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.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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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.BasCircularShuttle;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasRgvErrLog;
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import com.zy.asrs.entity.BasRgvOpt;
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import com.zy.asrs.service.BasCircularShuttleService;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.asrs.service.BasRgvErrLogService;
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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.utils.NumUtils;
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import com.zy.core.ThreadHandler;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.RgvModeType;
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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.RgvProtocol;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.util.*;
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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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/**
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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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private boolean alarmChangeSign = false;
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private boolean csSign = true;//测试标记
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/** 模拟移动速度：PLC轨道单位/tick（200ms），5000单位≈2.5m/s */
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private static final long SIM_CS_MOVE_STEP = 5000;
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/** 环形轨道总长（PLC轨道单位） */
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private static final long PERIMETER = 1737000;
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/** 避让安全距离 */
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private static final long AVOIDANCE_DISTANCE = 50000;
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/** 模拟任务阶段 */
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private enum SimPhase { IDLE, MOVING, WAITING_AT_SOURCE }
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/** 模拟任务数据 */
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@Data
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static class SimTask {
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int taskNo;
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short sourceSta;
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short destSta;
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short mode; // 任务模式：1=取货 2=放货 3=取放货 5=漫游
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SimPhase phase;
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long targetPos; // 目标轨道位置
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long startPos; // 起始轨道位置
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long destPos; // 放货站位置（仅取放货任务使用）
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long waitStartTime; // 到达取货站后的等待开始时间
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}
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/** 全局模拟任务表：rgvNo → SimTask，线程安全 */
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static final Map<Integer, SimTask> simTasks = new ConcurrentHashMap<>();
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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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if (csSign) {
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connectRgv = true; // 模拟模式跳过PLC连接
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} else {
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connectRgv = this.connect();
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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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// 模拟模式：启动模拟运行线程
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if (csSign) {
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new Thread(this::simThreadRun).start();
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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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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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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
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if (task != null) {
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step = task.getStep();
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}
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if (csSign) {
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// ===== 模拟模式：不写PLC，用模拟方法替代 =====
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switch (step) {
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case 1:
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taskCompleteCS();
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break;
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case 2:
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RgvCommand command2 = (RgvCommand) task.getData();
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rgvOpt(command2);
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writeCS(command2);
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rgvProtocol.setTaskNo1(command2.getTaskNo1());
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break;
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case 3:
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RgvCommand command = (RgvCommand) task.getData();
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if (null == command) {
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command = new RgvCommand();
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}
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command.setRgvNo(slave.getId());
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command.setTaskNo1((short) 0);
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command.setAckFinish1((short) 1);
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command.setTaskMode1(RgvTaskModeType.NONE);
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command.setSourceStaNo1((short)0);
