From 63a8366af4391d1717d7555ab6c01f984f501f7b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 20 三月 2026 20:35:28 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 11 ++++++++---
1 files changed, 8 insertions(+), 3 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 c59e7ef..622bf8b 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -228,7 +228,7 @@
stationCommand.setCommandType(commandType);
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
- List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
+ List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
List<Integer> path = new ArrayList<>();
List<Integer> liftTransferPath = new ArrayList<>();
for (NavigateNode n : nodes) {
@@ -244,6 +244,11 @@
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);
@@ -302,11 +307,11 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
+ private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, Integer startStationId, Integer targetStationId) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcByStationId(startStationId, targetStationId);
+ return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo);
}
}
--
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