#

Junjie

12 小时以前 103ca74d9b67ce4f766b5f77451741a76fa696b9

 src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java

@@ -209,6 +209,16 @@

    @Override
    public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
        return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
    }

    @Override
    public StationCommand getCommand(StationCommandType commandType,
                                     Integer taskNo,
                                     Integer stationId,
                                     Integer targetStationId,
                                     Integer palletSize,
                                     Double pathLenFactor) {
        StationCommand stationCommand = new StationCommand();
        stationCommand.setTaskNo(taskNo);
        stationCommand.setStationId(stationId);
@@ -218,7 +228,7 @@

        if (commandType == StationCommandType.MOVE) {
            if (!stationId.equals(targetStationId)) {
                List<Integer> path = calcPathStationIds(stationId, targetStationId);
                List<Integer> path = calcPathStationIds(taskNo, stationId, targetStationId, pathLenFactor);
                if (path == null || path.isEmpty()) {
                    log.warn("输送线命令生成失败，路径为空，taskNo={}, stationId={}, targetStationId={}",
                            taskNo, stationId, targetStationId);
@@ -281,12 +291,15 @@
        return zyStationConnectDriver.readOriginCommand(address, length);
    }

    private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
    private List<Integer> calcPathStationIds(Integer taskNo,
                                             Integer startStationId,
                                             Integer targetStationId,
                                             Double pathLenFactor) {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new ArrayList<>();
        }
        List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
        List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
        List<Integer> ids = new ArrayList<>();
        for (NavigateNode n : nodes) {
            JSONObject v = JSONObject.parseObject(n.getNodeValue());
@@ -339,7 +352,9 @@
            segCmd.setCommandType(original.getCommandType());
            segCmd.setPalletSize(original.getPalletSize());
            segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
            sendCommand(segCmd);
            if (!sendSegmentWithRetry(segCmd, original.getTaskNo())) {
                return;
            }

            long runTime = System.currentTimeMillis();
            boolean firstRun = true;
@@ -390,18 +405,8 @@
                        nextCmd.setPalletSize(original.getPalletSize());
                        nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
                        nextCmd.setOriginalNavigatePath(path);
                        while (true) {
                            CommandResponse commandResponse = sendCommand(nextCmd);
                            if (commandResponse == null) {
                                Thread.sleep(200);
                                continue;
                            }

                            if (commandResponse.getResult()) {
                                break;
                            }

                            Thread.sleep(200);
                        if (!sendSegmentWithRetry(nextCmd, original.getTaskNo())) {
                            break;
                        }
                    }
                    Thread.sleep(500);
@@ -443,4 +448,36 @@
        }
        return null;
    }

    private boolean sendSegmentWithRetry(StationCommand command, Integer taskNo) {
        while (true) {
            if (isTaskMoveReset(taskNo)) {
                return false;
            }
            CommandResponse commandResponse = sendCommand(command);
            if (commandResponse == null) {
                sleepQuietly(200L);
                continue;
            }
            if (commandResponse.getResult()) {
                return true;
            }
            sleepQuietly(200L);
        }
    }

    private boolean isTaskMoveReset(Integer taskNo) {
        if (taskNo == null || redisUtil == null) {
            return false;
        }
        Object cancel = redisUtil.get(RedisKeyType.DEVICE_STATION_MOVE_RESET.key + taskNo);
        return cancel != null;
    }

    private void sleepQuietly(long millis) {
        try {
            Thread.sleep(millis);
        } catch (Exception ignore) {
        }
    }
}