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command.setDestinationStaNo1((short)0);
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rgvOpt(command);
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write3CS(command);
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break;
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case 4:
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RgvCommand command4 = (RgvCommand) task.getData();
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rgvOpt(command4);
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write4CS(command4);
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break;
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case 5:
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Long aLong = (Long) task.getData();
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rgvOpt(aLong);
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write5CS(aLong);
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break;
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default:
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break;
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}
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} else {
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// ===== 真实模式：写PLC =====
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switch (step) {
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//漫游任务完成信号
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case 1:
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// readStatus();
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taskComplete();
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break;
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//工位1写入数据
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case 2:
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RgvCommand command2 = (RgvCommand) task.getData();
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rgvOpt(command2);
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write(command2);
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break;
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// 复位
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case 3:
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RgvCommand command = (RgvCommand) task.getData();
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if (null == command) {
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command = new RgvCommand();
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}
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command.setRgvNo(slave.getId()); // RGV编号
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command.setTaskNo1((short) 0); // 工作号
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command.setAckFinish1((short) 1); // 任务完成确认位
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command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo1((short)0); // 源站
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command.setDestinationStaNo1((short)0); // 目标站
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rgvOpt(command);
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write3(command);
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break;
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//工位1写入取消数据
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case 4:
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RgvCommand command4 = (RgvCommand) task.getData();
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rgvOpt(command4);
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write4(command4);
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break;
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// 漫游
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case 5:
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Long aLong = (Long) task.getData();
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rgvOpt(aLong);
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write5(aLong);
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break;
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default:
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break;
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}
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}
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Thread.sleep(50);
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} catch (Exception e) {
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log.error("RGV写线程异常"+e.getMessage());
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// e.printStackTrace();
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}
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}
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}
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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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// 根据实时信息更新数据库
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BasCircularShuttleService basCircularShuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
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BasCircularShuttle basCircularShuttle = basCircularShuttleService.getOne(new QueryWrapper<BasCircularShuttle>().eq("rgv_no", slave.getId()));
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if (basCircularShuttle.getStatus() != 0){
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continue;
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}
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} catch (Exception ignore) {
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}
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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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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(40);
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// readStatus();
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initRgv();
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} catch (Exception e) {
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log.error("RGV读线程异常"+e.getMessage());
