#

Junjie

17 小时以前 103ca74d9b67ce4f766b5f77451741a76fa696b9

 src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java

@@ -238,6 +238,16 @@
                                     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);
@@ -246,7 +256,7 @@
        stationCommand.setCommandType(commandType);

        if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
            List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
            List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
            return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
        }
        return stationCommand;
@@ -257,11 +267,20 @@
                                                                 Integer stationId,
                                                                 Integer targetStationId,
                                                                 Integer palletSize) {
        return getRunBlockRerouteCommand(taskNo, stationId, targetStationId, palletSize, null);
    }

    @Override
    public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
                                                                 Integer stationId,
                                                                 Integer targetStationId,
                                                                 Integer palletSize,
                                                                 Double pathLenFactor) {
        if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
            return null;
        }
        if (Objects.equals(stationId, targetStationId)) {
            return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
            return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize, pathLenFactor);
        }

        RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
@@ -281,7 +300,7 @@
        rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
        rerouteState.setLastPlanTime(System.currentTimeMillis());

        List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
        List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
        if (candidatePathList.isEmpty()) {
            saveRunBlockRerouteState(rerouteState);
            log.warn("输送线堵塞重规划失败，候选路径为空，taskNo={}, planCount={}, stationId={}, targetStationId={}",
@@ -384,22 +403,26 @@
        return zyStationConnectDriver.readOriginCommand(address, length);
    }

    private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, 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, taskNo);
        return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
    }

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

    private StationCommand buildMoveCommand(Integer taskNo,