#

Junjie

2026-01-15 6200ba627af8af4045155c1bd7e65220ce59d6ba

 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;
@@ -295,10 +296,7 @@
        }

        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;
            }
@@ -329,6 +327,7 @@
            sendCommand(segCmd);

            long runTime = System.currentTimeMillis();
            boolean firstRun = true;
            while (true) {
                try {
                    StationProtocol currentStation = findCurrentStationByTask(original.getTaskNo());
@@ -341,7 +340,7 @@
                    }

                    runTime = System.currentTimeMillis();
                    if (currentStation.isRunBlock()) {
                    if (!firstRun && currentStation.isRunBlock()) {
                        break;
                    }
                    int currentIndex = path.indexOf(currentStation.getStationId());
@@ -370,12 +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);