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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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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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* 初始化RGV状态
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*/
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private void initRgv() {
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if (csSign){
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initRgvCS();
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} else {
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initRgvT();
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}
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}
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/**
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* 初始化RGV状态
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*/
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private void initRgvT() {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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}
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rgvProtocol.setRgvNo(slave.getId());
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rgvProtocol.setMode((short) -1);
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rgvProtocol.setStatus((short)-1);
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rgvProtocol.setTaskNo1((short)0);
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rgvProtocol.setStatus1((short)-1);
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rgvProtocol.setLoaded1((short)0);
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rgvProtocol.setWalkPos((short)0);
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rgvProtocol.setRgvPos(0L);
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rgvProtocol.setTaskNo2((short)0);
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rgvProtocol.setStatus2((short)-1);
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rgvProtocol.setLoaded2((short)0);
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rgvProtocol.setAlarm((short)0);
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rgvProtocol.setxSpeed((short) 0);
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rgvProtocol.setxDistance((short) 0);
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rgvProtocol.setxDuration((short) 0);
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log.error("连接中断：RGV号："+slave.getId());
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try {
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// 根据实时信息更新数据库
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv basRgv = new BasRgv();
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basRgv.setRgvNo(slave.getId());
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basRgv.setRgvSts((int)rgvProtocol.getMode());
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basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
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if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
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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());
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}
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} catch (Exception ignore) {
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}
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}
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/**
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* 初始化RGV状态
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*/
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private void initRgvCS() {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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rgvProtocol.setMode((short) 3);
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rgvProtocol.setStatus((short)0);
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rgvProtocol.setTaskNo1((short)0);
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rgvProtocol.setStatus1((short)0);
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rgvProtocol.setLoaded1((short)0);
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rgvProtocol.setWalkPos((short)0);
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if (rgvProtocol.getRgvPos()==null || rgvProtocol.getRgvPos()==0){
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rgvProtocol.setRgvPos(1L+rgvProtocol.getRgvNo()*100000);
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}
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// rgvProtocol.setRgvPos(rgvProtocol.getRgvPos()+1000);
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rgvProtocol.setRgvPos(rgvProtocol.getRgvPos());
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if (rgvProtocol.getRgvPos()>0){
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rgvProtocol.setRgvPos((long)rgvProtocol.getRgvPos());
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rgvProtocol.setRgvPosInt(rgvProtocol.getRgvPos().intValue());
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}
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rgvProtocol.setTaskNo2((short)0);
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rgvProtocol.setStatus2((short)-1);
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rgvProtocol.setLoaded2((short)0);
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rgvProtocol.setAlarm((short)0);
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rgvProtocol.setxSpeed((short) 0);
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rgvProtocol.setxDistance((short) 0);
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rgvProtocol.setxDuration((short) 0);
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}
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// log.error("连接中断：RGV号："+slave.getId());
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try {
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// 根据实时信息更新数据库
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv basRgv = new BasRgv();
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basRgv.setRgvNo(slave.getId());
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basRgv.setRgvSts((int)rgvProtocol.getMode());
