ StationCommand command = stationThread.getRunBlockRerouteCommand(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ moveStaNo,
+ 0
+ );
if (command == null) {
- News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ News.taskInfo(wrkMast.getWrkNo(),
+ "杈撻�佺珯鐐瑰牭濉為噸瑙勫垝鏈壘鍒板彲涓嬪彂璺嚎锛屽綋鍓嶇珯鐐�={}锛岀洰鏍囩珯鐐�={}",
+ stationProtocol.getStationId(),
+ moveStaNo);
continue;
}
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, 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));
}
}
@@ -528,10 +553,6 @@
public synchronized void checkStationIdleRecover() {
try {
List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
- List<Integer> outOrderList = new ArrayList<>();
- for (BasDevp basDevp : basDevps) {
- outOrderList.addAll(basDevp.getOutOrderIntList());
- }
for (BasDevp basDevp : basDevps) {
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
@@ -545,7 +566,7 @@
&& stationProtocol.getTaskNo() > 0
&& !stationProtocol.isRunBlock()
) {
- checkStationIdleRecover(basDevp, stationThread, stationProtocol, outOrderList);
+ checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
}
}
}
@@ -596,81 +617,38 @@
if (wrkMast == null) {
continue;
}
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ continue;
+ }
+ if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
+ continue;
+ }
if (isWatchingCircleArrival(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
continue;
}
- if (Cools.isEmpty(wrkMast.getBatch())) {
- continue;
- }
-
- if (Cools.isEmpty(wrkMast.getBatchSeq())) {
- continue;
- }
-
- List<WrkMast> batchWrkList = wrkMastService.list(new QueryWrapper<WrkMast>()
- .notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
- .eq("batch", wrkMast.getBatch())
- .orderBy(true, true, "batch_seq")
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
+ stationProtocol.getStationId(),
+ wrkMast,
+ outOrderStationIds
);
- if (batchWrkList.isEmpty()) {
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
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";
- }
+ 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");
+ continue;
}
-
- 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;
- }
- if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
- continue;
- }
- clearWatchCircleCommand(wrkMast.getWrkNo());
- 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 = resolveNextCircleOrderTarget(stationProtocol.getStationId(), outOrderStationIds);
-
- 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�={}", stationProtocol.getStationId());
- 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;
- }
- if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
- continue;
- }
- MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
- saveWatchCircleCommand(wrkMast.getWrkNo(), command);
- News.info("{}浠诲姟杩涜缁曞湀", wrkMast.getWrkNo());
+ if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
+ continue;
}
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderStationIds, dispatchDecision, command);
+ MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ News.info(dispatchDecision.isCircle() ? "{}浠诲姟杩涜缁曞湀" : "{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
}
}
}
@@ -711,13 +689,22 @@
if (wrkMast == null) {
continue;
}
+ if (!Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ continue;
+ }
+ if (Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
+ continue;
+ }
- Integer moveStaNo = resolveDispatchOutOrderTarget(
+ OutOrderDispatchDecision dispatchDecision = resolveOutboundDispatchDecision(
stationProtocol.getStationId(),
- wrkMast.getStaNo(),
- outOrderList,
- true
+ wrkMast,
+ outOrderList
);
+ Integer moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
+ continue;
+ }
StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
if (command == null) {
@@ -727,11 +714,7 @@
if (!tryAcquireOutOrderDispatchLock(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
continue;
}
- if (Objects.equals(moveStaNo, wrkMast.getStaNo())) {
- clearWatchCircleCommand(wrkMast.getWrkNo());
- } else {
- saveWatchCircleCommand(wrkMast.getWrkNo(), command);
- }
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
}
}
@@ -747,25 +730,162 @@
return list;
}
