From fd5f427018a1d308da9fcb4104c9f5340419ee78 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 10:50:01 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 166 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 136 insertions(+), 30 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..eb1a6a7 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;
@@ -784,6 +786,9 @@
&& currentBatchSeq.equals(wrkMast.getBatchSeq());
}
if (toTarget) {
+ if (!hasReachableOutReleaseSlot(currentStationId, wrkMast.getStaNo())) {
+ return null;
+ }
return new OutOrderDispatchDecision(wrkMast.getStaNo(), false);
}
@@ -845,8 +850,8 @@
try {
List<NavigateNode> nodes = navigateUtils.calcByStationId(currentStationId, finalTargetStationId);
- for (int i = nodes.size() - 1; i >= 0; i--) {
- Integer stationId = getStationIdFromNode(nodes.get(i));
+ for (NavigateNode node : nodes) {
+ Integer stationId = getStationIdFromNode(node);
if (stationId == null) {
continue;
}
@@ -859,6 +864,59 @@
}
} 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 +1016,6 @@
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 +1029,8 @@
}
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 +1047,8 @@
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 +1062,91 @@
|| 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) {
--
Gitblit v1.9.1