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basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
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if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
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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());
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}
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} catch (Exception ignore) {
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}
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}
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@Override
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public boolean connect() {
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boolean result = false;
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siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensNet.setRack(slave.getRack().byteValue());
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siemensNet.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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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()));
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log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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} else {
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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()));
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log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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initRgv();
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}
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// siemensNet.ConnectClose();
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return result;
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}
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/**
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* 读取状态
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*/
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private void readStatus(){
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try {
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OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
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OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
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OperateResultExOne<byte[]> resultE = siemensNet.Read("DB20.26", (short) 2);
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OperateResultExOne<byte[]> resultError = siemensNet.Read("DB13.0", (short) 13);
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if (result.IsSuccess && resultV.IsSuccess && resultE.IsSuccess) {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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}
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rgvProtocol.setRgvNo(slave.getId());
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rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
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rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 6));
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rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
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rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 10));
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rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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int poi = siemensNet.getByteTransform().TransInt32(result.Content, 16);
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if (poi>0){
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rgvProtocol.setRgvPos((long)poi);
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rgvProtocol.setRgvPosInt(poi);
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}
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log.info(rgvProtocol.getRgvNo()+"号小车读取定位值："+poi);
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rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
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rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
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boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);
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int alarmCount = 0;
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List<Integer> alarmList = new ArrayList<>();
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for (boolean alarmSign : statusAlarmList){
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alarmCount++;
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if (alarmSign){
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alarmList.add(alarmCount);
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}
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}
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alarmChangeSign = new HashSet<>(alarmList).equals(new HashSet<>(rgvProtocol.getAlarmList()));
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rgvProtocol.setAlarmList(alarmList);
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// rgvProtocol.setRgvPos((long) NumUtils.GetRandomIntInRange(1737000));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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try {
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// 根据实时信息更新数据库
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv basRgv = new BasRgv();
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basRgv.setRgvNo(slave.getId());
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basRgv.setRgvSts((int)rgvProtocol.getMode());
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basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
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if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
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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());
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}
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try{
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if (!alarmChangeSign && !alarmList.isEmpty()){
