From dc3f9cc91759823ce59486f19b138be4b296a0f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 28 四月 2026 09:43:28 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/station/StationRerouteProcessor.java | 589 ++++++++++++++++++++++++++++------------------------------
1 files changed, 283 insertions(+), 306 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/station/StationRerouteProcessor.java b/src/main/java/com/zy/core/utils/station/StationRerouteProcessor.java
index 6031758..83cce40 100644
--- a/src/main/java/com/zy/core/utils/station/StationRerouteProcessor.java
+++ b/src/main/java/com/zy/core/utils/station/StationRerouteProcessor.java
@@ -2,18 +2,18 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
-import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
-import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.entity.FindCrnNoResult;
+import com.zy.common.model.NavigateNode;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
+import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
@@ -29,7 +29,6 @@
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.move.StationMoveCoordinator;
-import com.zy.core.move.StationMoveSession;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.station.model.OutOrderDispatchDecision;
import com.zy.core.utils.station.model.RerouteCommandPlan;
@@ -38,24 +37,27 @@
import com.zy.core.utils.station.model.RerouteExecutionResult;
import com.zy.core.utils.station.model.RerouteSceneType;
import com.zy.core.utils.WmsOperateUtils;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
+import java.util.Collections;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.Objects;
+@Slf4j
@Component
public class StationRerouteProcessor {
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 = 30;
private static final long STATION_MOVE_RESET_WAIT_MS = 1000L;
+ private static final int RUN_BLOCK_DIRECT_REASSIGN_LIMIT_SECONDS = 8 * 60;
+ private static final int RUN_BLOCK_DIRECT_REASSIGN_NEAREST_CACHE_SECONDS = 60 * 60 * 24;
+ private static final long CHECK_STATION_OUT_ORDER_SLOW_THRESHOLD_MS = 200L;
+ private static final long EXECUTE_REROUTE_PLAN_SLOW_THRESHOLD_MS = 200L;
- @Autowired
- private BasDevpService basDevpService;
@Autowired
private WrkMastService wrkMastService;
@Autowired
@@ -74,30 +76,15 @@
private StationOutboundDecisionSupport stationOutboundDecisionSupport;
@Autowired
private StationDispatchRuntimeStateSupport stationDispatchRuntimeStateSupport;
-
- public void checkStationRunBlock() {
- try {
- List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
- for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
- if (stationThread == null) {
- continue;
- }
- for (StationProtocol stationProtocol : stationThread.getStatus()) {
- if (stationProtocol == null || stationProtocol.getStationId() == null) {
- continue;
- }
- checkStationRunBlock(basDevp, stationProtocol.getStationId());
- }
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
+ @Autowired
+ private NavigateUtils navigateUtils;
public void checkStationRunBlock(BasDevp basDevp, Integer stationId) {
try {
if (basDevp == null || basDevp.getDevpNo() == null || stationId == null) {
+ return;
+ }
+ if (shouldSkipRunBlockStation(basDevp, stationId)) {
return;
}
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
@@ -131,10 +118,18 @@
if (lock != null) {
return;
}
- redisUtil.set(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo(), "lock", 15);
+ redisUtil.set(RedisKeyType.CHECK_STATION_RUN_BLOCK_LIMIT_.key + stationProtocol.getTaskNo(), "lock", 30);
if (shouldUseRunBlockDirectReassign(wrkMast, stationProtocol.getStationId(), runBlockReassignLocStationList)) {
- executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
+ if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.withTaskDispatchLock(stationProtocol.getTaskNo(),
+ () -> {
+ executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
+ return null;
+ });
+ } else {
+ executeRunBlockDirectReassign(basDevp, stationThread, stationProtocol, wrkMast);
