package com.zy.core.thread;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.Profinet.Siemens.SiemensPLCS;
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import HslCommunication.Profinet.Siemens.SiemensS7Net;
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import com.alibaba.fastjson.JSON;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasRgvOpt;
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import com.zy.asrs.service.BasRgvOptService;
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import com.zy.asrs.service.BasRgvService;
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import com.zy.asrs.service.DeviceErrorService;
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import com.zy.asrs.utils.RouteUtils;
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import com.zy.asrs.utils.TrackRangeUtils;
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import com.zy.core.DevpThread;
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import com.zy.core.ThreadHandler;
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import com.zy.core.cache.*;
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import com.zy.core.enums.RgvModeType;
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import com.zy.core.enums.RgvStatusType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.*;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Value;
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import java.text.MessageFormat;
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import java.util.Date;
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import java.util.List;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* RGV线程
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* Created by vincent on 2022/11/29
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*/
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@Data
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@Slf4j
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public class RgvThread implements Runnable, ThreadHandler {
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private SiemensS7Net siemensNet;
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private RgvSlave slave;
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// private RgvProtocol rgvProtocol;
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private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
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// # 轨道总长
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private Long trackEntireLength = 224000L;
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//# 轨道基准点
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private Long trackBenchmark = 1L;
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// # 避让距离
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private Long avoidDistance = 5000L;
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private String errorRgv = "-";
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/**
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* 工位1复位信号
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*/
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private boolean resetFlag1 = false;
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/**
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* 工位2复位信号
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*/
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private boolean resetFlag2 = false;
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private boolean connectRgv = false;
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public Long currentTimeMilliConnectRgv= 0L;
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private boolean delRgvTask = false;
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private short wrkSign = 0;
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public RgvThread(RgvSlave slave) {
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this.slave = slave;
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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initRgv();
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try{
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Thread.sleep(2000);
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} catch (Exception e){
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}
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connectRgv = this.connect();
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while(!connectRgv){
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try {
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connectRgv = this.connect();
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Thread.sleep(100);
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} catch (Exception e){
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}
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}
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// 启动线程自动重连
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new Thread(this::rgvConnect).start();
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// 启动读数据线程
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new Thread(this::readStatusRgv).start();
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// 启动任务下发线程
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new Thread(this::taskIssued).start();
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// 启动漫游线程
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new Thread(this::taskWalkIssued).start();
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// new Thread(this::taskWalkIssued2).start();
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// 启动任务完成线程
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new Thread(this::taskComplete).start();
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}
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private void rgvConnect() {
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while (true) {
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try {
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Thread.sleep(1000);
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if(!connectRgv){
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try {
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connectRgv = this.connect();
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Thread.sleep(100);
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} catch (Exception e){
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}
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}
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} catch (Exception e) {
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log.error("rgv连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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try{
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.addDeviceError("rgvErr", slave.getId(), "rgv连接失败"+e.getMessage());
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} catch (Exception e2){
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// log.error("e2:"+e2.getMessage());
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}
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initRgv();
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// e.printStackTrace();
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}
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}
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}
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private void readStatusRgv() {
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while (true) {
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try {