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BasRgvErrLogService basRgvErrLogService = SpringUtils.getBean(BasRgvErrLogService.class);
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BasRgvErrLog basRgvErrLog = new BasRgvErrLog(rgvProtocol.getAlarmList(), rgvProtocol.getTaskNo1(), rgvProtocol.getRgvNo());
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basRgvErrLogService.save(basRgvErrLog);
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}
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} catch (Exception e){
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log.error("RGV异常信息保存失败！！");
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}
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} catch (Exception ignore) {
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}
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} else {
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initRgv();
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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()));
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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());
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}
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} catch (Exception e) {
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e.printStackTrace();
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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()));
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log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initRgv();
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}
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}
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/**
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* 工位1写入数据
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*/
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private void rgvOpt(RgvCommand command) {
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try{
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BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosInt(), command);
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log.info(rgvProtocol.getRgvNo()+"号小车写入命令定位值："+rgvProtocol.getRgvPosInt());
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basRgvOptService.save(basRgvOpt);
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}catch (Exception e){
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log.error("RGV写入命令保存失败！！");
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}
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}
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private void rgvOpt(Long command) {
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try{
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BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
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basRgvOptService.save(basRgvOpt);
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}catch (Exception e){
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log.error("RGV写入命令保存失败！！");
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}
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}
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private boolean write(RgvCommand command) throws InterruptedException {
|
if (null == command) {
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log.error("RGV写入命令为空");
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return false;
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}
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|
siemensNet.Write("DB24.10.0", false);
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siemensNet.Write("DB24.10.1", false);
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command.setRgvNo(slave.getId());
|
short[] array = new short[5];
|
array[0] = command.getRgvNo().shortValue();
|
array[1] = command.getSourceStaNo1();
|
array[2] = command.getDestinationStaNo1();
|
array[3] = command.getTaskMode1();//任务模式
|
array[4] = command.getTaskNo1();
|
|
|
|
OperateResult result = siemensNet.Write("DB24.0", array);
|
|
if (command.getAckFinish1().equals((short)0)) {
|
// Thread.sleep(100L);
|
siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
|
Thread.sleep(20L);
|
result = siemensNet.Write("DB24.10.0", true);
|
} else {
|
siemensNet.Write("DB24.10.1", true);
|
}
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
command.getTaskNo1().intValue(),
|
command.getTaskNo2().intValue(),
|
command.getRgvNo(),
|
new Date(),
|
command.getTaskModeType1().toString(),
|
command.getSourceStaNo1().intValue(),
|
command.getDestinationStaNo1().intValue(),
|
command.getSourceStaNo2().intValue(),
|
command.getDestinationStaNo2().intValue(),
|
null,
|
new Date(),
|
null
|
);
|
bean.save(basRgvOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
// Thread.sleep(200);
|
// this.readStatus();
|
log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1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工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
private boolean write4(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
|
// siemensNet.Write("DB24.10.0", false);
|
// siemensNet.Write("DB24.10.1", false);
|
|
command.setRgvNo(slave.getId());
|
short[] array = new short[5];
|
array[0] = command.getRgvNo().shortValue();
|
array[1] = command.getSourceStaNo1();
|
array[2] = command.getDestinationStaNo1();
|
array[3] = command.getTaskMode1();//任务模式
|
array[4] = command.getTaskNo1();
|
|
|
|
OperateResult result = siemensNet.Write("DB24.0", array);
|
//
|
// if (command.getAckFinish1().equals((short)0)) {
|
//// Thread.sleep(100L);
|
//// siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
|
//// Thread.sleep(20L);
|
//// result = siemensNet.Write("DB24.10.0", true);
|
// } else {
|
// siemensNet.Write("DB24.10.1", true);
|
// }
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
command.getTaskNo1().intValue(),
|
command.getTaskNo2().intValue(),
|
command.getRgvNo(),
|
new Date(),
|
command.getTaskModeType1().toString(),
|
command.getSourceStaNo1().intValue(),
|
command.getDestinationStaNo1().intValue(),
|
command.getSourceStaNo2().intValue(),
|
command.getDestinationStaNo2().intValue(),
|
null,
|
new Date(),
|
