#

Junjie

10 小时以前 26784989e73fc36c6315e54939d1b13a50eb5020

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

@@ -28,6 +28,7 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
@@ -171,6 +172,7 @@
                    stationProtocol.setEnableIn(statusEntity.isEnableIn());
                    stationProtocol.setWeight(statusEntity.getWeight());
                    stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
                    stationProtocol.setTaskBufferItems(statusEntity.getTaskBufferItems());
                }

                if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -238,6 +240,16 @@
                                     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 +258,7 @@
        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 +269,20 @@
                                                                 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 +302,7 @@
        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={}",
@@ -334,6 +355,45 @@
    }

    @Override
    public synchronized boolean clearPath(Integer taskNo) {
        if (taskNo == null || taskNo <= 0) {
            return false;
        }
        if (zyStationConnectDriver == null) {
            return false;
        }
        List<StationProtocol> status = getStatus();
        if (status == null || status.isEmpty()) {
            return false;
        }

        boolean found = false;
        boolean success = true;
        for (StationProtocol stationProtocol : status) {
            List<StationTaskBufferItem> taskBufferItems = stationProtocol == null ? null : stationProtocol.getTaskBufferItems();
            if (taskBufferItems == null || taskBufferItems.isEmpty()) {
                continue;
            }
            Integer stationId = stationProtocol.getStationId();
            for (StationTaskBufferItem item : taskBufferItems) {
                if (item == null || !Objects.equals(taskNo, item.getTaskNo())) {
                    continue;
                }
                found = true;
                if (!zyStationConnectDriver.clearTaskBufferSlot(stationId, item.getSlotIdx())) {
                    success = false;
                    log.warn("输送站缓存区残留路径清理失败。stationId={}, slotIdx={}, taskNo={}",
                            stationId, item.getSlotIdx(), item.getTaskNo());
                    continue;
                }
                item.setTaskNo(0);
                item.setTargetStaNo(0);
            }
        }
        return found && success;
    }

    @Override
    public CommandResponse sendCommand(StationCommand command) {
        CommandResponse commandResponse = null;
        try {
@@ -342,6 +402,9 @@
            e.printStackTrace();
        } finally {
            BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
            if (optService == null) {
                return commandResponse;
            }
            List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
            ZyStationStatusEntity matched = null;
            if (statusListEntity != null) {
@@ -364,12 +427,10 @@
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(matched),
                    1,
                    commandResponse != null && Boolean.TRUE.equals(commandResponse.getResult()) ? 1 : 0,
                    JSON.toJSONString(commandResponse)
            );
            if (optService != null) {
                optService.save(basStationOpt);
            }
            optService.save(basStationOpt);
        }
        return commandResponse;
    }
@@ -384,22 +445,26 @@
        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,