From c34f9c17fde14f78b3663803e9776d438e8481b9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 22:30:14 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 373 ++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 352 insertions(+), 21 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
index f35e6b1..f8d7abb 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -31,15 +31,19 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
+import com.zy.core.service.StationTaskLoopService;
import com.zy.core.thread.impl.v5.StationV5SegmentExecutor;
+import com.zy.core.trace.StationTaskTraceRegistry;
import com.zy.core.utils.DeviceLogRedisKeyBuilder;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.util.ArrayList;
+import java.util.ArrayDeque;
import java.util.Collections;
import java.util.Date;
+import java.util.Deque;
import java.util.HashMap;
import java.util.HashSet;
import java.util.LinkedHashSet;
@@ -56,7 +60,8 @@
private static final int RUN_BLOCK_REROUTE_STATE_EXPIRE_SECONDS = 60 * 60 * 24;
private static final int SHORT_PATH_REPEAT_AVOID_THRESHOLD = 2;
- private static final int SMALL_LOOP_REPEAT_AVOID_THRESHOLD = 2;
+ private static final int LOOP_REPEAT_TRIGGER_COUNT = 3;
+ private static final int LOCAL_LOOP_NEIGHBOR_HOP = 3;
private List<StationProtocol> statusList = new ArrayList<>();
private DeviceConfig deviceConfig;
@@ -260,14 +265,21 @@
}
RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
- TaskLoopRerouteState taskLoopRerouteState = loadTaskLoopRerouteState(taskNo);
- LoopIdentity currentLoopIdentity = resolveStationLoopIdentity(stationId);
+ StationTaskLoopService taskLoopService = loadStationTaskLoopService();
+ StationTaskLoopService.LoopEvaluation loopEvaluation = taskLoopService == null
+ ? new StationTaskLoopService.LoopEvaluation(taskNo, stationId, StationTaskLoopService.LoopIdentitySnapshot.empty(), 0, 0, false)
+ : taskLoopService.evaluateLoop(taskNo, stationId, true);
+ log.info("杈撻�佺嚎鍫靛閲嶈鍒掔幆绾胯瘑鍒紝taskNo={}, stationId={}, scopeType={}, localStationCount={}, sourceLoopStationCount={}",
+ taskNo,
+ stationId,
+ loopEvaluation.getLoopIdentity().getScopeType(),
+ loopEvaluation.getLoopIdentity().getLocalStationCount(),
+ loopEvaluation.getLoopIdentity().getSourceLoopStationCount());
rerouteState.setTaskNo(taskNo);
rerouteState.setBlockStationId(stationId);
rerouteState.setLastTargetStationId(targetStationId);
rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
rerouteState.setLastPlanTime(System.currentTimeMillis());
- taskLoopRerouteState.setTaskNo(taskNo);
List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
if (candidatePathList.isEmpty()) {
@@ -279,8 +291,7 @@
StationCommand rerouteCommand = selectAvailableRerouteCommand(
rerouteState,
- taskLoopRerouteState,
- currentLoopIdentity,
+ loopEvaluation,
candidatePathList,
taskNo,
stationId,
@@ -293,8 +304,7 @@
rerouteState.resetIssuedRoutes();
rerouteCommand = selectAvailableRerouteCommand(
rerouteState,
- taskLoopRerouteState,
- currentLoopIdentity,
+ loopEvaluation,
candidatePathList,
taskNo,
stationId,
@@ -305,8 +315,9 @@
if (rerouteCommand != null) {
saveRunBlockRerouteState(rerouteState);
- touchTaskLoopRerouteState(taskLoopRerouteState, currentLoopIdentity);
- saveTaskLoopRerouteState(taskLoopRerouteState);
+ if (taskLoopService != null) {
+ taskLoopService.recordLoopIssue(loopEvaluation, "RUN_BLOCK_REROUTE");
+ }
log.info("杈撻�佺嚎鍫靛閲嶈鍒掗�変腑鍊欓�夎矾绾匡紝taskNo={}, planCount={}, stationId={}, targetStationId={}, route={}",
taskNo, rerouteState.getPlanCount(), stationId, targetStationId, JSON.toJSONString(rerouteCommand.getNavigatePath()));
return rerouteCommand;
@@ -443,8 +454,7 @@
}
private StationCommand selectAvailableRerouteCommand(RunBlockRerouteState rerouteState,