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if(!connectRgv){
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try {
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Thread.sleep(1000L);
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} catch (Exception e){
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}
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initRgv();
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continue;
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}
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Thread.sleep(20);
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// System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());
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readStatus();
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} catch (Exception e) {
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log.error("RGV数据读取线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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try{
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV数据读取线程异常"+e.getMessage());
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} catch (Exception e2){
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// log.error("e2:"+e2.getMessage());
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}
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initRgv();
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// e.printStackTrace();
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}
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}
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}
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/**
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* 完成
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*/
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private void taskComplete() {
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while (true) {
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try {
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if(!connectRgv){
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try {
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Thread.sleep(1000L);
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} catch (Exception e){
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}
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continue;
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}
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if (delRgvTask){
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writeDelRgvTask();
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delRgvTask = false;
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continue;
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}
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Thread.sleep(50L);
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OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
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boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
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if (status[0]){
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Thread.sleep(500L);
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OperateResult result4 = siemensNet.Write("DB100.12.0", false);
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}
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} catch (Exception e) {
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log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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try{
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV数据任务下发复位线程异常"+e.getMessage());
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} catch (Exception e2){
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// log.error("e2:"+e2.getMessage());
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}
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initRgv();
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// e.printStackTrace();
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}
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}
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}
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/**
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* 任务下发
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*/
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// private void taskWalkIssued2() {
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// while (true) {
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// try {
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// // 休眠 1 秒
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// Thread.sleep(100);
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// if (!deviceDetection()) {
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// continue;
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// }
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// RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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// RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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// if (rgvProtocol == null || rgvTaskProtocol == null) {
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// initRgv();
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// rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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// rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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// }
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// if (rgvTaskProtocol.getAvoid() != 0) {
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// continue;
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// }
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// if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
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// continue;
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// }
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// if (rgvProtocol.getLoaded() == -1){
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// continue;
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// }
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//
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// List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol();
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// for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
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// if (taskProtocol.getIsRunning() == 1) {//准备下发
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// // 双车
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// if (rgvOtherStatusEnable()) {
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// //另一台车是否允许此台车执行
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// if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
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// continue;
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// }
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// }
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// if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
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// && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
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// taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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// break;
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// } else {
