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Junjie

17 小时以前 103ca74d9b67ce4f766b5f77451741a76fa696b9

 src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java

@@ -214,6 +214,16 @@

    @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);
@@ -223,7 +233,7 @@

        if (commandType == StationCommandType.MOVE) {
            if (!stationId.equals(targetStationId)) {
                List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
                List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
                List<Integer> path = new ArrayList<>();
                List<Integer> liftTransferPath = new ArrayList<>();
                for (NavigateNode n : nodes) {
@@ -303,12 +313,15 @@
        return zyStationConnectDriver.readOriginCommand(address, length);
    }

    private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
    private List<NavigateNode> calcPathNavigateNodes(Integer taskNo,
                                                     Integer startStationId,
                                                     Integer targetStationId,
                                                     Double pathLenFactor) {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new ArrayList<>();
        }
        return navigateUtils.calcByStationId(startStationId, targetStationId);
        return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
    }

    private void executeMoveWithSeg(StationCommand original) {