- TaskLoopRerouteState taskLoopRerouteState,
- LoopIdentity currentLoopIdentity,
+ StationTaskLoopService.LoopEvaluation loopEvaluation,
List<List<NavigateNode>> candidatePathList,
Integer taskNo,
Integer stationId,
@@ -455,7 +465,6 @@
}
Set<String> issuedRouteSignatureSet = rerouteState.getIssuedRouteSignatureSet();
- int currentLoopIssuedCount = resolveCurrentLoopIssuedCount(taskLoopRerouteState, currentLoopIdentity);
List<RerouteCandidateCommand> candidateCommandList = new ArrayList<>();
for (List<NavigateNode> candidatePath : candidatePathList) {
StationCommand rerouteCommand = buildMoveCommand(taskNo, stationId, targetStationId, palletSize, candidatePath);
@@ -471,9 +480,13 @@
candidateCommand.setRouteSignature(routeSignature);
candidateCommand.setPathLength(rerouteCommand.getNavigatePath().size());
candidateCommand.setIssuedCount(rerouteState.getRouteIssueCountMap().getOrDefault(routeSignature, 0));
- candidateCommand.setLoopFingerprint(currentLoopIdentity.getLoopFingerprint());
- candidateCommand.setLoopIssuedCount(currentLoopIssuedCount);
- candidateCommand.setCurrentLoopHitCount(countCurrentLoopStationHit(rerouteCommand.getNavigatePath(), currentLoopIdentity.getStationIdSet()));
+ candidateCommand.setLoopFingerprint(loopEvaluation.getLoopIdentity().getLoopFingerprint());
+ candidateCommand.setLoopIssuedCount(loopEvaluation.getExpectedLoopIssueCount());
+ candidateCommand.setLoopTriggered(loopEvaluation.isLargeLoopTriggered());
+ candidateCommand.setCurrentLoopHitCount(countCurrentLoopStationHit(
+ rerouteCommand.getNavigatePath(),
+ loopEvaluation.getLoopIdentity().getStationIdSet()
+ ));
candidateCommandList.add(candidateCommand);
}
if (candidateCommandList.isEmpty()) {
@@ -538,8 +551,7 @@
shortestPathOverused = true;
}
if (!Cools.isEmpty(candidateCommand.getLoopFingerprint())
- && candidateCommand.getLoopIssuedCount() != null
- && candidateCommand.getLoopIssuedCount() >= SMALL_LOOP_REPEAT_AVOID_THRESHOLD) {
+ && Boolean.TRUE.equals(candidateCommand.getLoopTriggered())) {
currentLoopOverused = true;
}
}
@@ -686,6 +698,64 @@
return taskLoopRerouteState.getLoopIssueCountMap().getOrDefault(currentLoopIdentity.getLoopFingerprint(), 0);
}
+ private int resolveExpectedLoopIssuedCount(TaskLoopRerouteState taskLoopRerouteState,
+ LoopIdentity currentLoopIdentity) {
+ if (currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return 0;
+ }
+ return resolveCurrentLoopIssuedCount(taskLoopRerouteState, currentLoopIdentity) + 1;
+ }
+
+ private boolean isLoopRepeatTriggered(Integer loopIssuedCount) {
+ return loopIssuedCount != null && loopIssuedCount >= LOOP_REPEAT_TRIGGER_COUNT;
+ }
+
+ private void syncTaskTraceLoopAlert(Integer taskNo,
+ Integer blockedStationId,
+ LoopIdentity currentLoopIdentity,
+ int loopIssuedCount) {
+ StationTaskTraceRegistry traceRegistry;
+ try {
+ traceRegistry = SpringUtils.getBean(StationTaskTraceRegistry.class);
+ } catch (Exception ignore) {
+ return;
+ }
+ if (traceRegistry == null || taskNo == null || taskNo <= 0) {
+ return;
+ }
+
+ boolean active = currentLoopIdentity != null
+ && !Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())
+ && isLoopRepeatTriggered(loopIssuedCount);
+ Map<String, Object> details = new HashMap<>();
+ details.put("blockedStationId", blockedStationId);
+ details.put("loopScopeType", currentLoopIdentity == null ? "" : currentLoopIdentity.getScopeType());
+ details.put("loopStationCount", currentLoopIdentity == null ? 0 : currentLoopIdentity.getLocalStationCount());
+ details.put("sourceLoopStationCount", currentLoopIdentity == null ? 0 : currentLoopIdentity.getSourceLoopStationCount());
+ details.put("loopRepeatCount", loopIssuedCount);
+ String loopAlertType = resolveLoopAlertType(currentLoopIdentity);