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// TaskProtocol issued = new TaskProtocol(taskProtocol,true);
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// write(issued);
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// taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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// break;
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// }
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// }
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// }
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// } catch (Exception e) {
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// log.error("RGV任务下发线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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// try{
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// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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// deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
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// } catch (Exception e2){
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// log.error("e2:"+e2.getMessage());
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// }
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//// e.printStackTrace();
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// }
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// }
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// }
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/**
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* 漫游
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*/
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private void taskWalkIssued() {
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while (true) {
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try {
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if(!connectRgv){
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try {
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Thread.sleep(1000L);
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} catch (Exception e){
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}
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continue;
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}
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// 休眠 1 秒
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Thread.sleep(100);
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if (!deviceDetection()) {
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continue;
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}
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvTaskProtocol == null) {
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initRgv();
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rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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}
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if (rgvTaskProtocol.getAvoid() != 1) {
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continue;
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}
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TaskProtocol issued = new TaskProtocol();
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issued.setTaskNo(32222L);
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issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
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issued.setTaskStatus(1);
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issued.setDirection(true);
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write(issued);
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rgvTaskProtocol.setAvoid(0);
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// Thread.sleep(200);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
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} catch (Exception e) {
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log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
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// e.printStackTrace();
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}
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}
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}
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/**
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* 任务下发
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*/
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private void taskIssued() {
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while (true) {
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if(!connectRgv){
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try {
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Thread.sleep(1000L);
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} catch (Exception e){
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}
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continue;
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}
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RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
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if (!rgvRun.getRgvNo().equals(slave.getId())){
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continue;
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}
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try {
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Thread.sleep(100);
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rgvRun = RgvRunCache.getRgvRun();
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// System.out.println(JSON.toJSON(rgvRun));
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// 休眠 1 秒
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if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500L) {
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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} else {
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continue;
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}
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if (!deviceDetection()) {
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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rgvRun.setRgvNo(slave.getOtherId());
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RgvRunCache.updateRgvStatus(rgvRun);
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if (!errorRgv.equals("无")){
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RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
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}
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continue;
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}
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null || rgvTaskProtocol == null) {
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initRgv();
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rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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}
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if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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rgvRun.setRgvNo(slave.getOtherId());
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RgvRunCache.updateRgvStatus(rgvRun);
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continue;
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}
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if (rgvProtocol.getLoaded() == -1){
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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rgvRun.setRgvNo(slave.getOtherId());
