#

Junjie

2026-01-15 e14a4372b6bd4a38e40a3a68bde32350d96071ab

 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;
@@ -140,9 +141,11 @@
                    stationProtocol.setFullPlt(statusEntity.isFullPlt());
                    stationProtocol.setPalletHeight(statusEntity.getPalletHeight());
                    stationProtocol.setError(statusEntity.getError());
                    stationProtocol.setErrorMsg(statusEntity.getErrorMsg());
                    stationProtocol.setBarcode(statusEntity.getBarcode());
                    stationProtocol.setRunBlock(statusEntity.isRunBlock());
                    stationProtocol.setEnableIn(statusEntity.isEnableIn());
                    stationProtocol.setWeight(statusEntity.getWeight());
                }
            }
        }
@@ -280,11 +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;
            }
@@ -294,7 +306,7 @@
            List<Integer> segmentEndIndices = new ArrayList<>();
            int idx = 0;
            while (idx < total) {
                int end = Math.min(idx + 20, total) - 1;
                int end = Math.min(idx + stationCommandSendLength, total) - 1;
                segmentTargets.add(path.get(end));
                segmentEndIndices.add(end);
                idx = end + 1;
@@ -314,22 +326,30 @@
            segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
            sendCommand(segCmd);

            boolean finished = false;
            while (!finished) {
            long runTime = System.currentTimeMillis();
            boolean firstRun = true;
            while (true) {
                try {
                    Integer currentStationId = findCurrentStationByTask(original.getTaskNo());
                    if (currentStationId == null) {
                    StationProtocol currentStation = findCurrentStationByTask(original.getTaskNo());
                    if (currentStation == null) {
                        if(System.currentTimeMillis() - runTime > 1000 * 60){
                            break;
                        }
                        Thread.sleep(500);
                        continue;
                    }
                    int currentIndex = path.indexOf(currentStationId);

                    runTime = System.currentTimeMillis();
                    if (!firstRun && currentStation.isRunBlock()) {
                        break;
                    }
                    int currentIndex = path.indexOf(currentStation.getStationId());
                    if (currentIndex < 0) {
                        Thread.sleep(500);
                        continue;
                    }
                    int remaining = total - currentIndex - 1;
                    if (remaining <= 0) {
                        finished = true;
                        break;
                    }
                    int currentSegEndIndex = path.indexOf(segmentTargets.get(segCursor));
@@ -349,19 +369,33 @@
                        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);
        }
    }

    private Integer findCurrentStationByTask(Integer taskNo) {
    private StationProtocol findCurrentStationByTask(Integer taskNo) {
        try {
            com.zy.asrs.service.DeviceConfigService deviceConfigService = SpringUtils.getBean(com.zy.asrs.service.DeviceConfigService.class);
            if (deviceConfigService == null) {
@@ -380,7 +414,7 @@
                }
                for (StationProtocol sp : m.values()) {
                    if (sp.getTaskNo() != null && sp.getTaskNo().equals(taskNo) && sp.isLoading()) {
                        return sp.getStationId();
                        return sp;
                    }
                }
            }