+ }
return;
}
@@ -158,74 +153,20 @@
}
}
- public void checkStationIdleRecover() {
- try {
- List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<>());
- for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
- if (stationThread == null) {
- continue;
- }
-
- for (StationProtocol stationProtocol : stationThread.getStatus()) {
- if (stationProtocol != null && stationProtocol.getStationId() != null) {
- checkStationIdleRecover(basDevp, stationProtocol.getStationId());
- }
- }
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
-
- public void checkStationIdleRecover(BasDevp basDevp, Integer stationId) {
- try {
- if (basDevp == null || basDevp.getDevpNo() == null || stationId == null) {
- return;
- }
- if (!isIdleRecoverCandidateStation(basDevp, stationId)) {
- return;
- }
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
- if (stationThread == null) {
- return;
- }
- Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
- StationProtocol stationProtocol = statusMap == null ? null : statusMap.get(stationId);
- if (stationProtocol == null
- || !stationProtocol.isAutoing()
- || !stationProtocol.isLoading()
- || stationProtocol.getTaskNo() <= 0
- || stationProtocol.isRunBlock()) {
- return;
- }
- checkStationIdleRecover(basDevp, stationThread, stationProtocol, basDevp.getOutOrderIntList());
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
-
- public void checkStationOutOrder() {
- List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
- for (BasDevp basDevp : basDevps) {
- List<StationObjModel> orderList = basDevp.getOutOrderList$();
- for (StationObjModel stationObjModel : orderList) {
- checkStationOutOrder(basDevp, stationObjModel);
- }
- }
- }
-
public void checkStationOutOrder(BasDevp basDevp, StationObjModel stationObjModel) {
+ long totalStartMs = System.currentTimeMillis();
try {
if (basDevp == null || basDevp.getDevpNo() == null || stationObjModel == null || stationObjModel.getStationId() == null) {
return;
}
+ long runtimeStartMs = System.currentTimeMillis();
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
if (stationThread == null) {
return;
}
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
StationProtocol stationProtocol = statusMap == null ? null : statusMap.get(stationObjModel.getStationId());
+ long runtimeCostMs = System.currentTimeMillis() - runtimeStartMs;
if (stationProtocol == null
|| !stationProtocol.isAutoing()
|| !stationProtocol.isLoading()
@@ -235,17 +176,25 @@
return;
}
+ long loadWrkStartMs = System.currentTimeMillis();
WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
+ long loadWrkCostMs = System.currentTimeMillis() - loadWrkStartMs;
if (wrkMast == null
|| !Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)
|| Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
return;
}
- if (stationOutboundDecisionSupport.shouldSkipOutOrderDispatchForExistingRoute(wrkMast.getWrkNo(), stationProtocol.getStationId())) {
+ long skipCheckStartMs = System.currentTimeMillis();
+ boolean skipForExistingRoute = stationOutboundDecisionSupport
+ .shouldSkipOutOrderDispatchForExistingRoute(wrkMast.getWrkNo(), stationProtocol.getStationId());
+ long skipCheckCostMs = System.currentTimeMillis() - skipCheckStartMs;
+ if (skipForExistingRoute) {
return;
}
+ long pathFactorStartMs = System.currentTimeMillis();
Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
+ long pathFactorCostMs = System.currentTimeMillis() - pathFactorStartMs;
RerouteContext context = RerouteContext.create(
RerouteSceneType.OUT_ORDER,
basDevp,
@@ -259,68 +208,29 @@
.withSuppressDispatchGuard()
.withOutOrderDispatchLock()
.withResetSegmentCommandsBeforeDispatch();
- executeSharedReroute(context);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
-
- public void watchCircleStation() {
- List<BasDevp> basDevps = basDevpService.list(new QueryWrapper<BasDevp>());
- for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
- if (stationThread == null) {
- continue;
- }