null
|
);
|
bean.save(basRgvOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
// Thread.sleep(200);
|
// this.readStatus();
|
log.info("RGV 工位1取消命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1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工位1取消数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 完成
|
*/
|
private void taskComplete() {
|
try {
|
OperateResultExOne<byte[]> result = siemensNet.Read("DB24.11", (short) 1);
|
boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
|
if (status[0]){
|
OperateResult result4 = siemensNet.Write("DB24.11.0", false);
|
}
|
} catch (Exception e) {
|
log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
}
|
}
|
|
private void write5(Long devperimeter){
|
try {
|
siemensNet.Write("DB24.12", devperimeter.intValue());
|
Thread.sleep(10L);
|
siemensNet.Write("DB24.11.0", true);
|
|
} catch (Exception ignore) {
|
log.error("写入RGV plc工位1漫游数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
}
|
}
|
|
private boolean write3(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
|
siemensNet.Write("DB24.10.0", false);
|
siemensNet.Write("DB24.10.1", false);
|
|
command.setRgvNo(slave.getId());
|
short[] array = new short[5];
|
array[0] = command.getRgvNo().shortValue();
|
array[1] = command.getSourceStaNo1();
|
array[2] = command.getDestinationStaNo1();
|
array[3] = command.getTaskMode1();//任务模式
|
array[4] = command.getTaskNo1();
|
|
// OperateResult result = siemensNet.Write("DB24.0", array);
|
OperateResult result = null;
|
if (command.getAckFinish1().equals((short)0)) {
|
Thread.sleep(20L);
|
result = siemensNet.Write("DB24.10.0", true);
|
} else {
|
siemensNet.Write("DB24.10.1", true);
|
}
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
command.getTaskNo1().intValue(),
|
command.getTaskNo2().intValue(),
|
command.getRgvNo(),
|
new Date(),
|
command.getTaskModeType1().toString(),
|
command.getSourceStaNo1().intValue(),
|
command.getDestinationStaNo1().intValue(),
|
command.getSourceStaNo2().intValue(),
|
command.getDestinationStaNo2().intValue(),
|
null,
|
new Date(),
|
null
|
);
|
bean.save(basRgvOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
// Thread.sleep(200);
|
// this.readStatus();
|
log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1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工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
@Override
|
public void close() {
|
if (siemensNet != null) {
|
siemensNet.ConnectClose();
|
}
|
}
|
|
// ==================== 模拟模式方法 ====================
|
|
/**
|
* 模拟完成确认（step=1）：模拟模式无需读PLC
|
*/
|
private void taskCompleteCS() {
|
// 模拟模式下无PLC，跳过
|
}
|
|
/**
|
* 模拟取放货下发（step=2）：记录到simTask，启动模拟移动
|
* 取放货(mode=3): 第一阶段去取货站，到达后等待5秒，再去放货站
|
*/
|
private void writeCS(RgvCommand command) {
|
if (command == null) return;
|
SimTask st = new SimTask();
|
st.setTaskNo(command.getTaskNo1());
|
st.setSourceSta(command.getSourceStaNo1());
|
st.setDestSta(command.getDestinationStaNo1());
|
st.setMode(command.getTaskMode1());
|
st.setPhase(SimPhase.MOVING);
|
st.setStartPos(rgvProtocol.getRgvPos() != null ? rgvProtocol.getRgvPos() : 0L);
|
|
if (command.getTaskMode1().intValue() == RgvTaskModeType.FETCH_PUT.id) {
|
// 取放货：先去取货站，记下放货站位置
|
st.setTargetPos(getStationPosition(command.getSourceStaNo1()));
|
st.setDestPos(getStationPosition(command.getDestinationStaNo1()));
|
} else {
|
// 其他模式：直接去目标站
|
st.setTargetPos(getStationPosition(command.getDestinationStaNo1()));
|
st.setDestPos(0L);
|
}
|
|
simTasks.put(slave.getId(), st);
|
|
log.info("[模拟] RGV{} 取放货任务接收: taskNo={} source={} dest={} 目标位置={}",
|
slave.getId(), command.getTaskNo1(), command.getSourceStaNo1(),
|
command.getDestinationStaNo1(), st.getTargetPos());
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 取放货任务接收: source={2} dest={3} target={4}",
|
DateUtils.convert(new Date()), slave.getId(),
|
command.getSourceStaNo1(), command.getDestinationStaNo1(), st.getTargetPos()));
|
}
|
|
/**
|
* 模拟复位（step=3）：清除模拟任务
|
*/
|
private void write3CS(RgvCommand command) {
|
simTasks.remove(slave.getId());
|
rgvProtocol.setTaskNo1((short) 0);
|
rgvProtocol.setStatus((short) 0);
|
log.info("[模拟] RGV{} 复位完成", slave.getId());
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 复位完成",
|
DateUtils.convert(new Date()), slave.getId()));
|
}
|
|
/**
|
* 模拟取消（step=4）：清除模拟任务
|
*/
|
private void write4CS(RgvCommand command) {
|
simTasks.remove(slave.getId());
|
log.info("[模拟] RGV{} 任务取消: taskNo={}", slave.getId(), command.getTaskNo1());
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 任务取消: taskNo={2}",
|
DateUtils.convert(new Date()), slave.getId(), command.getTaskNo1()));
|
}
|
|
/**
|
* 模拟漫游下发（step=5）：记录到simTask，启动模拟移动
|
*/
|
private void write5CS(Long destination) {
|
SimTask st = new SimTask();
|
st.setMode((short) 5);
|
st.setPhase(SimPhase.MOVING);
|
st.setTargetPos(destination);
|
st.setStartPos(rgvProtocol.getRgvPos() != null ? rgvProtocol.getRgvPos() : 0L);
|
simTasks.put(slave.getId(), st);
|
|
log.info("[模拟] RGV{} 漫游任务接收: 目标位置={}", slave.getId(), destination);
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 漫游任务接收: 目标={2}",
|
DateUtils.convert(new Date()), slave.getId(), destination));
|
}
|
|
// ==================== 模拟运行线程 ====================
|
|
/**
|
* 模拟运行线程：每200ms更新本车位置 + 检测避让（各线程只处理自己的simTask）
|
*/
|
private void simThreadRun() {
|
log.info("[模拟] RGV{} 模拟运行线程启动", slave.getId());
|
int tick = 0;
|
int myId = slave.getId();
|
while (true) {
|
try {
|
Thread.sleep(200);
|
tick++;
|
|
SimTask st = simTasks.get(myId);
|
if (st == null || st.getPhase() == SimPhase.IDLE) continue;
|
|
if (rgvProtocol == null || rgvProtocol.getRgvPos() == null) continue;
|
long current = rgvProtocol.getRgvPos();
|
long target = st.getTargetPos();
|
double dist = forwardDistance(current, target);
|
|
// 到达取货站：等待5秒后前往放货站
|
if (st.getPhase() == SimPhase.WAITING_AT_SOURCE) {
|
long waited = System.currentTimeMillis() - st.getWaitStartTime();
|
if (waited >= 5000) {
|
st.setTargetPos(st.getDestPos());
|
st.setStartPos(current);
|
st.setPhase(SimPhase.MOVING);
|
log.info("[模拟] RGV{} 等待{}ms结束，开始前往放货站: pos={}", myId, waited, st.getDestPos());
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 等待结束，前往放货站: {2}",
|
DateUtils.convert(new Date()), myId, st.getDestPos()));
|
}
|
continue;
|
}
|
|
if (dist <= SIM_CS_MOVE_STEP) {
|
// 到达目标
|
rgvProtocol.setRgvPos(target);
