From 1ef1063281497f32fcfa4f14b07d99399c0bb765 Mon Sep 17 00:00:00 2001
From: jinglun-cloud <jinglun2019@foxmail.com>
Date: 星期四, 07 五月 2026 15:04:17 +0800
Subject: [PATCH] refactor(设备运动): 重构条码设备运动逻辑，提取运动常量并优化代码结构
---
src/main/java/com/zy/common/utils/NavigateUtils.java | 224 +++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 204 insertions(+), 20 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 449e7aa..2dbe19c 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -27,6 +27,7 @@
import com.zy.asrs.service.StationCycleCapacityService;
import com.zy.asrs.service.StationPathPolicyService;
import com.zy.core.News;
+import org.springframework.scheduling.annotation.Scheduled;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.enums.StationCommandType;
@@ -55,7 +56,7 @@
public class NavigateUtils {
private static final long STATION_PATH_SLOW_LOG_THRESHOLD_MS = 500L;
- private static final long STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS = 200L;
+ private static final long STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS = 2000L;
private static final double CONGESTION_BUSY_BASE = 1.0d;
private static final double CONGESTION_ISSUED_RESERVE_BASE = 0.75d;
private static final double CONGESTION_PENDING_QUEUE_BASE = 0.45d;
@@ -77,8 +78,23 @@
@Autowired
private StationTaskTraceRegistry stationTaskTraceRegistry;
- private final Object runtimeSnapshotLock = new Object();
private volatile CachedStationPathRuntimeSnapshot cachedRuntimeSnapshot;
+
+ private volatile CachedLoopMergeGuardContext cachedLoopMergeGuardContext;
+
+ @Scheduled(fixedDelay = 1500, initialDelay = 3000)
+ public void refreshStationPathCaches() {
+ try {
+ BaseRuntimeSnapshot snapshot = buildBaseRuntimeSnapshot(null);
+ cachedRuntimeSnapshot = new CachedStationPathRuntimeSnapshot(System.currentTimeMillis(), snapshot);
+ } catch (Exception ignore) {
+ }
+ try {
+ LoopMergeGuardContext context = buildLoopMergeGuardContext();
+ cachedLoopMergeGuardContext = new CachedLoopMergeGuardContext(System.currentTimeMillis(), context);
+ } catch (Exception ignore) {
+ }
+ }
public List<NavigateNode> calcOptimalPathByStationId(Integer startStationId,
Integer endStationId,
@@ -1651,15 +1667,25 @@
}
private StationPathRuntimeSnapshot loadStationPathRuntimeSnapshot(Integer currentTaskNo) {
- BaseRuntimeSnapshot baseRuntimeSnapshot = loadBaseRuntimeSnapshot();
+ long totalStartNs = System.nanoTime();
+ Map<String, Long> stepCostMap = new LinkedHashMap<>();
+
+ long stepStartNs = System.nanoTime();
+ BaseRuntimeSnapshot baseRuntimeSnapshot = loadBaseRuntimeSnapshot(stepCostMap);
+ stepCostMap.put("loadBaseSnapshot", elapsedMillis(stepStartNs));
if (baseRuntimeSnapshot == null) {
+ logRuntimeSnapshotSlow(currentTaskNo, false, stepCostMap, totalStartNs);
return StationPathRuntimeSnapshot.empty();
}
+
+ stepStartNs = System.nanoTime();
StationTrafficSnapshot trafficSnapshot = buildStationTrafficSnapshot(
