From cc720a16549bbb691344afb31f702530588c75fd Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 三月 2026 00:03:06 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java | 47 ++++++++++++++++++++++++++++++++++++-----------
1 files changed, 36 insertions(+), 11 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 f8d7abb..c0eb09e 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV5Thread.java
@@ -171,6 +171,7 @@
stationProtocol.setEnableIn(statusEntity.isEnableIn());
stationProtocol.setWeight(statusEntity.getWeight());
stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
+ stationProtocol.setTaskBufferItems(statusEntity.getTaskBufferItems());
}
if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
@@ -238,6 +239,16 @@
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);
@@ -246,7 +257,7 @@
stationCommand.setCommandType(commandType);
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
- List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId);
+ List<NavigateNode> nodes = calcPathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
return fillMoveCommandPath(stationCommand, nodes, taskNo, stationId, targetStationId);
}
return stationCommand;
@@ -257,11 +268,20 @@
Integer stationId,
Integer targetStationId,
Integer palletSize) {
+ return getRunBlockRerouteCommand(taskNo, stationId, targetStationId, palletSize, null);
+ }
+
+ @Override
+ public synchronized StationCommand getRunBlockRerouteCommand(Integer taskNo,
+ Integer stationId,
+ Integer targetStationId,
+ Integer palletSize,
+ Double pathLenFactor) {
if (taskNo == null || taskNo <= 0 || stationId == null || targetStationId == null) {
return null;
}
if (Objects.equals(stationId, targetStationId)) {
- return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize);
+ return getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, palletSize, pathLenFactor);
}
RunBlockRerouteState rerouteState = loadRunBlockRerouteState(taskNo, stationId);
@@ -281,7 +301,7 @@
rerouteState.setPlanCount((rerouteState.getPlanCount() == null ? 0 : rerouteState.getPlanCount()) + 1);
rerouteState.setLastPlanTime(System.currentTimeMillis());
- List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId);
+ List<List<NavigateNode>> candidatePathList = calcCandidatePathNavigateNodes(taskNo, stationId, targetStationId, pathLenFactor);
if (candidatePathList.isEmpty()) {
saveRunBlockRerouteState(rerouteState);
log.warn("杈撻�佺嚎鍫靛閲嶈鍒掑け璐ワ紝鍊欓�夎矾寰勪负绌猴紝taskNo={}, planCount={}, stationId={}, targetStationId={}",
@@ -342,6 +362,9 @@
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) {
@@ -364,12 +387,10 @@
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;
}
@@ -384,22 +405,26 @@
return zyStationConnectDriver.readOriginCommand(address, length);
}
- private List<NavigateNode> calcPathNavigateNodes(Integer taskNo, 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, taskNo);
+ return navigateUtils.calcByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private List<List<NavigateNode>> calcCandidatePathNavigateNodes(Integer taskNo,
Integer startStationId,
- Integer targetStationId) {
+ Integer targetStationId,
+ Double pathLenFactor) {
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
if (navigateUtils == null) {
return new ArrayList<>();
}
- return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo);
+ return navigateUtils.calcCandidatePathByStationId(startStationId, targetStationId, taskNo, pathLenFactor);
}
private StationCommand buildMoveCommand(Integer taskNo,
--
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