- for (StationProtocol stationProtocol : stationThread.getStatus()) {
- if (stationProtocol == null || stationProtocol.getStationId() == null) {
- continue;
- }
- watchCircleStation(basDevp, stationProtocol.getStationId());
- }
- }
- }
-
- public void watchCircleStation(BasDevp basDevp, Integer stationId) {
- try {
- if (basDevp == null || basDevp.getDevpNo() == null || stationId == null) {
- return;
- }
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
- if (stationThread == null) {
- return;
- }
- Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
- StationProtocol stationProtocol = statusMap == null ? null : statusMap.get(stationId);
- if (stationProtocol == null
- || !stationProtocol.isAutoing()
- || !stationProtocol.isLoading()
- || stationProtocol.getTaskNo() <= 0
- || !stationOutboundDecisionSupport.isWatchingCircleArrival(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
- return;
- }
-
- WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
- if (wrkMast == null
- || !Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts)
- || Objects.equals(stationProtocol.getStationId(), wrkMast.getStaNo())) {
- return;
- }
-
- Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
- RerouteContext context = RerouteContext.create(
- RerouteSceneType.WATCH_CIRCLE,
- basDevp,
- stationThread,
- stationProtocol,
- wrkMast,
- basDevp.getOutOrderIntList(),
+ long rerouteStartMs = System.currentTimeMillis();
+ RerouteExecutionResult result = executeSharedReroute(context);
+ long rerouteCostMs = System.currentTimeMillis() - rerouteStartMs;
+ long totalCostMs = System.currentTimeMillis() - totalStartMs;
+ log.info("checkStationOutOrder profile, taskNo={}, stationId={}, deviceNo={}, batch={}, batchSeq={}, finalTargetStationId={}, pathLenFactor={}, runtimeCostMs={}ms, loadWrkCostMs={}ms, skipCheckCostMs={}ms, pathFactorCostMs={}ms, rerouteCostMs={}ms, totalCostMs={}ms, result={}",
+ stationProtocol.getTaskNo(),
+ stationProtocol.getStationId(),
+ stationObjModel.getDeviceNo(),
+ wrkMast.getBatch(),
+ wrkMast.getBatchSeq(),
+ wrkMast.getStaNo(),
pathLenFactor,
- "watchCircleStation"
- ).withSuppressDispatchGuard()
- .withOutOrderDispatchLock()
- .withResetSegmentCommandsBeforeDispatch();
- executeSharedReroute(context);
+ runtimeCostMs,
+ loadWrkCostMs,
+ skipCheckCostMs,
+ pathFactorCostMs,
+ rerouteCostMs,
+ totalCostMs,
+ result == null ? null : result.skipReason());
+ if (totalCostMs > CHECK_STATION_OUT_ORDER_SLOW_THRESHOLD_MS) {
+ log.warn("checkStationOutOrder slow, taskNo={}, stationId={}, totalCostMs={}ms, rerouteCostMs={}ms, loadWrkCostMs={}ms, pathFactorCostMs={}ms",
+ stationProtocol.getTaskNo(), stationProtocol.getStationId(), totalCostMs, rerouteCostMs, loadWrkCostMs, pathFactorCostMs);
+ }
} catch (Exception e) {
e.printStackTrace();
}
@@ -411,6 +321,7 @@
}
public RerouteDecision resolveSharedRerouteDecision(RerouteContext context) {
+ long startMs = System.currentTimeMillis();
if (context == null || context.wrkMast() == null || context.stationProtocol() == null) {
return RerouteDecision.skip("missing-runtime-dependency");
}
@@ -422,9 +333,13 @@
if (context.sceneType() == RerouteSceneType.IDLE_RECOVER
&& !Objects.equals(context.wrkMast().getWrkSts(), WrkStsType.STATION_RUN.sts)) {
Integer targetStationId = context.wrkMast().getStaNo();
- return targetStationId == null || Objects.equals(targetStationId, currentStationId)
+ RerouteDecision decision = targetStationId == null || Objects.equals(targetStationId, currentStationId)
? RerouteDecision.skip("same-station")
: RerouteDecision.proceed(targetStationId);
+ log.info("resolveSharedRerouteDecision profile, sceneType={}, taskNo={}, currentStationId={}, targetStationId={}, decision={}, decisionCostMs={}ms",
+ context.sceneType(), context.wrkMast().getWrkNo(), currentStationId, targetStationId,
+ decision.skip() ? decision.skipReason() : "proceed", System.currentTimeMillis() - startMs);
+ return decision;
}
OutOrderDispatchDecision dispatchDecision =
@@ -435,57 +350,163 @@