baseRuntimeSnapshot.statusMap,
currentTaskNo,
baseRuntimeSnapshot.activeTraceList
);
+ stepCostMap.put("buildTrafficSnapshot", elapsedMillis(stepStartNs));
+ logRuntimeSnapshotSlow(currentTaskNo, baseRuntimeSnapshot.cacheHit, stepCostMap, totalStartNs);
return new StationPathRuntimeSnapshot(
baseRuntimeSnapshot.statusMap,
baseRuntimeSnapshot.stationLoopLoadMap,
@@ -1669,30 +1695,63 @@
);
}
- private BaseRuntimeSnapshot loadBaseRuntimeSnapshot() {
+ private BaseRuntimeSnapshot loadBaseRuntimeSnapshot(Map<String, Long> stepCostMap) {
long now = System.currentTimeMillis();
CachedStationPathRuntimeSnapshot cachedSnapshot = cachedRuntimeSnapshot;
if (cachedSnapshot != null && now - cachedSnapshot.cacheAtMs <= STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS) {
- return cachedSnapshot.baseRuntimeSnapshot;
- }
- synchronized (runtimeSnapshotLock) {
- cachedSnapshot = cachedRuntimeSnapshot;
- if (cachedSnapshot != null && now - cachedSnapshot.cacheAtMs <= STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS) {
- return cachedSnapshot.baseRuntimeSnapshot;
+ if (stepCostMap != null) {
+ stepCostMap.put("baseSnapshotCacheHit", 0L);
}
- BaseRuntimeSnapshot baseRuntimeSnapshot = buildBaseRuntimeSnapshot();
- cachedRuntimeSnapshot = new CachedStationPathRuntimeSnapshot(now, baseRuntimeSnapshot);
- return baseRuntimeSnapshot;
+ return cachedSnapshot.baseRuntimeSnapshot.toCacheHitSnapshot();
}
+ // 缂撳瓨杩囨湡锛氱敤杩囨湡缂撳瓨鍏滃簳锛園Scheduled 瀹氭椂浠诲姟浼氬緢蹇埛鏂帮級锛岄伩鍏嶅绾跨▼闃诲
+ if (cachedSnapshot != null) {
+ if (stepCostMap != null) {
+ stepCostMap.put("baseSnapshotStale", 0L);
+ }
+ return cachedSnapshot.baseRuntimeSnapshot.toCacheHitSnapshot();
+ }
+ // 鏋佺鎯呭喌锛氫粠鏈湁杩囩紦瀛橈紙鍚姩棣栨璋冪敤锛夛紝鍚屾鏋勫缓
+ long stepStartNs = System.nanoTime();
+ BaseRuntimeSnapshot baseRuntimeSnapshot = buildBaseRuntimeSnapshot(stepCostMap);
+ if (stepCostMap != null) {
+ stepCostMap.put("buildBaseSnapshot", elapsedMillis(stepStartNs));
+ }
+ cachedRuntimeSnapshot = new CachedStationPathRuntimeSnapshot(System.currentTimeMillis(), baseRuntimeSnapshot);
+ return baseRuntimeSnapshot;
}
- private BaseRuntimeSnapshot buildBaseRuntimeSnapshot() {
+ private BaseRuntimeSnapshot buildBaseRuntimeSnapshot(Map<String, Long> stepCostMap) {
+ long stepStartNs = System.nanoTime();
Map<Integer, StationProtocol> statusMap = Collections.unmodifiableMap(new LinkedHashMap<>(loadStationStatusMap()));
+ if (stepCostMap != null) {
+ stepCostMap.put("loadStatusMap", elapsedMillis(stepStartNs));
+ }
+
+ stepStartNs = System.nanoTime();
Map<Integer, Double> stationLoopLoadMap = Collections.unmodifiableMap(new LinkedHashMap<>(loadStationLoopLoadMap()));
+ if (stepCostMap != null) {
+ stepCostMap.put("loadLoopLoadMap", elapsedMillis(stepStartNs));
+ }
+
+ stepStartNs = System.nanoTime();
LoopMergeGuardContext loopMergeGuardContext = loadLoopMergeGuardContext();
+ if (stepCostMap != null) {
+ stepCostMap.put("loadLoopMergeGuard", elapsedMillis(stepStartNs));
+ }
+
