#

Junjie

22 小时以前 d193355c76cfbec572408f9a256c970699c9a542

 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;
@@ -303,6 +307,7 @@
    }

    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);
@@ -424,7 +429,7 @@
                    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) {
@@ -452,6 +457,51 @@
        }
    }

    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;
        }
    }

    private StationProtocol findCurrentStationByTask(Integer taskNo) {
        try {
            com.zy.asrs.service.DeviceConfigService deviceConfigService = SpringUtils.getBean(com.zy.asrs.service.DeviceConfigService.class);