context.pathLenFactor()
);
Integer targetStationId = dispatchDecision == null ? null : dispatchDecision.getTargetStationId();
- if (targetStationId == null || Objects.equals(targetStationId, currentStationId)) {
- return RerouteDecision.skip("same-station");
- }
- return RerouteDecision.proceed(targetStationId, dispatchDecision);
+ RerouteDecision decision = targetStationId == null || Objects.equals(targetStationId, currentStationId)
+ ? RerouteDecision.skip("same-station")
+ : RerouteDecision.proceed(targetStationId, dispatchDecision);
+ log.info("resolveSharedRerouteDecision profile, sceneType={}, taskNo={}, currentStationId={}, targetStationId={}, decision={}, circle={}, decisionCostMs={}ms",
+ context.sceneType(), context.wrkMast().getWrkNo(), currentStationId, targetStationId,
+ decision.skip() ? decision.skipReason() : "proceed",
+ dispatchDecision != null && dispatchDecision.isCircle(),
+ System.currentTimeMillis() - startMs);
+ return decision;
}
public boolean shouldUseRunBlockDirectReassign(WrkMast wrkMast,
Integer stationId,
List<Integer> runBlockReassignLocStationList) {
- return wrkMast != null
- && Objects.equals(wrkMast.getIoType(), WrkIoType.IN.id)
- && stationId != null
- && runBlockReassignLocStationList != null
- && runBlockReassignLocStationList.contains(stationId);
- }
-
- public boolean shouldSkipIdleRecoverForRecentDispatch(Integer taskNo, Integer stationId) {
- if (taskNo == null || taskNo <= 0 || stationId == null) {
+ if (wrkMast == null || stationId == null) {
return false;
}
- long thresholdMs = STATION_IDLE_RECOVER_SECONDS * 1000L;
- StationMoveSession session = stationMoveCoordinator == null ? null : stationMoveCoordinator.loadSession(taskNo);
- if (session != null && session.isActive() && session.getLastIssuedAt() != null) {
- if (Objects.equals(stationId, session.getCurrentStationId())
- || Objects.equals(stationId, session.getDispatchStationId())
- || session.containsStation(stationId)) {
- long elapsedMs = System.currentTimeMillis() - session.getLastIssuedAt();
- if (elapsedMs < thresholdMs) {
- stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
- News.info("杈撻�佺珯鐐逛换鍔″垰瀹屾垚鍛戒护涓嬪彂锛屽凡璺宠繃鍋滅暀閲嶇畻銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛岃窛涓婃涓嬪彂={}ms锛宺outeVersion={}",
- stationId, taskNo, elapsedMs, session.getRouteVersion());
- return true;
- }
- }
- }
- if (!stationDispatchRuntimeStateSupport.hasRecentIssuedMoveCommand(taskNo, stationId, thresholdMs)) {
+ if (!Objects.equals(wrkMast.getIoType(), WrkIoType.IN.id)) {
return false;
}
- stationDispatchRuntimeStateSupport.saveIdleTrack(new StationTaskIdleTrack(taskNo, stationId, System.currentTimeMillis()));
- News.info("杈撻�佺珯鐐逛换鍔″垰瀹屾垚鍛戒护涓嬪彂锛屽凡璺宠繃鍋滅暀閲嶇畻銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛岃窛鏈�杩戝懡浠や笅鍙�<{}ms锛宺outeVersion={}",
- stationId, taskNo, thresholdMs, session == null ? null : session.getRouteVersion());
+ if (runBlockReassignLocStationList == null || !runBlockReassignLocStationList.contains(stationId)) {
+ return false;
+ }
+ if (shouldForceRunBlockPathReroute(wrkMast, stationId, runBlockReassignLocStationList)) {
+ return false;
+ }
return true;
}
- private boolean isIdleRecoverCandidateStation(BasDevp basDevp, Integer stationId) {
+ private boolean shouldForceRunBlockPathReroute(WrkMast wrkMast,
+ Integer stationId,
+ List<Integer> runBlockReassignLocStationList) {
+ if (wrkMast == null || stationId == null) {
+ return false;
+ }
+ Integer nearestStationId = resolveNearestRunBlockDirectReassignStationId(wrkMast, runBlockReassignLocStationList);
+ return nearestStationId != null && !Objects.equals(stationId, nearestStationId);
+ }
+
+ private Integer resolveNearestRunBlockDirectReassignStationId(WrkMast wrkMast,
+ List<Integer> runBlockReassignLocStationList) {
+ if (wrkMast == null
+ || wrkMast.getStaNo() == null
+ || navigateUtils == null
+ || runBlockReassignLocStationList == null
+ || runBlockReassignLocStationList.isEmpty()) {
+ return null;
+ }
+ Integer targetStationId = wrkMast.getStaNo();