+ String loopAlertText = buildLoopAlertText(loopAlertType, currentLoopIdentity, loopIssuedCount);
+ traceRegistry.updateLoopHint(taskNo, active, loopAlertType, loopAlertText, loopIssuedCount, details);
+ }
+
+ private String resolveLoopAlertType(LoopIdentity currentLoopIdentity) {
+ if (currentLoopIdentity == null || Cools.isEmpty(currentLoopIdentity.getLoopFingerprint())) {
+ return "";
+ }
+ return "wholeLoop".equals(currentLoopIdentity.getScopeType()) ? "LARGE_LOOP" : "SMALL_LOOP";
+ }
+
+ private String buildLoopAlertText(String loopAlertType,
+ LoopIdentity currentLoopIdentity,
+ int loopIssuedCount) {
+ if (Cools.isEmpty(loopAlertType) || currentLoopIdentity == null || !isLoopRepeatTriggered(loopIssuedCount)) {
+ return "";
+ }
+ String typeLabel = "LARGE_LOOP".equals(loopAlertType) ? "澶х幆绾�" : "灏忕幆绾�";
+ return typeLabel + "缁曞湀棰勮锛岀疮璁￠噸瑙勫垝" + loopIssuedCount + "娆★紝褰撳墠璇嗗埆鑼冨洿"
+ + currentLoopIdentity.getLocalStationCount() + "绔�";
+ }
+
private int countCurrentLoopStationHit(List<Integer> path, Set<Integer> currentLoopStationIdSet) {
if (path == null || path.isEmpty() || currentLoopStationIdSet == null || currentLoopStationIdSet.isEmpty()) {
return 0;
@@ -716,6 +786,14 @@
return builder.toString();
}
+ private StationTaskLoopService loadStationTaskLoopService() {
+ try {
+ return SpringUtils.getBean(StationTaskLoopService.class);
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
private String buildRunBlockRerouteStateKey(Integer taskNo, Integer blockStationId) {
return RedisKeyType.STATION_RUN_BLOCK_REROUTE_STATE_.key + taskNo + "_" + blockStationId;
}
@@ -738,11 +816,247 @@
if (loopStationIdList.isEmpty() || !loopStationIdList.contains(stationId)) {
continue;
}
- return new LoopIdentity(buildLoopFingerprint(loopStationIdList), new HashSet<>(loopStationIdList));
+ Set<Integer> loopStationIdSet = new HashSet<>(loopStationIdList);
+ Map<Integer, Set<Integer>> stationGraph = loadUndirectedStationGraph();
+ List<Integer> localCycleStationIdList = resolveLocalCycleStationIdList(stationId, loopStationIdSet, stationGraph);
+ if (localCycleStationIdList.size() >= 3) {
+ return buildLoopIdentity(localCycleStationIdList, loopStationIdList.size(), "localCycle");
+ }
+
+ List<Integer> localNeighborhoodStationIdList = resolveLocalNeighborhoodStationIdList(stationId, loopStationIdSet, stationGraph);
+ if (localNeighborhoodStationIdList.size() >= 3 && localNeighborhoodStationIdList.size() < loopStationIdList.size()) {
+ return buildLoopIdentity(localNeighborhoodStationIdList, loopStationIdList.size(), "localNeighborhood");
+ }
+ return buildLoopIdentity(loopStationIdList, loopStationIdList.size(), "wholeLoop");
}
} catch (Exception ignore) {
}
return LoopIdentity.empty();
+ }
+
+ private LoopIdentity buildLoopIdentity(List<Integer> stationIdList,
+ int sourceLoopStationCount,
+ String scopeType) {
+ List<Integer> normalizedStationIdList = normalizeLoopStationIdList(stationIdList);
+ if (normalizedStationIdList.isEmpty()) {
+ return LoopIdentity.empty();
+ }
+ return new LoopIdentity(
+ buildLoopFingerprint(normalizedStationIdList),
+ new HashSet<>(normalizedStationIdList),
+ sourceLoopStationCount,
+ normalizedStationIdList.size(),
+ scopeType
+ );
+ }
+
+ private List<Integer> resolveLocalCycleStationIdList(Integer stationId,
+ Set<Integer> loopStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph) {
+ if (stationId == null
+ || stationId <= 0
+ || loopStationIdSet == null
+ || loopStationIdSet.isEmpty()
+ || stationGraph == null
+ || stationGraph.isEmpty()) {
+ return new ArrayList<>();
+ }
+ Set<Integer> localNeighborhoodStationIdSet = collectLoopNeighborhoodStationIdSet(
+ stationId,
+ loopStationIdSet,
+ stationGraph,
+ LOCAL_LOOP_NEIGHBOR_HOP
+ );
+ if (localNeighborhoodStationIdSet.size() < 3) {
