*

lsh

2025-08-18 16425e5c62f3e65a0e529d7c0ab851fa49b88ef0

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

@@ -13,9 +13,11 @@
import com.zy.asrs.service.BasRgvErrLogService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.NumUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
@@ -52,6 +54,7 @@
    private boolean resetFlag2 = false;
    private boolean connectRgv = false;
    private boolean alarmChangeSign = false;
    private int rgvIII = 1;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -60,6 +63,7 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        rgvIII = this.slave.getId();
        connectRgv = this.connect();
        while(!connectRgv){
            try {
@@ -126,6 +130,12 @@
                        command.setDestinationStaNo1((short)0);     // 目标站
                        rgvOpt(command);
                        write3(command);
                        break;
                    //工位1写入取消数据
                    case 4:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        rgvOpt(command4);
                        write4(command4);
                        break;
                    // 漫游
                    case 5:
@@ -215,7 +225,32 @@
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        log.error("连接中断：RGV号："+slave.getId());
    }

//    /**
//     * 初始化RGV状态
//     */
//    private void initRgv() {
//        if (null == rgvProtocol) {
//            rgvProtocol = new RgvProtocol();
//        }
//        rgvProtocol.setRgvNo(slave.getId());
//        rgvProtocol.setMode((short) 3);
//        rgvProtocol.setStatus((short)0);
//        rgvProtocol.setTaskNo1((short)0);
//        rgvProtocol.setStatus1((short)0);
//        rgvProtocol.setLoaded1((short)0);
//        rgvProtocol.setWalkPos((short)0);
//        rgvProtocol.setRgvPos(slave.getId()*100000L);
//        rgvProtocol.setTaskNo2((short)0);
//        rgvProtocol.setStatus2((short)0);
//        rgvProtocol.setLoaded2((short)0);
//        rgvProtocol.setAlarm((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 0);
//    }

    @Override
    public boolean connect() {
@@ -259,7 +294,12 @@
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                int poi = siemensNet.getByteTransform().TransInt32(result.Content, 16);
                if (poi>0){
                    rgvProtocol.setRgvPos((long)poi);
                    rgvProtocol.setRgvPosInt(poi);
                }
                log.info(rgvProtocol.getRgvNo()+"号小车读取定位值："+poi);
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
                rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
                boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);
@@ -274,7 +314,13 @@
                alarmChangeSign = new HashSet<>(alarmList).equals(new HashSet<>(rgvProtocol.getAlarmList()));
                rgvProtocol.setAlarmList(alarmList);

//                rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
//                rgvProtocol.setRgvPos((long) NumUtils.GetRandomIntInRange(1737000));
                rgvProtocol.setRgvPos((long) (10000*rgvIII+rgvProtocol.getRgvNo()*10000));
                if (rgvProtocol.getRgvPos()>1737000){
                    rgvIII = rgvProtocol.getRgvNo();
                    rgvProtocol.setRgvPos((long) (10000*rgvIII+rgvProtocol.getRgvNo()*10000));
                }
                rgvIII++;
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));


@@ -321,7 +367,8 @@
    private void rgvOpt(RgvCommand command) {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol, command);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosInt(), command);
            log.info(rgvProtocol.getRgvNo()+"号小车写入命令定位值："+rgvProtocol.getRgvPosInt());
            basRgvOptService.insert(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
@@ -330,7 +377,7 @@
    private void rgvOpt(Long command) {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol, command);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
            basRgvOptService.insert(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
@@ -398,6 +445,68 @@
            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.insert(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