#改造

cpT

2025-07-02 15154033d40f857f61760f137ca59eaf29908aa3

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -65,7 +65,10 @@
    private boolean resetFlag2 = false;

    private boolean connectRgv = false;
    public Long currentTimeMilliConnectRgv= 0L;

    private boolean delRgvTask = false;
    private short wrkSign = 0;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -74,6 +77,12 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        initRgv();
        try{
            Thread.sleep(2000);
        } catch (Exception e){

        }
        connectRgv = this.connect();
        while(!connectRgv){
            try {
@@ -94,7 +103,7 @@
        new Thread(this::taskIssued).start();

        // 启动漫游线程
//        new Thread(this::taskWalkIssued).start();
        new Thread(this::taskWalkIssued).start();
//        new Thread(this::taskWalkIssued2).start();

        // 启动任务完成线程
@@ -104,6 +113,7 @@
    private void rgvConnect() {
        while (true) {
            try {
                Thread.sleep(1000);
                if(!connectRgv){
                    try {
                        connectRgv = this.connect();
@@ -116,7 +126,7 @@
                log.error("rgv连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "rgv连接失败"+e.getMessage());
                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "rgv连接失败"+e.getMessage());
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
@@ -129,8 +139,17 @@
    private void readStatusRgv() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    initRgv();
                    continue;
                }
                Thread.sleep(20);
//                System.out.println("读线程"+ slave.getId());
//                System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());

                readStatus();

@@ -138,7 +157,7 @@
                log.error("RGV数据读取线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV数据读取线程异常"+e.getMessage());
                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV数据读取线程异常"+e.getMessage());
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
@@ -156,22 +175,32 @@
    private void taskComplete() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                if (delRgvTask){
                    writeDelRgvTask();
                    delRgvTask = false;
                    continue;
                }
                Thread.sleep(40);
                Thread.sleep(50L);

                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
                if (status[0]){
                    Thread.sleep(500L);
                    OperateResult result4 = siemensNet.Write("DB100.12.0", 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());
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV数据任务下发复位线程异常"+e.getMessage());
                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV数据任务下发复位线程异常"+e.getMessage());
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
@@ -237,7 +266,7 @@
//                log.error("RGV任务下发线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//                try{
//                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
//                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
//                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
//                }
@@ -249,57 +278,73 @@
    /**
     * 漫游
     */
//    private void taskWalkIssued() {
//        while (true) {
//            try {
//                // 休眠 1 秒
//                Thread.sleep(100);
//
//                if (!deviceDetection()) {
//                    continue;
//                }
//                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
//                if (rgvTaskProtocol == null) {
//                    initRgv();
//                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
//                }
//                if (rgvTaskProtocol.getAvoid() != 1) {
//                    continue;
//                }
//                TaskProtocol issued = new TaskProtocol();
//                issued.setTaskNo(32222L);
//                issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
//                issued.setTaskStatus(1);
//                issued.setDirection(true);
//                write(issued);
//                rgvTaskProtocol.setAvoid(0);
//
    private void taskWalkIssued() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                // 休眠 1 秒
                Thread.sleep(100);

                if (!deviceDetection()) {
                    continue;
                }
                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                if (rgvTaskProtocol == null) {
                    initRgv();
                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                }
                if (rgvTaskProtocol.getAvoid() != 1) {
                    continue;
                }
                TaskProtocol issued = new TaskProtocol();
                issued.setTaskNo(32222L);
                issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
                issued.setTaskStatus(1);
                issued.setDirection(true);
                write(issued);
                rgvTaskProtocol.setAvoid(0);

//                Thread.sleep(200);
//                RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
//
//            } catch (Exception e) {
//                log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
////                e.printStackTrace();
//            }
//        }
//    }
                RgvTaskCache.updateRgvStatus(rgvTaskProtocol);

            } catch (Exception e) {
                log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    /**
     * 任务下发
     */
    private void taskIssued() {
        while (true) {
            if(!connectRgv){
                try {
                    Thread.sleep(1000L);
                } catch (Exception e){

                }
                continue;
            }
            RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
            if (!rgvRun.getRgvNo().equals(slave.getId())){
                continue;
            }
            try {
                Thread.sleep(50);
                Thread.sleep(100);
                rgvRun = RgvRunCache.getRgvRun();
//                System.out.println(JSON.toJSON(rgvRun));

                // 休眠 1 秒
                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 1000) {
                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500L) {
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                } else {
                    continue;
@@ -308,7 +353,9 @@
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                    if (!errorRgv.equals("无")){
                        RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                    }
                    continue;
                }