- private Integer resolveDispatchOutOrderTarget(Integer currentStationId,
+ private OutOrderDispatchDecision resolveOutboundDispatchDecision(Integer currentStationId,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds) {
+ if (wrkMast == null || wrkMast.getStaNo() == null) {
+ return null;
+ }
+ if (!shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
+ return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ }
+ Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast.getSourceStaNo(),
+ wrkMast.getStaNo(),
+ outOrderStationIds
+ );
+ if (dispatchStationId == null) {
+ return null;
+ }
+ if (isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
+ return resolveCurrentOutOrderDispatchDecision(currentStationId, wrkMast, outOrderStationIds);
+ }
+ if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
+ && isCurrentOutOrderStation(currentStationId, outOrderStationIds)
+ && isWatchingCircleArrival(wrkMast.getWrkNo(), currentStationId)) {
+ return new OutOrderDispatchDecision(dispatchStationId, true);
+ }
+ return new OutOrderDispatchDecision(dispatchStationId, false);
+ }
+
+ private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
+ WrkMast wrkMast,
+ List<Integer> outOrderStationIds) {
+ if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
+ 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 = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
+ } 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(currentStationId, wrkMast.getStaNo())) {
+ return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ }
+ Integer circleTarget = resolveNextCircleOrderTarget(currentStationId, outOrderStationIds);
+ 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);
+ }
+
+ Integer circleTarget = resolveNextCircleOrderTarget(currentStationId, outOrderStationIds);
+ 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);
+ }
+
+ 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) {
+ if (!shouldApplyOutOrder(wrkMast, outOrderStationIds) || currentStationId == null) {
+ return false;
+ }
+ Integer dispatchStationId = resolveDispatchOutOrderTarget(
+ wrkMast.getSourceStaNo(),
+ wrkMast.getStaNo(),
+ outOrderStationIds
+ );
+ 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);
+ } else {
+ clearWatchCircleCommand(wrkMast.getWrkNo());
+ }
+ }
+
+ private Integer resolveDispatchOutOrderTarget(Integer sourceStationId,
Integer finalTargetStationId,
- List<Integer> outOrderList,
- boolean skipCurrentStation) {
+ List<Integer> outOrderList) {
if (finalTargetStationId == null) {
return null;
}
- if (currentStationId == null || outOrderList == null || outOrderList.isEmpty()) {
+ if (sourceStationId == null || outOrderList == null || outOrderList.isEmpty()) {
return finalTargetStationId;
}
try {
- List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(sourceStationId, finalTargetStationId);
for (int i = nodes.size() - 1; i >= 0; i--) {
Integer stationId = getStationIdFromNode(nodes.get(i));
if (stationId == null) {
continue;
}
- if (skipCurrentStation && currentStationId.equals(stationId)) {
+ if (Objects.equals(stationId, finalTargetStationId)) {
continue;
}
if (outOrderList.contains(stationId)) {
@@ -774,6 +894,59 @@
}
} catch (Exception ignore) {}
return finalTargetStationId;
+ }
+
+ private boolean hasReachableOutReleaseSlot(Integer currentStationId,
+ Integer finalTargetStationId) {
+ if (currentStationId == null || finalTargetStationId == null) {
+ return true;
+ }
+
+ try {
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
+ 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(Integer currentStationId, List<Integer> orderedOutStationList) {
@@ -873,16 +1046,21 @@
return;
}
- if (hasFollowUpMoveCommandAfterStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
- return;
+ OutOrderDispatchDecision dispatchDecision = null;
+ Integer moveStaNo;
+ if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
+ dispatchDecision = resolveOutboundDispatchDecision(stationProtocol.getStationId(), wrkMast, outOrderList);
+ moveStaNo = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
+ } else {
+ moveStaNo = wrkMast.getStaNo();
}
-
- Integer moveStaNo = resolveIdleRecoverTarget(stationProtocol, wrkMast, outOrderList);
