@Override
public void initialize() {
    if (isInitialized()) {
        return;
    }

    LOG.debug("Initializing...");

    transportOrderUtil.initialize();
    orderReservationPool.clear();

    fullDispatchTask.initialize();

    implicitDispatchTrigger = new ImplicitDispatchTrigger(this);
    eventSource.subscribe(implicitDispatchTrigger);

    LOG.debug("Scheduling periodic dispatch task with interval of {} ms...", configuration.idleVehicleRedispatchingInterval());
    periodicDispatchTaskFuture = kernelExecutor.scheduleAtFixedRate(periodicDispatchTaskProvider.get(), configuration.idleVehicleRedispatchingInterval(), configuration.idleVehicleRedispatchingInterval(), TimeUnit.MILLISECONDS);

    initialized = true;
}

@Override
public final void run() {
    LOG.debug("Starting full dispatch run...");
    //检查仍然处于原始状态的运输订单，并尝试为它们准备*分配
    checkNewOrdersPhase.run();
    // Check what vehicles involved in a process should do.
    //在车辆停止后，完成运输订单的撤销。
    finishWithdrawalsPhase.run();
    //分配下一个驱动器订单给等待它的每辆车，或者如果车辆已经完成了它的最后一个驱动器订单，则完成相应的传输订单
    assignNextDriveOrdersPhase.run();
    //按车辆的顺序(如果有的话)将车辆分配给下一个运输订单
    assignSequenceSuccessorsPhase.run();
    // Check what vehicles not already in a process should do.
    assignOrders();
    rechargeVehicles();
    parkVehicles();

    LOG.debug("Finished full dispatch run.");
}

/**
 * Assignment of orders to vehicles.
 * <p>
 * Default: Assigns reserved and then free orders to vehicles.
 * </p>
 */
protected void assignOrders() {
    //分配预留的运输订单(如果有的话)给刚完成他们的已撤回订单的车辆。
    assignReservedOrdersPhase.run();
    //将运输订单分配给当前未处理且未绑定到任何订单序列的车辆
    assignFreeOrdersPhase.run();
}

/**
 * Recharging of vehicles.
 * <p>
 * Default: Sends idle vehicles with a degraded energy level to recharge locations.
 * </p>
 */
protected void rechargeVehicles() {
    rechargeIdleVehiclesPhase.run();
}

/**
 * Parking of vehicles.
 * <p>
 * Default: Sends idle vehicles to parking positions.
 * </p>
 */
protected void parkVehicles() {
    prioritizedReparkPhase.run();
    prioritizedParkingPhase.run();
    parkIdleVehiclesPhase.run();
}