From a0d8732c1d698b25850c0949f7b8967333d67d21 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 21 三月 2026 22:22:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java | 130 ++++++++++++++++++++++++++++++++----------
1 files changed, 98 insertions(+), 32 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 f833e51..19b3642 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.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 +30,9 @@
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;
@@ -114,7 +119,7 @@
}
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;
}
@@ -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();
}
}
@@ -235,6 +240,11 @@
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);
}
@@ -277,7 +287,7 @@
JSON.toJSONString(commandResponse)
);
if (optService != null) {
- optService.insert(basStationOpt);
+ optService.save(basStationOpt);
}
}
return commandResponse;
@@ -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);
@@ -451,13 +440,58 @@
}
}
+ 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;
+ }
+ }
+
private StationProtocol findCurrentStationByTask(Integer taskNo) {
try {
com.zy.asrs.service.DeviceConfigService deviceConfigService = SpringUtils.getBean(com.zy.asrs.service.DeviceConfigService.class);
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());
@@ -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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