From 205cb40876114827a2134c29fde159e063e81454 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 09:54:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java | 122 +++++++++++++++++++++++++++++++---------
1 files changed, 94 insertions(+), 28 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
index 2ec6539..19b3642 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
@@ -30,6 +30,9 @@
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 com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -41,6 +44,8 @@
@Data
@Slf4j
public class ZyStationV4Thread implements Runnable, com.zy.core.thread.StationThread {
+ private static final String CFG_STATION_COMMAND_SEGMENT_ADVANCE_RATIO = "stationCommandSegmentAdvanceRatio";
+ private static final double DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO = 0.3d;
private List<StationProtocol> statusList = new ArrayList<>();
private DeviceConfig deviceConfig;
@@ -170,7 +175,7 @@
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();
}
}
@@ -234,6 +239,11 @@
if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
liftTransferPath.add(stationNo);
}
+ }
+ if (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);
stationCommand.setLiftTransferPath(liftTransferPath);
@@ -302,6 +312,7 @@
}
private void executeMoveWithSeg(StationCommand original) {
+ double segmentAdvanceRatio = loadSegmentAdvanceRatio();
if(original.getCommandType() == StationCommandType.MOVE){
List<Integer> path = JSON.parseArray(JSON.toJSONString(original.getNavigatePath(), SerializerFeature.DisableCircularReferenceDetect), Integer.class);
List<Integer> liftTransferPath = JSON.parseArray(JSON.toJSONString(original.getLiftTransferPath(), SerializerFeature.DisableCircularReferenceDetect), Integer.class);
@@ -372,20 +383,8 @@
}
int segCursor = 0;
- while (true) {
- CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
- if (commandResponse == null) {
- try {
- Thread.sleep(200);
- } catch (Exception ignore) {}
- continue;
- }
- if (commandResponse.getResult()) {
- break;
- }
- try {
- Thread.sleep(200);
- } catch (Exception ignore) {}
+ if (!sendSegmentWithRetry(segmentCommands.get(segCursor), original.getTaskNo())) {
+ return;
}
long runTime = System.currentTimeMillis();
@@ -423,21 +422,11 @@
int currentSegStartIndex = segCursor == 0 ? 0 : segmentEndIndices.get(segCursor - 1);
int segLen = currentSegEndIndex - currentSegStartIndex + 1;
int remainingSegment = Math.max(0, currentSegEndIndex - currentIndex);
- int thresholdSegment = (int) Math.ceil(segLen * 0.3);
+ int thresholdSegment = (int) Math.ceil(segLen * segmentAdvanceRatio);
if (remainingSegment <= thresholdSegment && segCursor < segmentCommands.size() - 1) {
segCursor++;
- while (true) {
- CommandResponse commandResponse = sendCommand(segmentCommands.get(segCursor));
- if (commandResponse == null) {
- Thread.sleep(200);
- continue;
- }
-
- if (commandResponse.getResult()) {
- break;
- }
-
- Thread.sleep(200);
+ if (!sendSegmentWithRetry(segmentCommands.get(segCursor), original.getTaskNo())) {
+ break;
}
}
Thread.sleep(500);
@@ -448,6 +437,51 @@
}
}else {
sendCommand(original);
+ }
+ }
+
+ private double loadSegmentAdvanceRatio() {
+ try {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if (configService == null) {
+ return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
+ }
+ Config config = configService.getOne(new QueryWrapper<Config>()
+ .eq("code", CFG_STATION_COMMAND_SEGMENT_ADVANCE_RATIO));
+ if (config == null || Cools.isEmpty(config.getValue())) {
+ return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
+ }
+ return normalizeSegmentAdvanceRatio(config.getValue());
+ } catch (Exception ignore) {
+ return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
+ }
+ }
+
+ private double normalizeSegmentAdvanceRatio(String valueText) {
+ if (valueText == null) {
+ return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
+ }
+ String text = valueText.trim();
+ if (text.isEmpty()) {
+ return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
+ }
+ if (text.endsWith("%")) {
+ text = text.substring(0, text.length() - 1).trim();
+ }
+ try {
+ double ratio = Double.parseDouble(text);
+ if (ratio > 1d && ratio <= 100d) {
+ ratio = ratio / 100d;
+ }
+ if (ratio < 0d) {
+ return 0d;
+ }
+ if (ratio > 1d) {
+ return 1d;
+ }
+ return ratio;
+ } catch (Exception ignore) {
+ return DEFAULT_STATION_COMMAND_SEGMENT_ADVANCE_RATIO;
}
}
@@ -479,4 +513,36 @@
}
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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