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/ZyStationV5Thread.java | 37 ++++++++++++++++++++++++++++++-------
1 files changed, 30 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
index f8d7abb..ca34f74 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -238,6 +238,16 @@
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);
@@ -246,7 +256,7 @@
stationCommand.setCommandType(commandType);
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
- List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
+ List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
}
return stationCommand;
@@ -257,11 +267,20 @@
Integer stationId,
Integer targetStationId,
Integer palletSize) {
+ return getRunBlockRerouteCommand(taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
return null;
}
if (Objects.equals(stationId, targetStationId)) {
- return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize, pathLenFactor);
}
RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
@@ -281,7 +300,7 @@
rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
rerouteState.setLastPlanTime(System.currentTimeMillis());
- List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
+ List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
if (candidatePathList.isEmpty()) {
saveRunBlockRerouteState(rerouteState);
log.warn("杈撻�佺嚎鍫靛閲嶈鍒掑け璐ワ紝鍊欓�夎矾寰勪负绌猴紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
@@ -384,22 +403,26 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, Integer startStationId, Integer targetStationId) {
+ private List<NavigateNode> calcPathNavigateNodes(Integer taskNo,
+ Integer startStationId,
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
+ return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
Integer startStationId,
- Integer targetStationId) {
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo);
+ return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private StationCommand buildMoveCommand(Integer taskNo,
--
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