From c31f11460735d9f6025fd892c2a4ee2b3e452bd0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 三月 2026 00:16:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java | 91 +++++++++++++++++++++++++++++----------------
1 files changed, 58 insertions(+), 33 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 86f57a8..1a8a4b7 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV4Thread.java
@@ -153,6 +153,7 @@
stationProtocol.setEnableIn(statusEntity.isEnableIn());
stationProtocol.setWeight(statusEntity.getWeight());
stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
+ stationProtocol.setTaskBufferItems(statusEntity.getTaskBufferItems());
}
if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -214,6 +215,16 @@
@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 +234,7 @@
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 +272,9 @@
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 +297,10 @@
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 +315,15 @@
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) {
@@ -383,20 +398,8 @@
}
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();
@@ -437,18 +440,8 @@
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);
@@ -535,4 +528,36 @@
}
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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