#

Junjie

10 小时以前 1319a98367d2dd98bac4872afc9dfc117614b590

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

@@ -143,6 +143,7 @@
                    stationProtocol.setRunBlock(statusEntity.isRunBlock());
                    stationProtocol.setEnableIn(statusEntity.isEnableIn());
                    stationProtocol.setWeight(statusEntity.getWeight());
                    stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
                }

                if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -213,8 +214,25 @@

        if (commandType == StationCommandType.MOVE) {
            if (!stationId.equals(targetStationId)) {
                List<Integer> path = calcPathStationIds(stationId, targetStationId);
                List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
                List<Integer> path = new ArrayList<>();
                List<Integer> liftTransferPath = new ArrayList<>();
                for (NavigateNode n : nodes) {
                    JSONObject v = JSONObject.parseObject(n.getNodeValue());
                    if (v == null) {
                        continue;
                    }
                    Integer stationNo = v.getInteger("stationId");
                    if (stationNo == null) {
                        continue;
                    }
                    path.add(stationNo);
                    if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
                        liftTransferPath.add(stationNo);
                    }
                }
                stationCommand.setNavigatePath(path);
                stationCommand.setLiftTransferPath(liftTransferPath);
            }
        }
        return stationCommand;
@@ -271,65 +289,100 @@
        return zyStationConnectDriver.readOriginCommand(address, length);
    }

    private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
    private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
        NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
        if (navigateUtils == null) {
            return new ArrayList<>();
        }
        List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
        List<Integer> ids = new ArrayList<>();
        for (NavigateNode n : nodes) {
            JSONObject v = JSONObject.parseObject(n.getNodeValue());
            if (v != null) {
                ids.add(v.getInteger("stationId"));
            }
        }
        return ids;
        return navigateUtils.calcByStationId(startStationId, targetStationId);
    }

    private void executeMoveWithSeg(StationCommand original) {
        int stationCommandSendLength = 20;
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj != null) {
            try {
                HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
                String stationCommandSendLengthStr = systemConfigMap.get("stationCommandSendLength");
                if(stationCommandSendLengthStr != null){
                    stationCommandSendLength = Integer.parseInt(stationCommandSendLengthStr);
                }
            } catch (Exception ignore) {}
        }

        if(original.getCommandType() == StationCommandType.MOVE){
            List<Integer> path = JSON.parseArray(JSON.toJSONString(original.getNavigatePath(), SerializerFeature.DisableCircularReferenceDetect), Integer.class);
            List<Integer> liftTransferPath = JSON.parseArray(JSON.toJSONString(original.getLiftTransferPath(), SerializerFeature.DisableCircularReferenceDetect), Integer.class);
            if (path == null || path.isEmpty()) {
                // 同站点任务不会生成路径，但仍需下发命令写入任务数据
                if (Objects.equals(original.getStationId(), original.getTargetStaNo())) {
                    while (true) {
                        CommandResponse commandResponse = sendCommand(original);
                        if (commandResponse != null && commandResponse.getResult()) {
                            break;
                        }
                        try {
                            Thread.sleep(200);
                        } catch (Exception ignore) {}
                    }
                }
                return;
            }

            int total = path.size();
            List<Integer> segmentTargets = new ArrayList<>();
            List<Integer> segmentEndIndices = new ArrayList<>();
            int idx = 0;
            while (idx < total) {
                int end = Math.min(idx + stationCommandSendLength, total) - 1;
                segmentTargets.add(path.get(end));
                segmentEndIndices.add(end);
                idx = end + 1;
            if (liftTransferPath != null) {
                for (Integer liftTransferStationId : liftTransferPath) {
                    int endIndex = path.indexOf(liftTransferStationId);
                    // 避免以起点作为切点导致空分段
                    if (endIndex <= 0) {
                        continue;
                    }
                    if (segmentEndIndices.isEmpty() || endIndex > segmentEndIndices.get(segmentEndIndices.size() - 1)) {
                        segmentEndIndices.add(endIndex);
                    }
                }
            }
            if (segmentEndIndices.isEmpty() || segmentEndIndices.get(segmentEndIndices.size() - 1) != total - 1) {
                segmentEndIndices.add(total - 1);
            }