+ Integer cachedStationId = loadCachedNearestRunBlockDirectReassignStationId(targetStationId, runBlockReassignLocStationList);
+ if (cachedStationId != null) {
+ return cachedStationId;
+ }
+ Integer nearestStationId = null;
+ int nearestPathLen = Integer.MAX_VALUE;
+ for (Integer candidateStationId : runBlockReassignLocStationList) {
+ if (candidateStationId == null) {
+ continue;
+ }
+ List<NavigateNode> path = navigateUtils.calcOptimalPathByStationId(candidateStationId, targetStationId, wrkMast.getWrkNo(), null);
+ if (path == null || path.isEmpty()) {
+ continue;
+ }
+ int pathLen = countStationNodes(path);
+ if (pathLen <= 0) {
+ continue;
+ }
+ if (pathLen < nearestPathLen
+ || (pathLen == nearestPathLen && nearestStationId != null && candidateStationId < nearestStationId)) {
+ nearestStationId = candidateStationId;
+ nearestPathLen = pathLen;
+ }
+ }
+ cacheNearestRunBlockDirectReassignStationId(targetStationId, runBlockReassignLocStationList, nearestStationId);
+ return nearestStationId;
+ }
+
+ private Integer loadCachedNearestRunBlockDirectReassignStationId(Integer targetStationId,
+ List<Integer> runBlockReassignLocStationList) {
+ String cacheKey = buildNearestRunBlockDirectReassignCacheKey(targetStationId, runBlockReassignLocStationList);
+ if (cacheKey == null || redisUtil == null) {
+ return null;
+ }
+ Object cacheValue = redisUtil.get(cacheKey);
+ if (cacheValue == null) {
+ return null;
+ }
+ try {
+ Integer stationId = Integer.valueOf(String.valueOf(cacheValue));
+ return runBlockReassignLocStationList.contains(stationId) ? stationId : null;
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private void cacheNearestRunBlockDirectReassignStationId(Integer targetStationId,
+ List<Integer> runBlockReassignLocStationList,
+ Integer nearestStationId) {
+ String cacheKey = buildNearestRunBlockDirectReassignCacheKey(targetStationId, runBlockReassignLocStationList);
+ if (cacheKey == null || nearestStationId == null || redisUtil == null) {
+ return;
+ }
+ redisUtil.set(cacheKey, nearestStationId, RUN_BLOCK_DIRECT_REASSIGN_NEAREST_CACHE_SECONDS);
+ }
+
+ private String buildNearestRunBlockDirectReassignCacheKey(Integer targetStationId,
+ List<Integer> runBlockReassignLocStationList) {
+ if (targetStationId == null || runBlockReassignLocStationList == null || runBlockReassignLocStationList.isEmpty()) {
+ return null;
+ }
+ List<Integer> normalizedStationIdList = new ArrayList<>();
+ for (Integer stationId : runBlockReassignLocStationList) {
+ if (stationId != null && !normalizedStationIdList.contains(stationId)) {
+ normalizedStationIdList.add(stationId);
+ }
+ }
+ if (normalizedStationIdList.isEmpty()) {
+ return null;
+ }
+ Collections.sort(normalizedStationIdList);
+ return RedisKeyType.STATION_RUN_BLOCK_DIRECT_REASSIGN_NEAREST_CACHE_.key
+ + targetStationId
+ + "_"
+ + JSON.toJSONString(normalizedStationIdList);
+ }
+
+ private int countStationNodes(List<NavigateNode> path) {
+ if (path == null || path.isEmpty()) {
+ return 0;
+ }
+ int count = 0;
+ for (NavigateNode node : path) {
+ if (extractStationId(node) != null) {
+ count++;
+ }
+ }
+ return count;
+ }
+
+ private Integer extractStationId(NavigateNode node) {
+ if (node == null || Cools.isEmpty(node.getNodeValue())) {
+ return null;
+ }
+ try {
+ JSONObject valueObject = JSONObject.parseObject(node.getNodeValue());
+ return valueObject == null ? null : valueObject.getInteger("stationId");
+ } catch (Exception ignore) {
+ return null;
+ }
+ }
+
+ private boolean shouldSkipRunBlockStation(BasDevp basDevp, Integer stationId) {
if (basDevp == null || stationId == null) {
return false;
}
- return !containsStation(basDevp.getBarcodeStationList$(), stationId)
- && !containsStation(basDevp.getInStationList$(), stationId)
- && !containsStation(basDevp.getOutStationList$(), stationId);
+ return containsStation(basDevp.getBarcodeStationList$(), stationId)
+ || containsStation(basDevp.getInStationList$(), stationId);
}