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RgvRunCache.updateRgvStatus(rgvRun);
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RgvErrCache.updateRgvErr(slave.getId(),"小车探物物状态异常");
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continue;
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}
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if (rgvTaskProtocol.getAvoid() != 0) {
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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rgvRun.setRgvNo(slave.getOtherId());
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RgvRunCache.updateRgvStatus(rgvRun);
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continue;
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}
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List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
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if (allTakeTaskProtocol.isEmpty()){
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allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol();
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for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
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if (taskProtocol.getIsRunning() == 1) {//准备下发
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// 双车
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if (rgvOtherStatusEnable()) {
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//另一台车是否允许此台车执行
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if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
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RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
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break;
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}
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}
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if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
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&& taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
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taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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RgvErrCache.updateRgvErr(slave.getId());
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break;
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} else {
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TaskProtocol issued = new TaskProtocol(taskProtocol,true);
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write(issued);
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RgvErrCache.updateRgvErr(slave.getId());
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taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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break;
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}
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}
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}
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RgvErrCache.updateRgvErr(slave.getId());
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} else {
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for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
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if (taskProtocol.getIsRunning() == 1) {//准备下发
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//双车
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if (rgvOtherStatusEnable()) {
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//另一台车是否允许此台车执行
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if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
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RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
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break;
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}
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}
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if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
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&& taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
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if (taskProtocol.getTaskStatus()==3){
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
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if (staProtocol == null ) {
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RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点");
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break;
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}
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// 判断是否满足入库条件
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if (!staProtocol.isAutoing() || staProtocol.isLoading()
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){
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RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪");
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break;
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}
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} else if (taskProtocol.getTaskStatus()==2){
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
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if (staProtocol == null ) {
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RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点");
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break;
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}
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// 判断是否满足入库条件
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if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo()==0
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){
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RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪");
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break;
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}
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}
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TaskProtocol issued = new TaskProtocol(taskProtocol);
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write(issued);
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RgvErrCache.updateRgvErr(slave.getId());
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taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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break;
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} else {
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TaskProtocol issued = new TaskProtocol(taskProtocol,true);
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write(issued);
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RgvErrCache.updateRgvErr(slave.getId());
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break;
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}
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}
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}
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}
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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rgvRun.setRgvNo(slave.getOtherId());
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RgvRunCache.updateRgvStatus(rgvRun);
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} catch (Exception e) {
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log.error("RGV任务下发线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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try{
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
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} catch (Exception e2){