+ return new ArrayList<>();
+ }
+
+ Set<Integer> directNeighborStationIdSet = filterLoopNeighborStationIdSet(
+ stationGraph.getOrDefault(stationId, Collections.emptySet()),
+ localNeighborhoodStationIdSet,
+ stationId
+ );
+ if (directNeighborStationIdSet.size() < 2) {
+ return new ArrayList<>();
+ }
+
+ List<Integer> bestCycleStationIdList = new ArrayList<>();
+ List<Integer> neighborStationIdList = new ArrayList<>(directNeighborStationIdSet);
+ for (int i = 0; i < neighborStationIdList.size(); i++) {
+ Integer leftNeighborStationId = neighborStationIdList.get(i);
+ if (leftNeighborStationId == null) {
+ continue;
+ }
+ for (int j = i + 1; j < neighborStationIdList.size(); j++) {
+ Integer rightNeighborStationId = neighborStationIdList.get(j);
+ if (rightNeighborStationId == null) {
+ continue;
+ }
+ List<Integer> pathBetweenNeighbors = findShortestScopePath(
+ leftNeighborStationId,
+ rightNeighborStationId,
+ stationId,
+ localNeighborhoodStationIdSet,
+ stationGraph
+ );
+ if (pathBetweenNeighbors.isEmpty()) {
+ continue;
+ }
+ List<Integer> cycleStationIdList = new ArrayList<>();
+ cycleStationIdList.add(stationId);
+ cycleStationIdList.addAll(pathBetweenNeighbors);
+ cycleStationIdList = normalizeLoopStationIdList(cycleStationIdList);
+ if (cycleStationIdList.size() < 3) {
+ continue;
+ }
+ if (bestCycleStationIdList.isEmpty() || cycleStationIdList.size() < bestCycleStationIdList.size()) {
+ bestCycleStationIdList = cycleStationIdList;
+ }
+ }
+ }
+ return bestCycleStationIdList;
+ }
+
+ private List<Integer> resolveLocalNeighborhoodStationIdList(Integer stationId,
+ Set<Integer> loopStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph) {
+ return normalizeLoopStationIdList(new ArrayList<>(collectLoopNeighborhoodStationIdSet(
+ stationId,
+ loopStationIdSet,
+ stationGraph,
+ LOCAL_LOOP_NEIGHBOR_HOP
+ )));
+ }
+
+ private Set<Integer> collectLoopNeighborhoodStationIdSet(Integer stationId,
+ Set<Integer> loopStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph,
+ int maxHop) {
+ Set<Integer> neighborhoodStationIdSet = new LinkedHashSet<>();
+ if (stationId == null
+ || stationId <= 0
+ || loopStationIdSet == null
+ || loopStationIdSet.isEmpty()
+ || !loopStationIdSet.contains(stationId)
+ || stationGraph == null
+ || stationGraph.isEmpty()
+ || maxHop < 0) {
+ return neighborhoodStationIdSet;
+ }
+
+ Deque<StationHopNode> queue = new ArrayDeque<>();
+ queue.offer(new StationHopNode(stationId, 0));
+ neighborhoodStationIdSet.add(stationId);
+ while (!queue.isEmpty()) {
+ StationHopNode current = queue.poll();
+ if (current == null || current.getHop() >= maxHop) {
+ continue;
+ }
+ Set<Integer> neighborStationIdSet = filterLoopNeighborStationIdSet(
+ stationGraph.getOrDefault(current.getStationId(), Collections.emptySet()),
+ loopStationIdSet,
+ null
+ );
+ for (Integer neighborStationId : neighborStationIdSet) {
+ if (neighborStationId == null || !neighborhoodStationIdSet.add(neighborStationId)) {
+ continue;
+ }
+ queue.offer(new StationHopNode(neighborStationId, current.getHop() + 1));
+ }
+ }
+ return neighborhoodStationIdSet;
+ }
+
+ private Set<Integer> filterLoopNeighborStationIdSet(Set<Integer> candidateNeighborStationIdSet,
+ Set<Integer> allowedStationIdSet,
+ Integer excludedStationId) {
+ Set<Integer> result = new LinkedHashSet<>();
+ if (candidateNeighborStationIdSet == null || candidateNeighborStationIdSet.isEmpty()
+ || allowedStationIdSet == null || allowedStationIdSet.isEmpty()) {
+ return result;
+ }
+ for (Integer stationId : candidateNeighborStationIdSet) {
+ if (stationId == null
+ || !allowedStationIdSet.contains(stationId)
+ || (excludedStationId != null && excludedStationId.equals(stationId))) {
+ continue;
+ }
+ result.add(stationId);
+ }