@@ -333,20 +380,6 @@
                    continue;
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
                    if (rgvTaskProtocol.getAvoid() == 1) {
                        TaskProtocol issued = new TaskProtocol();
                        issued.setTaskNo(32222L);
                        issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
                        issued.setTaskStatus(1);
                        issued.setDirection(true);
                        write(issued);
                        RgvErrCache.updateRgvErr(slave.getId());
                        rgvTaskProtocol.setAvoid(0);

//                        try{Thread.sleep(50L);} catch (Exception e){}

                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    }
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
@@ -442,7 +475,7 @@
                log.error("RGV任务下发线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
@@ -494,7 +527,7 @@
            return false;
        }
        if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
            errorRgv = slave.getId()+"号小车非空闲";
            errorRgv = "无";
            return false;
        }
        if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
@@ -534,6 +567,10 @@

    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());
@@ -571,7 +608,7 @@
                                                errorRgv = "RGV行走目标超出范围";
                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                                                } catch (Exception e2){
//                                                    log.error("e2:"+e2.getMessage());
                                                }
@@ -596,6 +633,66 @@
                            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());
@@ -603,7 +700,7 @@

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                            deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
//                            log.error("e2:"+e2.getMessage());
                        }
@@ -631,7 +728,7 @@

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                            deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
//                            log.error("e2:"+e2.getMessage());
                        }
@@ -660,7 +757,7 @@

                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                            } catch (Exception e2){
//                                log.error("e2:"+e2.getMessage());
                            }
@@ -717,7 +814,7 @@

                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                                                } catch (Exception e2){
//                                                    log.error("e2:"+e2.getMessage());
                                                }
@@ -742,6 +839,67 @@
                            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());
@@ -749,7 +907,7 @@

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                            deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
//                            log.error("e2:"+e2.getMessage());
                        }
@@ -777,7 +935,7 @@

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                            deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
//                            log.error("e2:"+e2.getMessage());
                        }
@@ -807,7 +965,7 @@

                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围");
                            } catch (Exception e2){
//                                log.error("e2:"+e2.getMessage());
                            }
@@ -869,7 +1027,7 @@
            log.error("RGV异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV异常"+e.getMessage());
                deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV异常"+e.getMessage());
            } catch (Exception e2){
//                log.error("e2:"+e2.getMessage());
            }
@@ -905,11 +1063,18 @@
//            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());

            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc连接失败");
            } catch (Exception e2){
            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();
@@ -940,6 +1105,16 @@
                }

                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));
@@ -958,8 +1133,10 @@
                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)
@@ -993,7 +1170,7 @@

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV plc数据库更新失败");
                            deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV plc数据库更新失败");
                        } catch (Exception e2){
//                            log.error("e2:"+e2.getMessage());
                        }
@@ -1014,7 +1191,7 @@

                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "读取RGV plc状态信息失败");
                    deviceErrorService.addDeviceError("rgvErr", slave.getId(), "读取RGV plc状态信息失败");
                } catch (Exception e2){
//                    log.error("e2:"+e2.getMessage());
                }
@@ -1026,7 +1203,7 @@

            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "读取RGV plc状态信息失败");
                deviceErrorService.addDeviceError("rgvErr", slave.getId(), "读取RGV plc状态信息失败");
            } catch (Exception e2){
//                log.error("e2:"+e2.getMessage());
            }
@@ -1043,7 +1220,7 @@

            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV写入命令为空");
                deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV写入命令为空");
            } catch (Exception e2){
//                log.error("e2:"+e2.getMessage());
            }
@@ -1051,9 +1228,8 @@
        }
//        convertRow(command);
//        taskProtocol.setRgvNo(slave.getId());
        Long[] array = new Long[11];
//        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();
@@ -1065,8 +1241,13 @@
        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);
@@ -1094,6 +1275,7 @@
        } catch (Exception ignore) {
        }

        readStatus();
        if (result != null && result.IsSuccess) {
//            Thread.sleep(50);
//            this.readStatus();
@@ -1102,7 +1284,7 @@

            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV 命令下发"+JSON.toJSON(taskProtocol));
                deviceErrorService.addDeviceError("rgvWrite", slave.getId(), "RGV 命令下发"+JSON.toJSON(taskProtocol));
            } catch (Exception e2){
//                log.error("e2:"+e2.getMessage());
            }
@@ -1122,6 +1304,7 @@
        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
@@ -1158,6 +1341,14 @@
    }


    /**
     * 清除作业启动中
     */
    @Override
    public void setWrkSign() {
        this.wrkSign = 0;
    }

    public void setDelRgvTask() {
        delRgvTask = true;
    }