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// log.error("e2:"+e2.getMessage());
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}
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rgvRun = RgvRunCache.getRgvRun();
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rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
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rgvRun.setRgvNo(slave.getOtherId());
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RgvRunCache.updateRgvStatus(rgvRun);
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continue;
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// e.printStackTrace();
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}
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}
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}
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public boolean isSignRgvTaskProtocol() {
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvTaskProtocol == null) {
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return false;
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}
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
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if (rgvProtocolOther == null) {
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return false;
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}
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if (rgvProtocolOther.statusEnable) {
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if (rgvTaskProtocolOther == null) {
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return false;
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}
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}
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return true;
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}
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public boolean deviceDetection() {
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null || rgvTaskProtocol == null) {
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errorRgv = slave.getId()+"号小车连接失败";
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return false;
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}
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if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)) {
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errorRgv = slave.getId()+"号小车非自动";
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return false;
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}
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if (rgvProtocol.getRgvPos().equals(0L)
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|| rgvTaskProtocol.getAvoid() == -1
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|| rgvProtocol.getRgvPosDestination() == 0L) {
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errorRgv = slave.getId()+"号小车状态异常";
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return false;
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}
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if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
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errorRgv = "无";
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return false;
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}
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if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
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errorRgv = slave.getId()+"号小车存在运行目标值，需要复位！！！";
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return false;
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}
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
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// System.out.println("rgvTaskProtocol:"+slave.getId()+"sign:"+rgvTaskProtocol.isSignRun()+"/n"+
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// "rgvTaskProtocolOther:"+slave.getOtherId()+"sign:"+rgvTaskProtocolOther.isSignRun()+"/n");
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if (rgvProtocolOther == null) {
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errorRgv = slave.getOtherId()+"号小车连接失败";
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return false;
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}
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if (rgvProtocolOther.statusEnable) {
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if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
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errorRgv = slave.getOtherId()+"号小车状态异常";
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return false;
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}
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}
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return true;
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}
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public boolean rgvOtherStatusEnable() {
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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if (rgvProtocolOther == null) {
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return true;
|
}
|
if (rgvProtocolOther.statusEnable) {
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// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
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return true;
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// }
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}
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return false;
|
}
|
|
public boolean otherRgvAvoid(Long targetPosition) {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
|
long onePos = Math.abs(targetPosition - rgvProtocol.getRgvPos());
|
if (onePos<50){
|
return true;
|
}
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
|
|
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
|
Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);
|
|
if (new TrackRangeUtils().IsItSmall(slave)) {
|
if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) {
|
if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
|
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
} else {
|
|
RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
|
TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
|
TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
|
if (!Cools.isEmpty(nowPosRunTask)){
|
boolean signNowPosRun = true;
|
if (nowPosRunTask.getTaskStatus()==3){
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
|
if (staProtocol == null ) {
|
signNowPosRun =false;
|
}
|
if (signNowPosRun){
|
// 判断是否满足入库条件
|
if (!staProtocol.isAutoing() || staProtocol.isLoading()
|
){
|
if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
|
if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
|
long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
|
if (avoidAbs<51){
|
return false;
|
}
|
rgvTaskProtocol.setAvoid(1);
|
rgvTaskProtocol.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
|
}
|
return false;
|
}
|
signNowPosRun =false;
|
}
|
}
|
}
|
if (signNowPosRun){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
}
|
TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
|
if (!Cools.isEmpty(nowPosRunTask2)){
|
boolean signNowPosRun = true;
|
boolean signNowPosA = true;
|
if (targetPosition - rgvProtocol.getRgvPos()>0){
|
if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
|
if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
|
signNowPosA = false;
|
signNowPosRun = false;
|
}
|
}
|
} else if (targetPosition - rgvProtocol.getRgvPos()<0){
|
if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
|
if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
|