+ stepStartNs = System.nanoTime();
Set<Integer> outStationIdSet = Collections.unmodifiableSet(new LinkedHashSet<>(loadAllOutStationIdSet()));
- List<StationTaskTraceVo> activeTraceList = Collections.unmodifiableList(new ArrayList<>(loadPlanningActiveTraceList(statusMap)));
- return new BaseRuntimeSnapshot(statusMap, stationLoopLoadMap, loopMergeGuardContext, outStationIdSet, activeTraceList);
+ if (stepCostMap != null) {
+ stepCostMap.put("loadOutStationSet", elapsedMillis(stepStartNs));
+ }
+
+ stepStartNs = System.nanoTime();
+ List<StationTaskTraceVo> activeTraceList = Collections.unmodifiableList(new ArrayList<>(loadPlanningActiveTraceList(statusMap, stepCostMap)));
+ if (stepCostMap != null) {
+ stepCostMap.put("loadActiveTraceList", elapsedMillis(stepStartNs));
+ }
+ return new BaseRuntimeSnapshot(false, statusMap, stationLoopLoadMap, loopMergeGuardContext, outStationIdSet, activeTraceList);
}
private Map<Integer, Double> loadStationLoopLoadMap() {
@@ -1722,6 +1781,22 @@
}
private LoopMergeGuardContext loadLoopMergeGuardContext() {
+ long now = System.currentTimeMillis();
+ CachedLoopMergeGuardContext cached = cachedLoopMergeGuardContext;
+ if (cached != null && now - cached.cacheAtMs <= STATION_PATH_RUNTIME_SNAPSHOT_TTL_MS) {
+ return new LoopMergeGuardContext(cached.context);
+ }
+ // 缂撳瓨杩囨湡锛氱敤杩囨湡缂撳瓨鍏滃簳锛園Scheduled 瀹氭椂浠诲姟浼氬緢蹇埛鏂帮級
+ if (cached != null) {
+ return new LoopMergeGuardContext(cached.context);
+ }
+ // 鏋佺鎯呭喌锛氫粠鏈湁杩囩紦瀛橈紝鍚屾鏋勫缓
+ LoopMergeGuardContext context = buildLoopMergeGuardContext();
+ cachedLoopMergeGuardContext = new CachedLoopMergeGuardContext(System.currentTimeMillis(), context);
+ return new LoopMergeGuardContext(context);
+ }
+
+ private LoopMergeGuardContext buildLoopMergeGuardContext() {
LoopMergeGuardContext context = new LoopMergeGuardContext();
try {
if (stationCycleCapacityService == null) {
@@ -2094,10 +2169,19 @@
}
private List<StationTaskTraceVo> loadPlanningActiveTraceList(Map<Integer, StationProtocol> statusMap) {
+ return loadPlanningActiveTraceList(statusMap, null);
+ }
+
+ private List<StationTaskTraceVo> loadPlanningActiveTraceList(Map<Integer, StationProtocol> statusMap,
+ Map<String, Long> stepCostMap) {
Map<Integer, StationTaskTraceVo> traceMap = new LinkedHashMap<>();
if (stationTaskTraceRegistry != null) {
try {
- List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listLatestTraces();
+ long stepStartNs = System.nanoTime();
+ List<StationTaskTraceVo> traceList = stationTaskTraceRegistry.listPlanningActiveTraceSnapshots();
+ if (stepCostMap != null) {
+ stepCostMap.put("loadRegistryTraces", elapsedMillis(stepStartNs));
+ }
if (traceList != null) {
for (StationTaskTraceVo traceVo : traceList) {
if (!isPlanningActiveTrace(traceVo)) {
@@ -2111,7 +2195,11 @@
} catch (Exception ignore) {
}
}
- Map<Integer, StationTaskTraceVo> fallbackTraceMap = loadFallbackActiveTraceMap(null, statusMap, traceMap.keySet());
+ long stepStartNs = System.nanoTime();