private boolean containsStation(List<StationObjModel> stationList, Integer stationId) {
@@ -505,19 +526,10 @@
StationProtocol stationProtocol,
Integer taskNo,
Integer stationId) {
+ long startMs = System.currentTimeMillis();
boolean runBlockReroute = context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE;
- if (context.checkRecentDispatch()
- && shouldSkipIdleRecoverForRecentDispatch(taskNo, stationId)) {
- return RerouteExecutionResult.skip("recent-dispatch");
- }
int currentTaskBufferCommandCount = countCurrentTaskBufferCommands(stationProtocol.getTaskBufferItems(), taskNo);
if (currentTaskBufferCommandCount > 0 && !runBlockReroute) {
- if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
- News.info("杈撻�佺珯鐐逛换鍔″仠鐣欒秴鏃讹紝浣嗙紦瀛樺尯浠嶅瓨鍦ㄥ綋鍓嶄换鍔″懡浠わ紝宸茶烦杩囬噸绠椼�傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛屽綋鍓嶄换鍔″懡浠ゆ暟={}",
- stationId,
- taskNo,
- currentTaskBufferCommandCount);
- }
return RerouteExecutionResult.skip("buffer-has-current-task");
}
if (currentTaskBufferCommandCount > 0 && runBlockReroute) {
@@ -526,53 +538,65 @@
taskNo,
currentTaskBufferCommandCount);
}
- if (!runBlockReroute
+ long suppressStartMs = System.currentTimeMillis();
+ boolean suppressDispatch = !runBlockReroute
&& context.checkSuppressDispatch()
&& stationMoveCoordinator != null
- && stationMoveCoordinator.shouldSuppressDispatch(taskNo, stationId, plan.command())) {
+ && stationMoveCoordinator.shouldSuppressDispatch(taskNo, stationId, plan.command());
+ long suppressCostMs = System.currentTimeMillis() - suppressStartMs;
+ if (suppressDispatch) {
return RerouteExecutionResult.skip("dispatch-suppressed");
}
- if (context.requireOutOrderDispatchLock()
- && !stationDispatchRuntimeStateSupport.tryAcquireOutOrderDispatchLock(taskNo, stationId, OUT_ORDER_DISPATCH_LIMIT_SECONDS)) {
+ long outOrderLockStartMs = System.currentTimeMillis();
+ boolean outOrderLockAcquired = !context.requireOutOrderDispatchLock()
+ || stationDispatchRuntimeStateSupport.tryAcquireOutOrderDispatchLock(taskNo, stationId, OUT_ORDER_DISPATCH_LIMIT_SECONDS);
+ long outOrderLockCostMs = System.currentTimeMillis() - outOrderLockStartMs;
+ if (!outOrderLockAcquired) {
return RerouteExecutionResult.skip("out-order-lock");
}
- if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
- stationMoveCoordinator.markCancelPending(taskNo, "reroute_pending");
+ long sceneLockStartMs = System.currentTimeMillis();
+ boolean sceneLockAcquired = isBlank(context.executionLockKey())
+ || stationDispatchRuntimeStateSupport.tryAcquireLock(context.executionLockKey(), context.executionLockSeconds());
+ long sceneLockCostMs = System.currentTimeMillis() - sceneLockStartMs;
+ if (!sceneLockAcquired) {
+ return RerouteExecutionResult.skip("scene-lock");
}
-
- if (runBlockReroute) {
- if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
- stationMoveCoordinator.cancelSession(taskNo);
- }
- if (context.resetSegmentCommandsBeforeDispatch()) {
- stationDispatchRuntimeStateSupport.signalSegmentReset(taskNo, STATION_MOVE_RESET_WAIT_MS);
- }
- }
-
- if (!runBlockReroute
- && context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
- stationMoveCoordinator.cancelSession(taskNo);
- }
- if (!isBlank(context.executionLockKey())
- && !stationDispatchRuntimeStateSupport.tryAcquireLock(context.executionLockKey(), context.executionLockSeconds())) {
- return RerouteExecutionResult.skip("scene-lock");
- }
- if (!runBlockReroute && context.resetSegmentCommandsBeforeDispatch()) {
+ long resetCostMs = 0L;
+ if (context.resetSegmentCommandsBeforeDispatch()) {
+ long resetStartMs = System.currentTimeMillis();
stationDispatchRuntimeStateSupport.signalSegmentReset(taskNo, STATION_MOVE_RESET_WAIT_MS);
+ resetCostMs = System.currentTimeMillis() - resetStartMs;
}
int clearedCommandCount = 0;
- if (context.clearIdleIssuedCommands()) {
- clearedCommandCount = stationDispatchRuntimeStateSupport.clearIssuedMoveCommandsDuringIdleStay(context.idleTrack(), taskNo, stationId);
- }
+ long cancelSessionCostMs = 0L;