            List<StationCommand> segmentCommands = new ArrayList<>();
            int buildStartIdx = 0;
            for (Integer endIdx : segmentEndIndices) {
                if (endIdx == null || endIdx < buildStartIdx) {
                    continue;
                }
                List<Integer> segmentPath = new ArrayList<>(path.subList(buildStartIdx, endIdx + 1));
                if (segmentPath.isEmpty()) {
                    buildStartIdx = endIdx + 1;
                    continue;
                }

                StationCommand segmentCommand = new StationCommand();
                segmentCommand.setTaskNo(original.getTaskNo());
                segmentCommand.setCommandType(original.getCommandType());
                segmentCommand.setPalletSize(original.getPalletSize());
                segmentCommand.setBarcode(original.getBarcode());
                segmentCommand.setOriginalNavigatePath(path);
                segmentCommand.setNavigatePath(segmentPath);
                // 每段命令：起点=当前段首站点，终点=当前段末站点
                segmentCommand.setStationId(segmentPath.get(0));
                segmentCommand.setTargetStaNo(segmentPath.get(segmentPath.size() - 1));
                segmentCommands.add(segmentCommand);

                // 分段边界点需要同时作为下一段的起点（例如 [221,220,219] + [219,213,212]）
                buildStartIdx = endIdx;
            }

            if (segmentCommands.isEmpty()) {
                return;
            }

            int segCursor = 0;
            Integer currentTarget = segmentTargets.get(segCursor);
            Integer currentEndIdx = segmentEndIndices.get(segCursor);
            Integer currentStartIdx = 0;

            StationCommand segCmd = new StationCommand();
            segCmd.setTaskNo(original.getTaskNo());
            segCmd.setStationId(original.getStationId());
            segCmd.setTargetStaNo(original.getTargetStaNo());
            segCmd.setCommandType(original.getCommandType());
            segCmd.setPalletSize(original.getPalletSize());
            segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
            sendCommand(segCmd);
            while (true) {
                CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
                if (commandResponse == null) {
                    try {
                        Thread.sleep(200);
                    } catch (Exception ignore) {}
                    continue;
                }
                if (commandResponse.getResult()) {
                    break;
                }
                try {
                    Thread.sleep(200);
                } catch (Exception ignore) {}
            }

            long runTime = System.currentTimeMillis();
            boolean firstRun = true;
@@ -362,26 +415,15 @@
                    if (remaining <= 0) {
                        break;
                    }
                    int currentSegEndIndex = path.indexOf(segmentTargets.get(segCursor));
                    int currentSegStartIndex = segCursor == 0 ? 0 : path.indexOf(segmentTargets.get(segCursor - 1)) + 1;
                    int currentSegEndIndex = segmentEndIndices.get(segCursor);
                    int currentSegStartIndex = segCursor == 0 ? 0 : segmentEndIndices.get(segCursor - 1);
                    int segLen = currentSegEndIndex - currentSegStartIndex + 1;
                    int remainingSegment = Math.max(0, currentSegEndIndex - currentIndex);
                    int thresholdSegment = (int) Math.ceil(segLen * 0.3);
                    if (remainingSegment <= thresholdSegment && segCursor < segmentTargets.size() - 1) {
                    if (remainingSegment <= thresholdSegment && segCursor < segmentCommands.size() - 1) {
                        segCursor++;
                        currentEndIdx = segmentEndIndices.get(segCursor);
                        currentStartIdx = segmentEndIndices.get(segCursor - 1) + 1;

                        StationCommand nextCmd = new StationCommand();
                        nextCmd.setTaskNo(original.getTaskNo());
                        nextCmd.setStationId(original.getStationId());
                        nextCmd.setTargetStaNo(original.getTargetStaNo());
                        nextCmd.setCommandType(original.getCommandType());
                        nextCmd.setPalletSize(original.getPalletSize());
                        nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
                        nextCmd.setOriginalNavigatePath(path);
                        while (true) {
                            CommandResponse commandResponse = sendCommand(nextCmd);
                            CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
                            if (commandResponse == null) {
                                Thread.sleep(200);
                                continue;