signNowPosA = false;
|
signNowPosRun = false;
|
}
|
}
|
}
|
|
if (signNowPosA){
|
if (nowPosRunTask2.getTaskStatus()==3){
|
long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
|
if (Math.abs(onePos - twoPos)>100){
|
if (onePos-50>twoPos+50){
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
|
if (staProtocol == null ) {
|
signNowPosRun =false;
|
}
|
if (signNowPosRun){
|
// 判断是否满足入库条件
|
if (staProtocol.isAutoing() && !staProtocol.isLoading()
|
){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
}
|
signNowPosRun =false;
|
}
|
}
|
} else {
|
long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
|
if (twoPos<100){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
if (Math.abs(onePos - twoPos)>100){
|
if (onePos-50>twoPos+50){
|
signNowPosRun =false;
|
}
|
}
|
}
|
}
|
|
if (signNowPosRun){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
}
|
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
|
if (avoidAbs<51){
|
return true;
|
}
|
rgvTaskProtocolOther.setAvoid(1);
|
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
|
return false;
|
}
|
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
|
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
|
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
} else {
|
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
|
if (avoidAbs<51){
|
return true;
|
}
|
rgvTaskProtocolOther.setAvoid(1);
|
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
|
return false;
|
}
|
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
|
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
|
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
} else {
|
if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
|
long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
|
if (avoidAbs<51){
|
return false;
|
}
|
rgvTaskProtocol.setAvoid(1);
|
rgvTaskProtocol.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
|
return false;
|
}
|
errorRgv = slave.getOtherId()+"号RGV影响，等待中...";
|
|
return false;
|
}
|
} else {
|
if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
|
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
}
|
}
|
} else {
|
if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) {
|
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
|
- (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
} else {
|
RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
|
TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
|
TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
|
if (!Cools.isEmpty(nowPosRunTask)){
|
boolean signNowPosRun = true;
|
if (nowPosRunTask.getTaskStatus()==3){
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
|
if (staProtocol == null ) {
|
signNowPosRun =false;
|
}
|
if (signNowPosRun){
|
// 判断是否满足入库条件
|
if (!staProtocol.isAutoing() || staProtocol.isLoading()
|
){
|
if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
|
if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
|
long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
|
if (avoidAbs<51){
|
return false;
|
}
|
rgvTaskProtocol.setAvoid(1);
|
rgvTaskProtocol.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
|
}
|
return false;
|
}
|
signNowPosRun =false;
|
}
|
}
|
}
|
if (signNowPosRun){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
}
|
|
TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
|
if (!Cools.isEmpty(nowPosRunTask2)){
|
boolean signNowPosRun = true;
|
boolean signNowPosA = true;
|
if (targetPosition - rgvProtocol.getRgvPos()>0){
|
if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
|
if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
|
signNowPosA = false;
|
signNowPosRun = false;
|
}
|
}
|
} else if (targetPosition - rgvProtocol.getRgvPos()<0){
|
if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
|
if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
|
signNowPosA = false;
|
signNowPosRun = false;
|
}
|
}
|
}
|
|
if (signNowPosA){
|
if (nowPosRunTask2.getTaskStatus()==3){
|
long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
|
if (Math.abs(onePos - twoPos)>100){
|
if (onePos-50>twoPos+50){
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
|
if (staProtocol == null ) {
|
signNowPosRun =false;
|
}
|
if (signNowPosRun){
|
// 判断是否满足入库条件
|
if (staProtocol.isAutoing() && !staProtocol.isLoading()
|
){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
}
|
signNowPosRun =false;
|
}
|
}
|
} else {
|
long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
|
if (twoPos<100){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
if (Math.abs(onePos - twoPos)>100){
|
if (onePos-50>twoPos+50){
|
signNowPosRun =false;
|
}
|
}
|
}
|
}
|
|
if (signNowPosRun){
|
errorRgv = slave.getOtherId()+"号RGV等待作业...";
|
return false;
|
}
|
}
|
long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
|
if (avoidAbs<51){
|
return true;
|
}
|
rgvTaskProtocolOther.setAvoid(1);
|
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
|
return false;
|
}
|
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
|
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
|
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
} else {
|
long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
|
if (avoidAbs<51){
|
return true;
|
}
|
rgvTaskProtocolOther.setAvoid(1);
|
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
|
return false;
|
}
|
|
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
|
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
|
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
|
> avoidDistance-50) {//无需避让
|
return true;
|
} else {
|
if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
|
long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
|
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
|
log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
errorRgv = "RGV行走目标超出范围";
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
|
if (avoidAbs<51){
|
return false;
|
}
|
rgvTaskProtocol.setAvoid(1);
|
rgvTaskProtocol.setAvoidingTheDestination(avoid);
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
|
return false;
|
}
|
errorRgv = slave.getOtherId()+"号RGV等待中...";
|
return false;
|
}
|
} else {
|
if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
|
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
|
> avoidDistance - 50) {//无需避让
|
return true;
|
}
|
}
|
}
|
|
errorRgv = slave.getOtherId()+"号RGV影响，等待中...";
|
return false;
|
}
|
|
/**
|
* 初始化RGV状态
|
*/
|
private void initRgv() {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
|
if (rgvProtocol == null) {
|
rgvProtocol = new RgvProtocol();
|
rgvProtocol.setRgvNo(slave.getId());
|
}
|
rgvProtocol.setMode((short) -1);
|
rgvProtocol.setStatus((short) -1);
|
rgvProtocol.setWalkPos((short) 0);
|
rgvProtocol.setRgvPos(0L);
|
rgvProtocol.setAlarm((short) 0);
|
rgvProtocol.setxSpeed((short) 0);
|
rgvProtocol.setxDistance((short) 0);
|
rgvProtocol.setxDuration((short) 0);
|
rgvProtocol.setCarBodyJiaoMing(0L);
|
rgvProtocol.setCarBodyKunPeng(0L);
|
try {
|
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
|
BasRgv rgv = basRgvService.selectById(slave.getId());
|
if (!Cools.isEmpty(rgv)) {
|
rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
|
} else {
|
rgvProtocol.setStatusEnable(false);
|
}
|
} catch (Exception e) {
|
log.error("RGV异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV异常"+e.getMessage());
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
rgvProtocol.setStatusEnable(true);
|
}
|
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
|
if (rgvTaskProtocol == null) {
|
rgvTaskProtocol = new RgvTaskProtocol();
|
rgvTaskProtocol.setRgvNo(slave.getId());
|
}
|
rgvTaskProtocol.setAvoid(0);
|
rgvTaskProtocol.setAvoidingTheDestination(0L);
|
|
RgvStatusCache.updateRgvStatus(rgvProtocol);
|
|
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
