From a72c3844450381a872e4f0f149210e480679984a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 三月 2026 16:57:24 +0800
Subject: [PATCH] refactor: unify station out-order reroute flow

---
 src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java |   34 ++++++++++++++++++++++++++--------
 1 files changed, 26 insertions(+), 8 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 19b3642..d8ec936 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 +30,7 @@
 import com.zy.core.network.DeviceConnectPool;
 import com.zy.core.network.ZyStationConnectDriver;
 import com.zy.core.network.entity.ZyStationStatusEntity;
+import com.zy.core.thread.impl.v5.StationMoveSegmentExecutor;
 import com.zy.core.utils.DeviceLogRedisKeyBuilder;
 import com.zy.system.entity.Config;
 import com.zy.system.service.ConfigService;
@@ -51,6 +52,7 @@
     private DeviceConfig deviceConfig;
     private RedisUtil redisUtil;
     private ZyStationConnectDriver zyStationConnectDriver;
+    private StationMoveSegmentExecutor segmentExecutor;
     private int deviceLogCollectTime = 200;
     private boolean initStatus = false;
     private long deviceDataLogTime = System.currentTimeMillis();
@@ -59,6 +61,7 @@
     public ZyStationV4Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
         this.deviceConfig = deviceConfig;
         this.redisUtil = redisUtil;
+        this.segmentExecutor = new StationMoveSegmentExecutor(deviceConfig, redisUtil, this::sendCommand);
     }
 
     @Override
@@ -92,7 +95,7 @@
                     }
                     if (step == 2) {
                         StationCommand cmd = (StationCommand) task.getData();
-                        executor.submit(() -> executeMoveWithSeg(cmd));
+                        executor.submit(() -> segmentExecutor.execute(cmd));
                     }
                     Thread.sleep(100);
                 } catch (Exception e) {
@@ -153,6 +156,7 @@
                     stationProtocol.setEnableIn(statusEntity.isEnableIn());
                     stationProtocol.setWeight(statusEntity.getWeight());
                     stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
+                    stationProtocol.setTaskBufferItems(statusEntity.getTaskBufferItems());
                 }
 
                 if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -214,6 +218,16 @@
 
     @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);
@@ -223,7 +237,7 @@
 
         if (commandType == StationCommandType.MOVE) {
             if (!stationId.equals(targetStationId)) {
-                List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
+                List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
                 List<Integer> path = new ArrayList<>();
                 List<Integer> liftTransferPath = new ArrayList<>();
                 for (NavigateNode n : nodes) {
@@ -261,6 +275,9 @@
             e.printStackTrace();
         } finally {
             BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
+            if (optService == null) {
+                return commandResponse;
+            }
             List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
             ZyStationStatusEntity matched = null;
             if (statusListEntity != null) {
@@ -283,12 +300,10 @@
                     null,
                     JSON.toJSONString(command),
                     JSON.toJSONString(matched),
-                    1,
+                    commandResponse != null && Boolean.TRUE.equals(commandResponse.getResult()) ? 1 : 0,
                     JSON.toJSONString(commandResponse)
             );
-            if (optService != null) {
-                optService.save(basStationOpt);
-            }
+            optService.save(basStationOpt);
         }
         return commandResponse;
     }
@@ -303,12 +318,15 @@
         return zyStationConnectDriver.readOriginCommand(address, length);
     }
 
-    private List<NavigateNode> calcPathNavigateNodes(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);
+        return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
     }
 
     private void executeMoveWithSeg(StationCommand original) {

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