#

Junjie

16 小时以前 205cb40876114827a2134c29fde159e063e81454

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

@@ -31,6 +31,8 @@
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
import com.zy.core.utils.DeviceLogRedisKeyBuilder;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

@@ -42,6 +44,8 @@
@Data
@Slf4j
public class ZyStationV4Thread implements Runnable, com.zy.core.thread.StationThread {
    private static final String CFG_STATION_COMMAND_SEGMENT_ADVANCE_RATIO = "stationCommandSegmentAdvanceRatio";
    private static final double DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO = 0.3d;

    private List<StationProtocol> statusList = new ArrayList<>();
    private DeviceConfig deviceConfig;
@@ -236,6 +240,11 @@
                        liftTransferPath.add(stationNo);
                    }
                }
                if (path.isEmpty()) {
                    log.warn("输送线命令生成失败，路径为空，taskNo={}, stationId={}, targetStationId={}",
                            taskNo, stationId, targetStationId);
                    return null;
                }
                stationCommand.setNavigatePath(path);
                stationCommand.setLiftTransferPath(liftTransferPath);
            }
@@ -303,6 +312,7 @@
    }

    private void executeMoveWithSeg(StationCommand original) {
        double segmentAdvanceRatio = loadSegmentAdvanceRatio();
        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);
@@ -373,20 +383,8 @@
            }

            int segCursor = 0;
            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) {}
            if (!sendSegmentWithRetry(segmentCommands.get(segCursor), original.getTaskNo())) {
                return;
            }

            long runTime = System.currentTimeMillis();
@@ -424,21 +422,11 @@
                    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);
                    int thresholdSegment = (int) Math.ceil(segLen * segmentAdvanceRatio);
                    if (remainingSegment <= thresholdSegment && segCursor < segmentCommands.size() - 1) {
                        segCursor++;
                        while (true) {
                            CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
                            if (commandResponse == null) {
                                Thread.sleep(200);
                                continue;
                            }

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

                            Thread.sleep(200);
                        if (!sendSegmentWithRetry(segmentCommands.get(segCursor), original.getTaskNo())) {
                            break;
                        }
                    }
                    Thread.sleep(500);
@@ -449,6 +437,51 @@
            }
        }else {
            sendCommand(original);
        }
    }

    private double loadSegmentAdvanceRatio() {
        try {
            ConfigService configService = SpringUtils.getBean(ConfigService.class);
            if (configService == null) {
                return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
            }
            Config config = configService.getOne(new QueryWrapper<Config>()
                    .eq("code", CFG_STATION_COMMAND_SEGMENT_ADVANCE_RATIO));
            if (config == null || Cools.isEmpty(config.getValue())) {
                return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
            }
            return normalizeSegmentAdvanceRatio(config.getValue());
        } catch (Exception ignore) {
            return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
        }
    }

    private double normalizeSegmentAdvanceRatio(String valueText) {
        if (valueText == null) {
            return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
        }
        String text = valueText.trim();
        if (text.isEmpty()) {
            return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
        }
        if (text.endsWith("%")) {
            text = text.substring(0, text.length() - 1).trim();
        }
        try {
            double ratio = Double.parseDouble(text);
            if (ratio > 1d && ratio <= 100d) {
                ratio = ratio / 100d;
            }
            if (ratio < 0d) {
                return 0d;
            }
            if (ratio > 1d) {
                return 1d;
            }
            return ratio;
        } catch (Exception ignore) {
            return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
        }
    }

@@ -480,4 +513,36 @@
        }
        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) {
        }
    }
}