|
rgvProtocol.setRgvPosInt((int) target);
|
|
if (st.getMode() == RgvTaskModeType.FETCH_PUT.id.shortValue() && st.getDestPos() != 0L && target != st.getDestPos()) {
|
// 阶段1：到达取货站，进入等待
|
rgvProtocol.setStatus((short) 2); // 进站运行中
|
st.setPhase(SimPhase.WAITING_AT_SOURCE);
|
st.setWaitStartTime(System.currentTimeMillis());
|
|
log.info("[模拟] RGV{} 到达取货站: pos={}，等待5秒后前往放货站", myId, target);
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 到达取货站: {2}，等待5秒",
|
DateUtils.convert(new Date()), myId, target));
|
} else {
|
// 阶段2到达放货站 / 漫游到达 → 申请完成任务
|
rgvProtocol.setStatus((short) 100); // WAITING
|
simTasks.remove(myId);
|
|
log.info("[模拟] RGV{} 到达放货站: pos={}，状态变为申请完成(WAITING)", myId, target);
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[模拟][id:{1}] 到达放货站: {2}，申请完成任务",
|
DateUtils.convert(new Date()), myId, target));
|
}
|
|
try {
|
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
|
basRgvService.updateById(rgvProtocol.toSqlModel(new BasRgv()));
|
} catch (Exception ignore) {}
|
} else {
|
// 前进（减速逻辑：前方有车则降低步长，不重合不超过）
|
long step = calcAdjustedStep(myId, current);
|
long newPos = (current + step) % PERIMETER;
|
rgvProtocol.setRgvPos(newPos);
|
rgvProtocol.setRgvPosInt((int) newPos);
|
rgvProtocol.setStatus((short) 11); // ROAM
|
|
if (tick % 5 == 0) {
|
log.info("[模拟] RGV{} 移动中: {} → {} (距目标{}, 步长={})",
|
myId, current, newPos, (long) dist, step);
|
}
|
|
try {
|
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
|
basRgvService.updateById(rgvProtocol.toSqlModel(new BasRgv()));
|
} catch (Exception ignore) {}
|
|
// 检测避让：只检查本车前方是否有阻挡
|
checkAndAvoidBlocker(myId, target);
|
}
|
|
} catch (Exception e) {
|
log.error("[模拟] RGV{} 模拟线程异常: {}", slave.getId(), e.getMessage());
|
}
|
}
|
}
|
|
/**
|
* 检测前方阻挡并递推避让
|
* @param myRgvNo 当前小车编号
|
* @param myTarget 当前小车的目标位置
|
*/
|
private void checkAndAvoidBlocker(int myRgvNo, long myTarget) {
|
RgvThread myThread = getRgvThread(myRgvNo);
|
if (myThread == null || myThread.getRgvProtocol() == null) return;
|
long myPos = myThread.getRgvProtocol().getRgvPos();
|
if (myPos == 0) return;
|
|
double distToTarget = forwardDistance(myPos, myTarget);
|
if (distToTarget <= 0) return;
|
|
try {
|
BasCircularShuttleService shuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
|
List<BasCircularShuttle> shuttles = shuttleService.list(
|
new QueryWrapper<BasCircularShuttle>().orderByAsc("rgv_id"));
|
if (shuttles == null) return;
|
|
// 只找离自己最近的前车（在自己与目标之间）
|
int nearestRgvNo = -1;
|
double nearestDist = Double.MAX_VALUE;
|
|
for (BasCircularShuttle shuttle : shuttles) {
|
int otherNo = shuttle.getRgvNo();
|
if (otherNo == myRgvNo) continue;
|
if (!isIdleForAvoidance(otherNo)) continue;
|
|
RgvThread otherThread = getRgvThread(otherNo);
|
if (otherThread == null || otherThread.getRgvProtocol() == null) continue;
|
long otherPos = otherThread.getRgvProtocol().getRgvPos();
|
if (otherPos == 0) continue;
|
|
double fwdDist = forwardDistance(myPos, otherPos);
|
// 对方在前方 且 在目标点之前 → 阻挡
|
if (fwdDist > 0 && fwdDist < distToTarget) {
|
if (fwdDist < nearestDist) {
|
nearestDist = fwdDist;
|
nearestRgvNo = otherNo;
|
}
|
}
|
}
|
|
if (nearestRgvNo > 0) {
|
long avoidDest = forwardAvoidDest(myTarget);
|
issueAvoidanceRecursive(nearestRgvNo, avoidDest);
|
}
|
} catch (Exception ignore) {}
|
}
|
|
/**
|
* 判断RGV是否空闲可用于避让
|
*/
|
private boolean isIdleForAvoidance(int rgvNo) {
|
SimTask otherSim = simTasks.get(rgvNo);
|
if (otherSim != null && otherSim.getPhase() == SimPhase.MOVING) return false;
|
|
RgvThread otherThread = getRgvThread(rgvNo);
|
if (otherThread == null) return false;
|
RgvProtocol protocol = otherThread.getRgvProtocol();
|
if (protocol == null) return false;
|
|
int st = protocol.getStatus() != null ? protocol.getStatus() : -1;
|
return (st == 0 || st == 11) && protocol.getTaskNo1() == 0;
|
}
|
|
/**
|
* 下发避让：给rgvNo写入避让simTask至avoidDest
|
* 该RGV的线程会在下一tick自行检测避让路径上的阻挡
|
*/
|
private void issueAvoidanceRecursive(int rgvNo, long avoidDest) {
|
MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(5, avoidDest));
|
// RgvThread otherThread = getRgvThread(rgvNo);
|
// if (otherThread == null || otherThread.getRgvProtocol() == null) return;
|
// long currentPos = otherThread.getRgvProtocol().getRgvPos();
|
//
|
// // 写入simTask（覆盖已有的WAITING_AT_SOURCE或MOVING任务）
|
// SimTask st = new SimTask();
|
// st.setMode((short) 5);
|
// st.setPhase(SimPhase.MOVING);
|
// st.setTargetPos(avoidDest);
|
// st.setStartPos(currentPos);
|
// simTasks.put(rgvNo, st);
|
//
|
// log.info("[模拟避让] RGV{} 前方RGV{}阻挡，避让至: {}",
|
// slave.getId(), rgvNo, avoidDest);
|
// OutputQueue.RGV.offer(MessageFormat.format(
|
// "【{0}】[模拟避让] RGV{1} 前方RGV{2}阻挡, 避让至: {3}",
|
// DateUtils.convert(new Date()), slave.getId(), rgvNo, avoidDest));
|
}
|
|
/**
|
* 计算目标点前方10000处的避让位置
|
*/
|
private long forwardAvoidDest(long target) {
|
long dest = target + 100000;
|
if (dest > PERIMETER) dest -= PERIMETER;
|
return dest;
|
}
|
|
/** 前车跟随距离：进入此范围开始减速 */
|
private static final long FOLLOW_DISTANCE = 20000;
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/** 最小安全间距：不能比这更近 */
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private static final long MIN_GAP = 3000;
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/**
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* 根据前方车辆距离计算本步实际步长
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* 前方无车 → 全速；有车 → 线性减速；贴紧 → 停止
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*/
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private long calcAdjustedStep(int myId, long myPos) {
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long aheadDist = distanceToNearestAhead(myId, myPos);
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if (aheadDist < 0) return SIM_CS_MOVE_STEP; // 前方无车，全速
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long gap = aheadDist - MIN_GAP;
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if (gap <= 0) return 0; // 已到最小间距，停止
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return Math.min(SIM_CS_MOVE_STEP, gap);
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}
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/**
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* 查找正前方最近一辆车的正向距离，无车返回-1
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* 只关注有任务或正在移动的车，空闲静止的车由避让逻辑处理
