#

Junjie

2026-01-15 34b2641f4a039d4e1dcf8f4a93dd7928616c4b11

 src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java

@@ -2,6 +2,7 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
@@ -282,11 +283,20 @@
    }

    private void executeMoveWithSeg(StationCommand original) {
        int stationCommandSendLength = 20;
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj != null) {
            try {
                HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
                String stationCommandSendLengthStr = systemConfigMap.get("stationCommandSendLength");
                if(stationCommandSendLengthStr != null){
                    stationCommandSendLength = Integer.parseInt(stationCommandSendLengthStr);
                }
            } catch (Exception ignore) {}
        }

        if(original.getCommandType() == StationCommandType.MOVE){
            List<Integer> path = original.getNavigatePath();
            if (path == null || path.isEmpty()) {
                path = calcPathStationIds(original.getStationId(), original.getTargetStaNo());
            }
            List<Integer> path = JSON.parseArray(JSON.toJSONString(original.getNavigatePath(), SerializerFeature.DisableCircularReferenceDetect), Integer.class);
            if (path == null || path.isEmpty()) {
                return;
            }
@@ -296,7 +306,7 @@
            List<Integer> segmentEndIndices = new ArrayList<>();
            int idx = 0;
            while (idx < total) {
                int end = Math.min(idx + 3, total) - 1;
                int end = Math.min(idx + stationCommandSendLength, total) - 1;
                segmentTargets.add(path.get(end));
                segmentEndIndices.add(end);
                idx = end + 1;
@@ -317,6 +327,7 @@
            sendCommand(segCmd);

            long runTime = System.currentTimeMillis();
            boolean firstRun = true;
            while (true) {
                try {
                    StationProtocol currentStation = findCurrentStationByTask(original.getTaskNo());
@@ -329,7 +340,7 @@
                    }

                    runTime = System.currentTimeMillis();
                    if (currentStation.isRunBlock()) {
                    if (!firstRun && currentStation.isRunBlock()) {
                        break;
                    }
                    int currentIndex = path.indexOf(currentStation.getStationId());
@@ -358,12 +369,26 @@
                        nextCmd.setCommandType(original.getCommandType());
                        nextCmd.setPalletSize(original.getPalletSize());
                        nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
                        sendCommand(nextCmd);
                        nextCmd.setOriginalNavigatePath(path);
                        while (true) {
                            CommandResponse commandResponse = sendCommand(nextCmd);
                            if (commandResponse == null) {
                                Thread.sleep(200);
                                continue;
                            }

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

                            Thread.sleep(200);
                        }
                    }
                    Thread.sleep(500);
                } catch (Exception e) {
                    break;
                }
                firstRun = false;
            }
        }else {
            sendCommand(original);