+ Map<Integer, StationTaskTraceVo> fallbackTraceMap = buildProtocolFallbackTraceMap(statusMap, traceMap.keySet());
+ if (stepCostMap != null) {
+ stepCostMap.put("loadFallbackTraces", elapsedMillis(stepStartNs));
+ }
if (!fallbackTraceMap.isEmpty()) {
traceMap.putAll(fallbackTraceMap);
}
@@ -2126,6 +2214,55 @@
return StationTaskTraceRegistry.STATUS_WAITING.equals(status)
|| StationTaskTraceRegistry.STATUS_RUNNING.equals(status)
|| StationTaskTraceRegistry.STATUS_REROUTED.equals(status);
+ }
+
+ private Map<Integer, StationTaskTraceVo> buildProtocolFallbackTraceMap(Map<Integer, StationProtocol> statusMap,
+ Set<Integer> existingTaskNoSet) {
+ if (statusMap == null || statusMap.isEmpty()) {
+ return Collections.emptyMap();
+ }
+ Map<Integer, StationTaskTraceVo> result = new LinkedHashMap<>();
+ for (StationProtocol protocol : statusMap.values()) {
+ if (protocol == null || protocol.getTaskNo() == null || protocol.getTaskNo() <= 0) {
+ continue;
+ }
+ if (!Boolean.TRUE.equals(protocol.isLoading())) {
+ continue;
+ }
+ if (existingTaskNoSet != null && existingTaskNoSet.contains(protocol.getTaskNo())) {
+ continue;
+ }
+ Integer stationId = protocol.getStationId();
+ Integer targetStaNo = protocol.getTargetStaNo();
+ if (stationId == null || targetStaNo == null || stationId.equals(targetStaNo)) {
+ continue;
+ }
+ List<Integer> path = new ArrayList<>();
+ path.add(stationId);
+ path.add(targetStaNo);
+ List<Integer> pendingStationIds = new ArrayList<>();
+ pendingStationIds.add(targetStaNo);
+ StationTaskTraceVo vo = new StationTaskTraceVo();
+ vo.setTaskNo(protocol.getTaskNo());
+ vo.setThreadImpl("PROTOCOL_FALLBACK");
+ vo.setStatus(StationTaskTraceRegistry.STATUS_RUNNING);
+ vo.setTraceVersion(1);
+ vo.setStartStationId(stationId);
+ vo.setCurrentStationId(stationId);
+ vo.setFinalTargetStationId(targetStaNo);
+ vo.setFullPathStationIds(path);
+ vo.setIssuedStationIds(path);
+ vo.setPassedStationIds(Collections.emptyList());
+ vo.setPendingStationIds(pendingStationIds);
+ vo.setLatestIssuedSegmentPath(path);
+ vo.setSegmentList(Collections.emptyList());
+ vo.setIssuedSegmentCount(0);
+ vo.setTotalSegmentCount(1);
+ vo.setUpdatedAt(System.currentTimeMillis());
+ vo.setEvents(Collections.emptyList());
+ result.put(protocol.getTaskNo(), vo);
+ }
+ return result;
}
private Map<Integer, StationTaskTraceVo> loadFallbackActiveTraceMap(Integer currentTaskNo,
@@ -2156,7 +2293,7 @@
}
List<Integer> taskNoList = new ArrayList<>(activeTaskProtocolMap.keySet());
- int limit = Math.max(50, taskNoList.size() * 8);
+ int limit = Math.max(taskNoList.size(), taskNoList.size() * 2);
List<BasStationOpt> optList;
try {
optList = basStationOptService.list(new QueryWrapper<BasStationOpt>()
@@ -2719,6 +2856,21 @@
totalCostMs);
}
+ private void logRuntimeSnapshotSlow(Integer currentTaskNo,
+ boolean cacheHit,
+ Map<String, Long> stepCostMap,
+ long totalStartNs) {
+ long totalCostMs = elapsedMillis(totalStartNs);
