From 103ca74d9b67ce4f766b5f77451741a76fa696b9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 22 三月 2026 09:50:10 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java | 85 ++++++++++++++++++++++++++++++++----------
1 files changed, 64 insertions(+), 21 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
index 55db83b..bcbe804 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
@@ -3,7 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
@@ -30,6 +30,7 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyStationConnectDriver;
import com.zy.core.network.entity.ZyStationStatusEntity;
+import com.zy.core.utils.DeviceLogRedisKeyBuilder;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -115,7 +116,7 @@
}
BasDevp basDevp = basDevpService
- .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
+ .getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
if (basDevp == null) {
return;
}
@@ -169,7 +170,7 @@
deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
deviceDataLog.setCreateTime(new Date());
- redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
+ redisUtil.set(DeviceLogRedisKeyBuilder.build(deviceDataLog), deviceDataLog, 60 * 60 * 24);
deviceDataLogTime = System.currentTimeMillis();
}
}
@@ -208,6 +209,16 @@
@Override
public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ return getCommand(commandType, taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType,
+ Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
@@ -217,7 +228,12 @@
if (commandType == StationCommandType.MOVE) {
if (!stationId.equals(targetStationId)) {
- List<Integer> path = calcPathStationIds(stationId, targetStationId);
+ List<Integer> path = calcPathStationIds(taskNo, stationId, targetStationId, pathLenFactor);
+ if (path == null || path.isEmpty()) {
+ log.warn("杈撻�佺嚎鍛戒护鐢熸垚澶辫触锛岃矾寰勪负绌猴紝taskNo={}, stationId={}, targetStationId={}",
+ taskNo, stationId, targetStationId);
+ return null;
+ }
stationCommand.setNavigatePath(path);
}
}
@@ -259,7 +275,7 @@
JSON.toJSONString(commandResponse)
);
if (optService != null) {
- optService.insert(basStationOpt);
+ optService.save(basStationOpt);
}
}
return commandResponse;
@@ -275,12 +291,15 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
+ private List<Integer> calcPathStationIds(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
List<Integer> ids = new ArrayList<>();
for (NavigateNode n : nodes) {
JSONObject v = JSONObject.parseObject(n.getNodeValue());
@@ -333,7 +352,9 @@
segCmd.setCommandType(original.getCommandType());
segCmd.setPalletSize(original.getPalletSize());
segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
- sendCommand(segCmd);
+ if (!sendSegmentWithRetry(segCmd, original.getTaskNo())) {
+ return;
+ }
long runTime = System.currentTimeMillis();
boolean firstRun = true;
@@ -384,18 +405,8 @@
nextCmd.setPalletSize(original.getPalletSize());
nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
nextCmd.setOriginalNavigatePath(path);
- while (true) {
- CommandResponse commandResponse = sendCommand(nextCmd);
- if (commandResponse == null) {
- Thread.sleep(200);
- continue;
- }
-
- if (commandResponse.getResult()) {
- break;
- }
-
- Thread.sleep(200);
+ if (!sendSegmentWithRetry(nextCmd, original.getTaskNo())) {
+ break;
}
}
Thread.sleep(500);
@@ -415,7 +426,7 @@
if (deviceConfigService == null) {
return null;
}
- List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ List<DeviceConfig> devpList = deviceConfigService.list(new QueryWrapper<DeviceConfig>()
.eq("device_type", String.valueOf(SlaveType.Devp)));
for (DeviceConfig dc : devpList) {
com.zy.core.thread.StationThread t = (com.zy.core.thread.StationThread) SlaveConnection.get(SlaveType.Devp, dc.getDeviceNo());
@@ -437,4 +448,36 @@
}
return null;
}
+
+ private boolean sendSegmentWithRetry(StationCommand command, Integer taskNo) {
+ while (true) {
+ if (isTaskMoveReset(taskNo)) {
+ return false;
+ }
+ CommandResponse commandResponse = sendCommand(command);
+ if (commandResponse == null) {
+ sleepQuietly(200L);
+ continue;
+ }
+ if (commandResponse.getResult()) {
+ return true;
+ }
+ sleepQuietly(200L);
+ }
+ }
+
+ private boolean isTaskMoveReset(Integer taskNo) {
+ if (taskNo == null || redisUtil == null) {
+ return false;
+ }
+ Object cancel = redisUtil.get(RedisKeyType.DEVICE_STATION_MOVE_RESET.key + taskNo);
+ return cancel != null;
+ }
+
+ private void sleepQuietly(long millis) {
+ try {
+ Thread.sleep(millis);
+ } catch (Exception ignore) {
+ }
+ }
}
--
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