From ef1cd5823fe7cf724e1de875a1a5737a44f160f1 Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期四, 15 一月 2026 13:11:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java | 25 +++++++++++++++++++------
1 files changed, 19 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
index 7f518aa..92cadb7 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
@@ -2,6 +2,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
@@ -295,10 +296,7 @@
}
if(original.getCommandType() == StationCommandType.MOVE){
- List<Integer> path = original.getNavigatePath();
- if (path == null || path.isEmpty()) {
- path = calcPathStationIds(original.getStationId(), original.getTargetStaNo());
- }
+ List<Integer> path = JSON.parseArray(JSON.toJSONString(original.getNavigatePath(), SerializerFeature.DisableCircularReferenceDetect), Integer.class);
if (path == null || path.isEmpty()) {
return;
}
@@ -329,6 +327,7 @@
sendCommand(segCmd);
long runTime = System.currentTimeMillis();
+ boolean firstRun = true;
while (true) {
try {
StationProtocol currentStation = findCurrentStationByTask(original.getTaskNo());
@@ -341,7 +340,7 @@
}
runTime = System.currentTimeMillis();
- if (currentStation.isRunBlock()) {
+ if (!firstRun && currentStation.isRunBlock()) {
break;
}
int currentIndex = path.indexOf(currentStation.getStationId());
@@ -370,12 +369,26 @@
nextCmd.setCommandType(original.getCommandType());
nextCmd.setPalletSize(original.getPalletSize());
nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
- sendCommand(nextCmd);
+ nextCmd.setOriginalNavigatePath(path);
+ while (true) {
+ CommandResponse commandResponse = sendCommand(nextCmd);
+ if (commandResponse == null) {
+ Thread.sleep(200);
+ continue;
+ }
+
+ if (commandResponse.getResult()) {
+ break;
+ }
+
+ Thread.sleep(200);
+ }
}
Thread.sleep(500);
} catch (Exception e) {
break;
}
+ firstRun = false;
}
}else {
sendCommand(original);
--
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