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 | 39 ++++++++++++++++++++++++++++++++-------
1 files changed, 32 insertions(+), 7 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 1bf599d..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;
@@ -282,11 +283,20 @@
}
private void executeMoveWithSeg(StationCommand original) {
+ int stationCommandSendLength = 20;
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+ if (systemConfigMapObj != null) {
+ try {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ String stationCommandSendLengthStr = systemConfigMap.get("stationCommandSendLength");
+ if(stationCommandSendLengthStr != null){
+ stationCommandSendLength = Integer.parseInt(stationCommandSendLengthStr);
+ }
+ } catch (Exception ignore) {}
+ }
+
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;
}
@@ -296,7 +306,7 @@
List<Integer> segmentEndIndices = new ArrayList<>();
int idx = 0;
while (idx < total) {
- int end = Math.min(idx + 3, total) - 1;
+ int end = Math.min(idx + stationCommandSendLength, total) - 1;
segmentTargets.add(path.get(end));
segmentEndIndices.add(end);
idx = end + 1;
@@ -317,6 +327,7 @@
sendCommand(segCmd);
long runTime = System.currentTimeMillis();
+ boolean firstRun = true;
while (true) {
try {
StationProtocol currentStation = findCurrentStationByTask(original.getTaskNo());
@@ -329,7 +340,7 @@
}
runTime = System.currentTimeMillis();
- if (currentStation.isRunBlock()) {
+ if (!firstRun && currentStation.isRunBlock()) {
break;
}
int currentIndex = path.indexOf(currentStation.getStationId());
@@ -358,12 +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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