*

lsh

2025-10-24 209626ba2b4797f7d1c003a2876026ffcd39928a

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

@@ -5,11 +5,14 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCircularShuttle;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasRgvErrLogService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
@@ -54,7 +57,6 @@
    private boolean resetFlag2 = false;
    private boolean connectRgv = false;
    private boolean alarmChangeSign = false;
    private int rgvIII = 1;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -63,16 +65,7 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        rgvIII = this.slave.getId();
        connectRgv = this.connect();
        while(!connectRgv){
            try {
                connectRgv = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            }
        }

        // 启动线程自动重连
        new Thread(this::rgvConnect).start();
@@ -161,6 +154,16 @@
                Thread.sleep(1000);
                if(!connectRgv){
                    try {
                        // 根据实时信息更新数据库
                        BasCircularShuttleService basCircularShuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
                        BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no",  slave.getId()));
                        if (basCircularShuttle.getStatus() != 0){
                            continue;
                        }
                    } catch (Exception ignore) {

                    }
                    try {
                        connectRgv = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){
@@ -226,31 +229,19 @@
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        log.error("连接中断：RGV号："+slave.getId());
        try {
            // 根据实时信息更新数据库
            BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
            BasRgv basRgv = new BasRgv();
            basRgv.setRgvNo(slave.getId());
            basRgv.setRgvSts((int)rgvProtocol.getMode());
            basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
            if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception ignore) {
        }
    }

//    /**
//     * 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() {
@@ -315,12 +306,6 @@
                rgvProtocol.setAlarmList(alarmList);

//                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()));