if (moveStaNo == null || Objects.equals(moveStaNo, stationProtocol.getStationId())) {
return;
}
redisUtil.set(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), "lock", STATION_IDLE_RECOVER_LIMIT_SECONDS);
+ resetSegmentMoveCommandsBeforeReroute(stationProtocol.getTaskNo());
+ int clearedCommandCount = clearIssuedMoveCommandsDuringIdleStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId());
StationCommand command = stationThread.getCommand(
StationCommandType.MOVE,
@@ -897,9 +1075,10 @@
}
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ syncOutOrderWatchState(wrkMast, stationProtocol.getStationId(), outOrderList, dispatchDecision, command);
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={}锛屽懡浠ゆ暟鎹�={}",
- STATION_IDLE_RECOVER_SECONDS, stationProtocol.getStationId(), moveStaNo, wrkMast.getWrkNo(), JSON.toJSONString(command));
+ 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(), moveStaNo, wrkMast.getWrkNo(), clearedCommandCount, JSON.toJSONString(command));
}
private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
@@ -913,57 +1092,91 @@
|| Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
}
- private Integer resolveIdleRecoverTarget(StationProtocol stationProtocol,
- WrkMast wrkMast,
- List<Integer> outOrderList) {
- if (stationProtocol == null || wrkMast == null) {
- return null;
+ private void resetSegmentMoveCommandsBeforeReroute(Integer taskNo) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0) {
+ return;
}
- Integer currentStationId = stationProtocol.getStationId();
- if (currentStationId == null) {
- return null;
+ 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) {
}
- if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
- return resolveDispatchOutOrderTarget(currentStationId, wrkMast.getStaNo(), outOrderList, true);
- }
- return wrkMast.getStaNo();
+ redisUtil.del(key);
}
- private boolean hasFollowUpMoveCommandAfterStay(StationTaskIdleTrack idleTrack,
- Integer taskNo,
- Integer stationId) {
- if (idleTrack == null || taskNo == null || stationId == null || idleTrack.firstSeenTime == null) {
- return false;
- }
+ private int clearIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
+ Integer taskNo,
+ Integer stationId) {
if (basStationOptService == null) {
- return false;
+ return 0;
}
-
List<BasStationOpt> optList;
try {
- optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
- .select("id", "target_station_id")
- .eq("task_no", taskNo)
- .eq("source_station_id", stationId)
- .eq("mode", String.valueOf(StationCommandType.MOVE))
- .eq("send", 1)
- .ge("send_time", new Date(idleTrack.firstSeenTime))
- .orderByDesc("send_time")
- .last("limit 3"));
+ optList = listIssuedMoveCommandsDuringIdleStay(idleTrack, taskNo);
} catch (Exception e) {
- return false;
+ return 0;
}
-
if (optList == null || optList.isEmpty()) {
- return false;
+ return 0;
}
+ Date now = new Date();
+ String cleanupMemo = buildIdleRecoverClearedMemo(stationId);
+ int clearedCount = 0;
for (BasStationOpt opt : optList) {
- if (opt != null && opt.getTargetStationId() != null && !Objects.equals(opt.getTargetStationId(), stationId)) {
- return true;
+ if (opt == null || opt.getId() == null) {
+ continue;
}
+ opt.setSend(0);
+ opt.setUpdateTime(now);
+ opt.setMemo(appendCleanupMemo(opt.getMemo(), cleanupMemo));
+ clearedCount++;
}
- return false;
+ 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) {
@@ -1006,6 +1219,9 @@
}
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);
@@ -1185,6 +1401,24 @@
return value;
}
+ private static class OutOrderDispatchDecision {
+ private final Integer targetStationId;
+ private final boolean circle;
+
+ private OutOrderDispatchDecision(Integer targetStationId, boolean circle) {
+ this.targetStationId = targetStationId;
+ this.circle = circle;
+ }
+
+ private Integer getTargetStationId() {
+ return targetStationId;
+ }
+
+ private boolean isCircle() {
+ return circle;
+ }
+ }
+
private void saveLoopLoadReserve(Integer wrkNo, LoopHitResult loopHitResult) {
if (wrkNo == null || wrkNo <= 0 || loopHitResult == null || !loopHitResult.isThroughLoop()) {
return;
--
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