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*/
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private long distanceToNearestAhead(int myId, long myPos) {
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long best = -1;
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try {
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BasCircularShuttleService shuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
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List<BasCircularShuttle> shuttles = shuttleService.list(
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new QueryWrapper<BasCircularShuttle>().orderByAsc("rgv_id"));
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if (shuttles == null) return -1;
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for (BasCircularShuttle shuttle : shuttles) {
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int otherId = shuttle.getRgvNo();
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if (otherId == myId) continue;
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SimTask otherTask = simTasks.get(otherId);
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// 只关注有任务的车（MOVING / WAITING_AT_SOURCE）
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if (otherTask == null || otherTask.getPhase() == SimPhase.IDLE) continue;
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RgvThread otherThread = getRgvThread(otherId);
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if (otherThread == null || otherThread.getRgvProtocol() == null) continue;
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Long otherPos = otherThread.getRgvProtocol().getRgvPos();
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if (otherPos == null || otherPos == 0) continue;
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double fwd = forwardDistance(myPos, otherPos);
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if (fwd > 0 && fwd <= FOLLOW_DISTANCE && (best < 0 || fwd < best)) {
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best = (long) fwd;
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}
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}
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} catch (Exception ignore) {}
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return best;
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}
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/**
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* 计算环形轨道上从current到target的正向距离
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*/
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private double forwardDistance(long current, long target) {
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if (target >= current) return target - current;
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return PERIMETER - current + target;
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}
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/**
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* 获取站点在轨道上的位置
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*/
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private long getStationPosition(short staNo) {
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try {
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BasDevpPositionService positionService = SpringUtils.getBean(BasDevpPositionService.class);
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com.zy.asrs.entity.BasDevpPosition pos = positionService.getOne(
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new QueryWrapper<com.zy.asrs.entity.BasDevpPosition>().eq("dev_no", (int) staNo));
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if (pos != null && pos.getPlcPosition() != null) return pos.getPlcPosition();
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} catch (Exception ignore) {}
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return 0L;
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}
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/**
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* 获取指定RGV的RgvThread实例
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*/
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private RgvThread getRgvThread(int rgvNo) {
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try {
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return (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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} catch (Exception e) {
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return null;
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}
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}
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/******************************************************************************************/
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/**************************************** 测试专用 *****************************************/
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/*****************************************************************************************/
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// public static void main(String[] args) throws InterruptedException {
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// RgvSlave slave = new RgvSlave();
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// slave.setId(1);
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// slave.setIp("192.168.6.9");
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// slave.setRack(0);
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// slave.setSlot(0);
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// RgvThread rgvThread = new RgvThread(slave);
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// rgvThread.connect();
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// rgvThread.readStatus();
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// System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
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// Thread.sleep(3000L);
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//
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// }
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}
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