From 9c094af56e63348c55adddeee00be696a0af78c4 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 16:42:37 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 301 ++++++++++++++++++++++++++++++++++++++------------
1 files changed, 228 insertions(+), 73 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 5bfa108..0f90d81 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -36,10 +36,12 @@
@Component
public class StationOperateProcessUtils {
private static final int LOOP_LOAD_RESERVE_EXPIRE_SECONDS = 120;
- private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 10;
+ private static final int OUT_ORDER_DISPATCH_LIMIT_SECONDS = 2;
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;
@@ -310,39 +312,45 @@
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
Integer targetStaNo = wrkMast.getStaNo();
+ if (wrkNo == null || targetStaNo == null) {
+ continue;
+ }
boolean complete = false;
+ Integer targetDeviceNo = null;
BasStation basStation = basStationService.getOne(new QueryWrapper<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;
+ 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) {
e.printStackTrace();
}
+ }
+
+ private void completeStationRunTask(WrkMast wrkMast, Integer deviceNo) {
+ if (wrkMast == null || wrkMast.getWrkNo() == null) {
+ return;
+ }
+ wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
+ wrkMast.setIoTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ 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
@@ -521,9 +529,17 @@
continue;
}
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
+ 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;
}
@@ -568,6 +584,19 @@
//鑾峰彇杈撻�佺嚎浠诲姟鏁伴噺
public synchronized int getCurrentStationTaskCount() {
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�
@@ -729,15 +758,23 @@
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);
}
-
- Integer moveStaNo = resolveDispatchOutOrderTarget(currentStationId, wrkMast.getStaNo(), outOrderStationIds, true);
- if (moveStaNo == null) {
- return null;
+ if (!Objects.equals(dispatchStationId, wrkMast.getStaNo())
+ && isCurrentOutOrderStation(currentStationId, outOrderStationIds)
+ && isWatchingCircleArrival(wrkMast.getWrkNo(), currentStationId)) {
+ return new OutOrderDispatchDecision(dispatchStationId, true);
}
- return new OutOrderDispatchDecision(moveStaNo, false);
+ return new OutOrderDispatchDecision(dispatchStationId, false);
}
private OutOrderDispatchDecision resolveCurrentOutOrderDispatchDecision(Integer currentStationId,
@@ -780,11 +817,18 @@
if (seq == null) {
toTarget = currentBatchSeq.equals(wrkMast.getBatchSeq());
} else {
- toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq())
- && currentBatchSeq.equals(wrkMast.getBatchSeq());
+ toTarget = Integer.valueOf(seq + 1).equals(wrkMast.getBatchSeq());
}
if (toTarget) {
- return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
+ 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);
@@ -808,9 +852,23 @@
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
- && shouldApplyOutOrder(wrkMast, outOrderStationIds)
- && !Objects.equals(currentStationId, wrkMast.getStaNo())
+ && outOrderStationIds != null
&& outOrderStationIds.contains(currentStationId);
}
@@ -819,10 +877,7 @@
List<Integer> outOrderStationIds,
OutOrderDispatchDecision dispatchDecision,
StationCommand command) {
- if (dispatchDecision == null || command == null) {
- return;
- }
- if (!isCurrentOutOrderDispatchStation(currentStationId, wrkMast, outOrderStationIds)) {
+ if (dispatchDecision == null || command == null || !shouldApplyOutOrder(wrkMast, outOrderStationIds)) {
return;
}
if (dispatchDecision.isCircle()) {
@@ -832,25 +887,24 @@
}
}
- private Integer resolveDispatchOutOrderTarget(Integer currentStationId,
+ 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)) {
@@ -859,6 +913,59 @@
}
} 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) {
@@ -958,10 +1065,6 @@
return;
}
- if (hasFollowUpMoveCommandAfterStay(idleTrack, stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
- return;
- }
-
OutOrderDispatchDecision dispatchDecision = null;
Integer moveStaNo;
if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)) {
@@ -975,6 +1078,8 @@
}
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,
@@ -991,8 +1096,8 @@
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) {
@@ -1006,41 +1111,91 @@
|| Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
}
- private boolean hasFollowUpMoveCommandAfterStay(StationTaskIdleTrack idleTrack,
- Integer taskNo,
- Integer stationId) {
- if (idleTrack == null || taskNo == null || stationId == null || idleTrack.firstSeenTime == null) {
- return false;
+ private void resetSegmentMoveCommandsBeforeReroute(Integer taskNo) {
+ if (redisUtil == null || taskNo == null || taskNo <= 0) {
+ return;
}
- if (basStationOptService == null) {
- return false;
+ 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 clearIssuedMoveCommandsDuringIdleStay(StationTaskIdleTrack idleTrack,
+ Integer taskNo,
+ Integer stationId) {
+ if (basStationOptService == null) {
+ 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) {
--
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