+ if (context.cancelSessionBeforeDispatch() && stationMoveCoordinator != null) {
+ long cancelSessionStartMs = System.currentTimeMillis();
+ stationMoveCoordinator.markCancelPending(taskNo, "reroute_pending");
+ stationMoveCoordinator.cancelSession(taskNo);
+ cancelSessionCostMs = System.currentTimeMillis() - cancelSessionStartMs;
+ }
+ long registerDispatchStartMs = System.currentTimeMillis();
+ preRegisterDispatchSession(context, plan);
+ long registerDispatchCostMs = System.currentTimeMillis() - registerDispatchStartMs;
+
+ long offerDispatchStartMs = System.currentTimeMillis();
boolean offered = offerDevpCommandWithDedup(context.dispatchDeviceNo(), plan.command(), plan.dispatchScene());
+ long offerDispatchCostMs = System.currentTimeMillis() - offerDispatchStartMs;
if (!offered) {
return RerouteExecutionResult.skip("dispatch-dedup");
}
applyRerouteDispatchEffects(context, plan, clearedCommandCount);
+ long totalCostMs = System.currentTimeMillis() - startMs;
+ log.info("executeReroutePlanWithTaskLock profile, sceneType={}, taskNo={}, stationId={}, suppressCostMs={}ms, outOrderLockCostMs={}ms, sceneLockCostMs={}ms, resetCostMs={}ms, cancelSessionCostMs={}ms, registerDispatchCostMs={}ms, offerDispatchCostMs={}ms, totalCostMs={}ms",
+ context.sceneType(), taskNo, stationId, suppressCostMs, outOrderLockCostMs, sceneLockCostMs, resetCostMs, cancelSessionCostMs, registerDispatchCostMs, offerDispatchCostMs, totalCostMs);
+ if (totalCostMs > EXECUTE_REROUTE_PLAN_SLOW_THRESHOLD_MS) {
+ log.warn("executeReroutePlanWithTaskLock slow, sceneType={}, taskNo={}, stationId={}, totalCostMs={}ms, resetCostMs={}ms, registerDispatchCostMs={}ms, offerDispatchCostMs={}ms",
+ context.sceneType(), taskNo, stationId, totalCostMs, resetCostMs, registerDispatchCostMs, offerDispatchCostMs);
+ }
return RerouteExecutionResult.dispatched(plan.command(), clearedCommandCount);
}
@@ -583,6 +607,24 @@
}
RerouteCommandPlan plan = buildRerouteCommandPlan(context, decision);
return executeReroutePlan(context, plan);
+ }
+
+ private void preRegisterDispatchSession(RerouteContext context, RerouteCommandPlan plan) {
+ if (context == null || plan == null || plan.command() == null || context.wrkMast() == null || context.stationProtocol() == null) {
+ return;
+ }
+ if (stationMoveCoordinator == null) {
+ return;
+ }
+ OutOrderDispatchDecision dispatchDecision =
+ plan.decision() == null ? null : plan.decision().dispatchDecision();
+ stationMoveCoordinator.recordDispatch(
+ context.wrkMast().getWrkNo(),
+ context.stationProtocol().getStationId(),
+ plan.dispatchScene(),
+ plan.command(),
+ dispatchDecision != null && dispatchDecision.isCircle()
+ );
}
private void applyRerouteDispatchEffects(RerouteContext context,
@@ -603,26 +645,6 @@
dispatchDecision,
plan.command()
);
- if (stationMoveCoordinator != null) {
- stationMoveCoordinator.recordDispatch(
- wrkMast.getWrkNo(),
- stationProtocol.getStationId(),
- plan.dispatchScene(),
- plan.command(),
- dispatchDecision != null && dispatchDecision.isCircle()
- );
- }
- if (context.sceneType() == RerouteSceneType.IDLE_RECOVER) {
- stationDispatchRuntimeStateSupport.saveIdleTrack(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={}锛屾竻鐞嗘棫鍒嗘鍛戒护鏁�={}锛屽懡浠ゆ暟鎹�={}",
- STATION_IDLE_RECOVER_SECONDS,
- stationProtocol.getStationId(),
- plan.command().getTargetStaNo(),
- wrkMast.getWrkNo(),
- clearedCommandCount,
- JSON.toJSONString(plan.command()));
- return;
- }
if (context.sceneType() == RerouteSceneType.RUN_BLOCK_REROUTE) {
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(),
@@ -633,51 +655,6 @@
if (context.sceneType() == RerouteSceneType.OUT_ORDER) {
News.info(dispatchDecision != null && dispatchDecision.isCircle() ? "{}浠诲姟杩涜缁曞湀" : "{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
}
- }
-
- private void checkStationIdleRecover(BasDevp basDevp,
- StationThread stationThread,
- StationProtocol stationProtocol,
- List<Integer> outOrderList) {
- if (stationProtocol == null || stationProtocol.getTaskNo() == null || stationProtocol.getTaskNo() <= 0) {
