#V5 beta

Junjie

15 小时以前 9ed9cd2e6f619c84732ae6715699b160c404684c

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

@@ -30,6 +30,7 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
import com.zy.core.thread.impl.v5.StationMoveSegmentExecutor;
import com.zy.core.utils.DeviceLogRedisKeyBuilder;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -51,6 +52,7 @@
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ZyStationConnectDriver zyStationConnectDriver;
    private StationMoveSegmentExecutor segmentExecutor;
    private int deviceLogCollectTime = 200;
    private boolean initStatus = false;
    private long deviceDataLogTime = System.currentTimeMillis();
@@ -59,6 +61,7 @@
    public ZyStationV4Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
        this.segmentExecutor = new StationMoveSegmentExecutor(deviceConfig, redisUtil, this::sendCommand);
    }

    @Override
@@ -92,7 +95,7 @@
                    }
                    if (step == 2) {
                        StationCommand cmd = (StationCommand) task.getData();
                        executor.submit(() -> executeMoveWithSeg(cmd));
                        executor.submit(() -> segmentExecutor.execute(cmd));
                    }
                    Thread.sleep(100);
                } catch (Exception e) {
@@ -153,6 +156,7 @@
                    stationProtocol.setEnableIn(statusEntity.isEnableIn());
                    stationProtocol.setWeight(statusEntity.getWeight());
                    stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
                    stationProtocol.setTaskBufferItems(statusEntity.getTaskBufferItems());
                }

                if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -214,6 +218,16 @@

    @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 +237,7 @@

        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) {
@@ -261,6 +275,9 @@
            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) {
@@ -283,12 +300,10 @@
                    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;
    }
@@ -303,12 +318,15 @@
        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) {