+ return result;
+ }
+
+ private List<Integer> findShortestScopePath(Integer startStationId,
+ Integer endStationId,
+ Integer excludedStationId,
+ Set<Integer> allowedStationIdSet,
+ Map<Integer, Set<Integer>> stationGraph) {
+ if (startStationId == null
+ || endStationId == null
+ || Objects.equals(startStationId, excludedStationId)
+ || Objects.equals(endStationId, excludedStationId)
+ || allowedStationIdSet == null
+ || !allowedStationIdSet.contains(startStationId)
+ || !allowedStationIdSet.contains(endStationId)
+ || stationGraph == null
+ || stationGraph.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ Deque<Integer> queue = new ArrayDeque<>();
+ Map<Integer, Integer> parentMap = new HashMap<>();
+ Set<Integer> visitedStationIdSet = new HashSet<>();
+ queue.offer(startStationId);
+ visitedStationIdSet.add(startStationId);
+ while (!queue.isEmpty()) {
+ Integer currentStationId = queue.poll();
+ if (currentStationId == null) {
+ continue;
+ }
+ if (Objects.equals(currentStationId, endStationId)) {
+ break;
+ }
+ Set<Integer> neighborStationIdSet = filterLoopNeighborStationIdSet(
+ stationGraph.getOrDefault(currentStationId, Collections.emptySet()),
+ allowedStationIdSet,
+ excludedStationId
+ );
+ for (Integer neighborStationId : neighborStationIdSet) {
+ if (neighborStationId == null || !visitedStationIdSet.add(neighborStationId)) {
+ continue;
+ }
+ parentMap.put(neighborStationId, currentStationId);
+ queue.offer(neighborStationId);
+ }
+ }
+ if (!visitedStationIdSet.contains(endStationId)) {
+ return new ArrayList<>();
+ }
+
+ List<Integer> pathStationIdList = new ArrayList<>();
+ Integer cursorStationId = endStationId;
+ while (cursorStationId != null) {
+ pathStationIdList.add(cursorStationId);
+ if (Objects.equals(cursorStationId, startStationId)) {
+ break;
+ }
+ cursorStationId = parentMap.get(cursorStationId);
+ }
+ if (pathStationIdList.isEmpty()
+ || !Objects.equals(pathStationIdList.get(pathStationIdList.size() - 1), startStationId)) {
+ return new ArrayList<>();
+ }
+ Collections.reverse(pathStationIdList);
+ return pathStationIdList;
+ }
+
+ private Map<Integer, Set<Integer>> loadUndirectedStationGraph() {
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return new HashMap<>();
+ }
+ Map<Integer, Set<Integer>> stationGraph = navigateUtils.loadUndirectedStationGraphSnapshot();
+ return stationGraph == null ? new HashMap<>() : stationGraph;
}
private List<Integer> normalizeLoopStationIdList(List<Integer> stationIdList) {
@@ -855,6 +1169,7 @@
private Integer issuedCount;
private String loopFingerprint;
private Integer loopIssuedCount;
+ private Boolean loopTriggered;
private Integer currentLoopHitCount;
}
@@ -877,14 +1192,30 @@
private static class LoopIdentity {
private String loopFingerprint;
private Set<Integer> stationIdSet = new HashSet<>();
+ private int sourceLoopStationCount;
+ private int localStationCount;
+ private String scopeType;
- private LoopIdentity(String loopFingerprint, Set<Integer> stationIdSet) {
+ private LoopIdentity(String loopFingerprint,
+ Set<Integer> stationIdSet,
+ int sourceLoopStationCount,
+ int localStationCount,
+ String scopeType) {
this.loopFingerprint = loopFingerprint;
this.stationIdSet = stationIdSet == null ? new HashSet<>() : stationIdSet;
+ this.sourceLoopStationCount = sourceLoopStationCount;
+ this.localStationCount = localStationCount;
+ this.scopeType = scopeType == null ? "" : scopeType;
}
private static LoopIdentity empty() {
- return new LoopIdentity("", new HashSet<>());
+ return new LoopIdentity("", new HashSet<>(), 0, 0, "none");
}
}
+
+ @Data
+ private static class StationHopNode {
+ private final Integer stationId;
+ private final int hop;
+ }
}
--
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