+ if (totalCostMs < STATION_PATH_SLOW_LOG_THRESHOLD_MS) {
+ return;
+ }
+ News.warn("绔欑偣璺緞杩愯鏃跺揩鐓у姞杞借�楁椂杈冮暱锛宼askNo={}锛宑acheHit={}锛宻tepCosts={}锛宼otalCost={}ms",
+ currentTaskNo,
+ cacheHit,
+ JSON.toJSONString(stepCostMap),
+ totalCostMs);
+ }
+
private long elapsedMillis(long startNs) {
long elapsedNs = System.nanoTime() - startNs;
return elapsedNs <= 0L ? 0L : elapsedNs / 1_000_000L;
@@ -2921,22 +3073,34 @@
}
private static class BaseRuntimeSnapshot {
+ private final boolean cacheHit;
private final Map<Integer, StationProtocol> statusMap;
private final Map<Integer, Double> stationLoopLoadMap;
private final LoopMergeGuardContext loopMergeGuardContext;
private final Set<Integer> outStationIdSet;
private final List<StationTaskTraceVo> activeTraceList;
- private BaseRuntimeSnapshot(Map<Integer, StationProtocol> statusMap,
+ private BaseRuntimeSnapshot(boolean cacheHit,
+ Map<Integer, StationProtocol> statusMap,
Map<Integer, Double> stationLoopLoadMap,
LoopMergeGuardContext loopMergeGuardContext,
Set<Integer> outStationIdSet,
List<StationTaskTraceVo> activeTraceList) {
+ this.cacheHit = cacheHit;
this.statusMap = statusMap == null ? Collections.emptyMap() : statusMap;
this.stationLoopLoadMap = stationLoopLoadMap == null ? Collections.emptyMap() : stationLoopLoadMap;
this.loopMergeGuardContext = loopMergeGuardContext == null ? new LoopMergeGuardContext() : loopMergeGuardContext;
this.outStationIdSet = outStationIdSet == null ? Collections.emptySet() : outStationIdSet;
this.activeTraceList = activeTraceList == null ? Collections.emptyList() : activeTraceList;
+ }
+
+ private BaseRuntimeSnapshot toCacheHitSnapshot() {
+ return new BaseRuntimeSnapshot(true,
+ statusMap,
+ stationLoopLoadMap,
+ loopMergeGuardContext,
+ outStationIdSet,
+ activeTraceList);
}
}
@@ -2947,6 +3111,16 @@
private CachedStationPathRuntimeSnapshot(long cacheAtMs, BaseRuntimeSnapshot baseRuntimeSnapshot) {
this.cacheAtMs = cacheAtMs;
this.baseRuntimeSnapshot = baseRuntimeSnapshot;
+ }
+ }
+
+ private static class CachedLoopMergeGuardContext {
+ private final long cacheAtMs;
+ private final LoopMergeGuardContext context;
+
+ private CachedLoopMergeGuardContext(long cacheAtMs, LoopMergeGuardContext context) {
+ this.cacheAtMs = cacheAtMs;
+ this.context = context;
}
}
@@ -3003,6 +3177,16 @@
private static class LoopMergeGuardContext {
private final Set<Integer> loopStationIdSet = new HashSet<>();
private final Map<Integer, Set<Integer>> loopNeighborMap = new HashMap<>();
+
+ private LoopMergeGuardContext() {
+ }
+
+ private LoopMergeGuardContext(LoopMergeGuardContext source) {
+ this.loopStationIdSet.addAll(source.loopStationIdSet);
+ for (Map.Entry<Integer, Set<Integer>> entry : source.loopNeighborMap.entrySet()) {
+ this.loopNeighborMap.put(entry.getKey(), new LinkedHashSet<>(entry.getValue()));
+ }
+ }
}
private static class LoopMergeEntry {
--
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