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野心家

2025-05-27 1b9f41e12e3ee8ac8bbc388eab7585300bdab75a

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

@@ -53,6 +53,7 @@
    private Long trackBenchmark = 1L;
    //  # 避让距离
    private Long avoidDistance = 5000L;
    private String errorRgv = "-";

    /**
     * 工位1复位信号
@@ -129,7 +130,7 @@
        while (true) {
            try {
                Thread.sleep(20);
                System.out.println("读线程"+ slave.getId());
//                System.out.println("读线程"+ slave.getId());

                readStatus();

@@ -290,15 +291,16 @@
        while (true) {
            RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
            if (!rgvRun.getRgvNo().equals(slave.getId())){

                continue;
            }
            try {
                Thread.sleep(50);
                rgvRun = RgvRunCache.getRgvRun();
                System.out.println(JSON.toJSON(rgvRun));
//                System.out.println(JSON.toJSON(rgvRun));

                // 休眠 1 秒
                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 1500) {
                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500) {
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                } else {
                    continue;
@@ -307,6 +309,7 @@
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                    continue;
                }

@@ -327,6 +330,7 @@
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),"小车探物物状态异常");
                    continue;
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
@@ -337,6 +341,7 @@
                        issued.setTaskStatus(1);
                        issued.setDirection(true);
                        write(issued);
                        RgvErrCache.updateRgvErr(slave.getId());
                        rgvTaskProtocol.setAvoid(0);

//                        try{Thread.sleep(50L);} catch (Exception e){}
@@ -358,21 +363,25 @@
                            if (rgvOtherStatusEnable()) {
                                //另一台车是否允许此台车执行
                                if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                                    break;
                                }
                            }
                            if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                    && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                RgvErrCache.updateRgvErr(slave.getId());
                                break;
                            } else {
                                TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                                write(issued);
                                RgvErrCache.updateRgvErr(slave.getId());
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                break;
                            }
                        }
                    }
                    RgvErrCache.updateRgvErr(slave.getId());
                } else {
                    for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                        if (taskProtocol.getIsRunning() == 1) {//准备下发
@@ -380,6 +389,7 @@
                            if (rgvOtherStatusEnable()) {
                                //另一台车是否允许此台车执行
                                if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                                    break;
                                }
                            }
@@ -389,21 +399,38 @@
                                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                    StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                                    if (staProtocol == null ) {
                                        RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点");
                                        break;
                                    }
                                    // 判断是否满足入库条件
                                    if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                    ){
                                        RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪");
                                        break;
                                    }
                                } else if (taskProtocol.getTaskStatus()==2){
                                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                    StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                                    if (staProtocol == null ) {
                                        RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点");
                                        break;
                                    }
                                    // 判断是否满足入库条件
                                    if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo()==0
                                    ){
                                        RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪");
                                        break;
                                    }
                                }
                                TaskProtocol issued = new TaskProtocol(taskProtocol);
                                write(issued);
                                RgvErrCache.updateRgvErr(slave.getId());
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                break;
                            } else {
                                TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                                write(issued);
                                RgvErrCache.updateRgvErr(slave.getId());
                                break;
                            }
                        }
@@ -454,10 +481,25 @@
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            errorRgv = slave.getId()+"号小车连接失败";
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)) {
            errorRgv = slave.getId()+"号小车非自动";
            return false;
        }
        if (rgvProtocol.getRgvPos().equals(0L)
                || rgvTaskProtocol.getAvoid() == -1
                || rgvProtocol.getRgvPosDestination() == 0L) {
            errorRgv = slave.getId()+"号小车状态异常";
            return false;
        }
        if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
            errorRgv = slave.getId()+"号小车非空闲";
            return false;
        }
        if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
            errorRgv = slave.getId()+"号小车存在运行目标值，需要复位！！！";
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -466,10 +508,12 @@
//                "rgvTaskProtocolOther:"+slave.getOtherId()+"sign:"+rgvTaskProtocolOther.isSignRun()+"/n");

        if (rgvProtocolOther == null) {
            errorRgv = slave.getOtherId()+"号小车连接失败";
            return false;
        }
        if (rgvProtocolOther.statusEnable) {
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
                errorRgv = slave.getOtherId()+"号小车状态异常";
                return false;
            }
        }
@@ -525,6 +569,7 @@
                                            long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                                            if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                                                log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                                                errorRgv = "RGV行走目标超出范围";
                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -548,12 +593,15 @@
                            }
                        }
                        if (signNowPosRun){
                            errorRgv = slave.getOtherId()+"号RGV等待作业...";
                            return false;
                        }
                    }
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -580,6 +628,8 @@
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -607,6 +657,8 @@
                        long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                            log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                            errorRgv = "RGV行走目标超出范围";

                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -624,6 +676,8 @@
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    errorRgv = slave.getOtherId()+"号RGV影响，等待中...";

                    return false;
                }
            } else {
@@ -660,6 +714,8 @@
                                            long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                                            if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                                                log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                                                errorRgv = "RGV行走目标超出范围";

                                                try{
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -683,12 +739,15 @@
                            }
                        }
                        if (signNowPosRun){
                            errorRgv = slave.getOtherId()+"号RGV等待作业...";
                            return false;
                        }
                    }
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -715,6 +774,8 @@
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                        errorRgv = "RGV行走目标超出范围";

                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -743,6 +804,8 @@
                        long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                            log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                            errorRgv = "RGV行走目标超出范围";

                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
@@ -760,6 +823,7 @@
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    errorRgv = slave.getOtherId()+"号RGV等待中...";
                    return false;
                }
            } else {
@@ -770,6 +834,8 @@
                }
            }
        }

        errorRgv = slave.getOtherId()+"号RGV影响，等待中...";
        return false;
    }

@@ -893,7 +959,7 @@
                rgvProtocol.setErr4(status[11]);
                rgvProtocol.setErr5(status[12]);
                rgvProtocol.setErr6(status[13]);
                System.out.println("读线程"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));
//                System.out.println("读线程"+ slave.getId()+"---"+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
@@ -907,6 +973,9 @@
//                        }
//                    }
//                }
                if (rgvProtocol.getAlarm$()!=0){
                    RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());
                }

                try {
                    // 根据实时信息更新数据库