- return;
- }
- if (!Objects.equals(stationProtocol.getStationId(), stationProtocol.getTargetStaNo())) {
- return;
- }
-
- StationTaskIdleTrack idleTrack = stationDispatchRuntimeStateSupport.touchIdleTrack(stationProtocol.getTaskNo(), stationProtocol.getStationId());
- if (shouldSkipIdleRecoverForRecentDispatch(stationProtocol.getTaskNo(), stationProtocol.getStationId())) {
- return;
- }
- if (idleTrack == null || !idleTrack.isTimeout(STATION_IDLE_RECOVER_SECONDS)) {
- return;
- }
-
- WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
- if (!canRecoverIdleStationTask(wrkMast, stationProtocol.getStationId())) {
- return;
- }
-
- Object lock = redisUtil.get(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo());
- if (lock != null) {
- return;
- }
- Double pathLenFactor = stationOutboundDecisionSupport.resolveOutboundPathLenFactor(wrkMast);
- RerouteContext context = RerouteContext.create(
- RerouteSceneType.IDLE_RECOVER,
- basDevp,
- stationThread,
- stationProtocol,
- wrkMast,
- outOrderList,
- pathLenFactor,
- "checkStationIdleRecover"
- ).withCancelSessionBeforeDispatch()
- .withExecutionLock(RedisKeyType.CHECK_STATION_IDLE_RECOVER_LIMIT_.key + stationProtocol.getTaskNo(), STATION_IDLE_RECOVER_LIMIT_SECONDS)
- .withResetSegmentCommandsBeforeDispatch()
- .clearIdleIssuedCommands(idleTrack);
- executeSharedReroute(context);
}
private void executeRunBlockDirectReassign(BasDevp basDevp,
@@ -692,14 +669,18 @@
stationProtocol.getTaskNo()
);
if (currentTaskBufferCommandCount > 0) {
- News.info("杈撻�佺珯鐐硅繍琛屽牭濉為噸鍒嗛厤宸茶烦杩囷紝缂撳瓨鍖轰粛瀛樺湪褰撳墠浠诲姟鍛戒护銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛屽綋鍓嶄换鍔″懡浠ゆ暟={}",
+ News.info("杈撻�佺珯鐐硅繍琛屽牭濉為噸鍒嗛厤妫�娴嬪埌鏃у垎娈靛懡浠ゆ畫鐣欙紝灏嗗厛閲嶇疆鏈湴鍒嗘鐘舵�佸悗缁х画閲嶅彂銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}锛屽綋鍓嶄换鍔″懡浠ゆ暟={}",
stationProtocol.getStationId(),
stationProtocol.getTaskNo(),
currentTaskBufferCommandCount);
- return;
}
- if (stationMoveCoordinator != null) {
- stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
+ if (stationDispatchRuntimeStateSupport.hasRunBlockDirectReassignLimit(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId())) {
+ News.info("杈撻�佺珯鐐硅繍琛屽牭濉為噸鍒嗛厤宸茶烦杩囷紝8鍒嗛挓鍐呬笉鍏佽閲嶅鐢宠銆傜珯鐐瑰彿={}锛屽伐浣滃彿={}",
+ stationProtocol.getStationId(),
+ wrkMast.getWrkNo());
+ return;
}
String response = wmsOperateUtils.applyReassignTaskLocNo(wrkMast.getWrkNo(), stationProtocol.getStationId());
if (Cools.isEmpty(response)) {
@@ -777,11 +758,14 @@
if (!wrkMastService.updateById(wrkMast)) {
return;
}
- boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
- if (!offered) {
- return;
- }
+ stationDispatchRuntimeStateSupport.recordRunBlockDirectReassignLimit(
+ wrkMast.getWrkNo(),
+ stationProtocol.getStationId(),
+ RUN_BLOCK_DIRECT_REASSIGN_LIMIT_SECONDS);
+ stationDispatchRuntimeStateSupport.signalSegmentReset(wrkMast.getWrkNo(), STATION_MOVE_RESET_WAIT_MS);
if (stationMoveCoordinator != null) {
+ stationMoveCoordinator.markCancelPending(wrkMast.getWrkNo(), "reroute_pending");
+ stationMoveCoordinator.cancelSession(wrkMast.getWrkNo());
stationMoveCoordinator.recordDispatch(
wrkMast.getWrkNo(),
stationProtocol.getStationId(),
@@ -790,17 +774,10 @@
false
);
}
- }
-
- private boolean canRecoverIdleStationTask(WrkMast wrkMast, Integer currentStationId) {
- if (wrkMast == null || currentStationId == null || wrkMast.getStaNo() == null) {
- return false;
+ boolean offered = offerDevpCommandWithDedup(basDevp.getDevpNo(), command, "checkStationRunBlock_direct");
+ if (!offered) {
+ News.warn("杈撻�佺珯鐐瑰牭濉炵洿娲惧懡浠ゅ叆闃熻鎷掔粷(鍙兘閲嶅)锛岀珯鐐瑰彿={}锛屽伐浣滃彿={}", stationProtocol.getStationId(), wrkMast.getWrkNo());
}
- if (Objects.equals(currentStationId, wrkMast.getStaNo())) {
- return false;
- }
- return Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN.sts)
- || Objects.equals(wrkMast.getWrkSts(), WrkStsType.STATION_RUN.sts);
}
private int countCurrentTaskBufferCommands(List<StationTaskBufferItem> taskBufferItems, Integer currentTaskNo) {
--
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