#双工位堆垛机任务下发控制优化

Junjie

8 小时以前 f305e5244e059c5e43566412f69b180e2e790026

 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())) {
@@ -301,6 +302,18 @@
            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;
            }