|
|
}
|
|
@Override
|
public boolean connect() {
|
boolean result = false;
|
siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
|
siemensNet.setRack(slave.getRack().byteValue());
|
siemensNet.setSlot(slave.getSlot().byteValue());
|
OperateResult connect = siemensNet.ConnectServer();
|
if (connect.IsSuccess) {
|
result = true;
|
// OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
} else {
|
// OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
|
if (System.currentTimeMillis()-currentTimeMilliConnectRgv>1000*60*10){
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGVplc连接失败");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
if (currentTimeMilliConnectRgv == 0){
|
currentTimeMilliConnectRgv = System.currentTimeMillis()-1000*60*10-1;
|
} else {
|
currentTimeMilliConnectRgv = System.currentTimeMillis();
|
}
|
}
|
}
|
initRgv();
|
// siemensNet.ConnectClose();
|
return result;
|
}
|
|
/**
|
* 读取状态
|
*/
|
private void readStatus() {
|
try {
|
OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);
|
if (result.IsSuccess) {
|
// 构建设备状态对象
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
|
if (rgvProtocol == null) {
|
rgvProtocol = new RgvProtocol();
|
}
|
rgvProtocol.setRgvNo(slave.getId());
|
rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
|
rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
|
|
rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
|
rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
|
if (rgvProtocol.getRgvPosDestination()==0L){
|
rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos());
|
}
|
|
rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));
|
// rgvProtocol.setStatus((short)1);
|
|
//作业启动中 解决任务下发后小车状态未更新，小车状态不及时
|
if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){
|
this.wrkSign = 0;
|
}
|
if (this.wrkSign == 1){
|
rgvProtocol.setStatus((short)110);
|
}
|
|
rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));
|
|
rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14));
|
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 16));
|
// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
|
// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
|
// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
|
// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
|
|
// OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
|
boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);
|
rgvProtocol.setLoaded(status[0]? (short)1:(short)0);
|
rgvProtocol.setErr1(status[8]);
|
rgvProtocol.setErr2(status[9]);
|
rgvProtocol.setErr3(status[10]);
|
rgvProtocol.setErr4(status[11]);
|
rgvProtocol.setErr5(status[12]);
|
rgvProtocol.setErr6(status[13]);
|
rgvProtocol.setErr7(status[14]);
|
rgvProtocol.setErr8(status[15]);
|
// System.out.println("读线程"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));
|
// System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()+"小车数据："+JSON.toJSONString(rgvProtocol));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
|
// // 工位1复位信号
|
// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
|
// || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
|
// if (resetFlag1) {
|
// RgvCommand rgvCommand = new RgvCommand();
|
// rgvCommand.setAckFinish1((short)1);
|
// if (write(rgvCommand)) {
|
// resetFlag1 = false;
|
// }
|
// }
|
// }
|
if (rgvProtocol.getAlarm$()!=0){
|
RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());
|
}
|
|
try {
|
// 根据实时信息更新数据库
|
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
|
BasRgv basRgv = basRgvService.selectById(slave.getId());
|
if (!Cools.isEmpty(basRgv)) {
|
rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
|
} else {
|
rgvProtocol.setStatusEnable(false);
|
}
|
// BasRgv basRgv = new BasRgv();
|
basRgv.setRgvNo(slave.getId());
|
basRgv.setRgvSts((int) rgvProtocol.getMode());
|
if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))) {
|
log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV plc数据库更新失败");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
}
|
} catch (Exception ignore) {
|
|
}
|
|
|
// 更新缓存
|
RgvStatusCache.updateRgvStatus(rgvProtocol);
|
|
} else {
|
initRgv();
|
connectRgv = false;
|
// OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "读取RGV plc状态信息失败");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
}
|
} catch (Exception e) {
|
// e.printStackTrace();
|
// OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "读取RGV plc状态信息失败");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
initRgv();
|
}
|
}
|
|
/**
|
* 写入数据
|
*/
|
private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
|
if (null == taskProtocol) {
|
log.error("RGV写入命令为空 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV写入命令为空");
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
return false;
|
}
|
// convertRow(command);
|
// taskProtocol.setRgvNo(slave.getId());
|
// Long[] array = new Long[11];
|
OperateResult result41 = siemensNet.Write("DB100.12.0", false);
|
// array[0] = taskProtocol.getAckFinish1();
|
// array[1] = taskProtocol.getTaskNo();
|
// array[2] = taskProtocol.getTaskMode();
|
// array[4] = command.getDestinationStaNo();
|
// array[10] = taskProtocol.getCommand();
|
int taskStatus = taskProtocol.getTaskStatus();
|
|
OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue());
|
OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);
|
OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());
|
OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 执行方向（面朝轨道 定位值左小右大） true:左 false:右
|
Thread.sleep(20L);
|
|
OperateResult result4 = siemensNet.Write("DB100.12.0", true);
|
this.wrkSign = 1;
|
|
// log.info("任务下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());
|
|
// if (taskProtocol.getAckFinish1() == 0) {
|
// short commandFinish = 3; //工位1、2任务同时写入
|
// Thread.sleep(100L);
|
// result = siemensNet.Write("DB100.20", commandFinish);
|
// }
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
taskProtocol.getTaskNo().intValue(),
|
taskProtocol.getTaskNo().intValue(),
|
slave.getId(),
|
new Date(),
|
String.valueOf(taskProtocol.getTaskStatus()),
|
null,
|
null,
|
null,
|
result.IsSuccess ? 1 : 0,
|
null,
|
new Date(),
|
null
|
);
|
bean.insert(basRgvOpt);
|
} catch (Exception ignore) {
|
}
|
|
readStatus();
|
if (result != null && result.IsSuccess) {
|
// Thread.sleep(50);
|
// this.readStatus();
|
log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
|
log.error("RGV 命令下发 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvWrite", slave.getId(), "RGV 命令下发"+JSON.toJSON(taskProtocol));
|
} catch (Exception e2){
|
// log.error("e2:"+e2.getMessage());
|
}
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
private boolean writeDelRgvTask() throws InterruptedException {
|
//
|
OperateResult result = siemensNet.Write("DB100.12.0", false);
|
OperateResult result0 = siemensNet.Write("DB100.0", (int) 0);
|
OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);
|
OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);
|
OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 执行方向（面朝轨道 定位值左小右大） true:左 false:右
|
log.info("任务完成下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
0,
|
0,
|
slave.getId(),
|
new Date(),
|
String.valueOf(0),
|
null,
|
null,
|
null,
|
result.IsSuccess ? 1 : 0,
|
null,
|
new Date(),
|
null
|
);
|
bean.insert(basRgvOpt);
|
} catch (Exception ignore) {
|
}
|
|
if (result != null && result.IsSuccess) {
|
// Thread.sleep(200);
|
// this.readStatus();
|
log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null")));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
|
/**
|
* 清除作业启动中
|
*/
|
@Override
|
public void setWrkSign() {
|
this.wrkSign = 0;
|
}
|
|
public void setDelRgvTask() {
|
delRgvTask = true;
|
}
|
|
@Override
|
public void close() {
|
siemensNet.ConnectClose();
|
}
|
|
}
|
