*

lsh

4 天以前 388353ed9bad250663e8ad8129463d1ea80d46e6

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

@@ -13,11 +13,9 @@
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.TaskProtocolCache;
import com.zy.core.cache.*;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
@@ -26,9 +24,11 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.RgvTaskProtocol;
import com.zy.core.model.protocol.TaskProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;

import java.text.MessageFormat;
import java.util.Date;
@@ -45,8 +45,14 @@

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
//    private RgvProtocol rgvProtocol;
    //    private RgvProtocol rgvProtocol;
    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
    // # 轨道总长
    private Long trackEntireLength = 100L;
    //# 轨道基准点
    private Long trackBenchmark = 100L;
    //  # 避让距离
    private Long avoidDistance = 100L;

    /**
     * 工位1复位信号
@@ -65,21 +71,20 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        boolean connect = this.connect();
        if (connect){
        if (connect) {

            // 启动读数据线程
            new Thread(this::readStatusRgv).start();

            // 启动任务下发线程
            new Thread(this::taskTakeIssued).start();
            new Thread(this::taskIssued).start();

            new Thread(this::taskPutIssued).start();

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

    private void readStatusRgv(){
    private void readStatusRgv() {
        while (true) {
            try {
                Thread.sleep(100);
@@ -87,7 +92,7 @@
                readStatus();

            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！"+e.getMessage());
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
                initRgv();
//                e.printStackTrace();
            }
@@ -97,90 +102,7 @@
    }

    /**
     * 任务下发
     */
    private void taskTakeIssued() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                if (!deviceDetection()){
                    continue;
                }
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null) {
                    initRgv();
                    rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                }
                if (rgvProtocol.getAvoid() == 0 || !rgvProtocol.getLoaded().equals((short) 0)) {
                    continue;
                }
                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllTakeTaskProtocol();
                for(TaskProtocol taskProtocol: allTakeTaskProtocol){
                    if (taskProtocol.getTaskStatus() == 1){//准备下发








                        TaskProtocol issued = new TaskProtocol(taskProtocol);
                        write(issued);
                        taskProtocol.setIsRunning(taskProtocol.getIsRunning() +1);
                        taskProtocolCache.updateTaskProtocol(taskProtocol);
                        break;
                    }
                }


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

    public boolean deviceDetection(){
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        if (rgvProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
                || !rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocolOther == null) {
            return false;
        }
        if (rgvProtocolOther.statusEnable){
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
                return false;
            }
        }
        return true;
    }

    /**
     * 任务下发
     */
    private void taskPutIssued() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);

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

    /**
     * 任务下发
     * 漫游
     */
    private void taskWalkIssued() {
        while (true) {
@@ -188,12 +110,237 @@
                // 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());
                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());
                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) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                if (!deviceDetection()) {
                    continue;
                }
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null || rgvTaskProtocol == null) {
                    initRgv();
                    rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
                    continue;
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                        //双车
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
                            if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                continue;
                            }
                        }
                        Thread.sleep(100);
                        TaskProtocol issued = new TaskProtocol(taskProtocol);
                        write(issued);
                        taskProtocol.setIsRunning(taskProtocol.getIsRunning() + 1);
                        taskProtocolCache.updateTaskProtocol(taskProtocol);
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("RGV取货任务下发线程异常！！！" + e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    public boolean deviceDetection() {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocolOther == null) {
            return false;
        }
        if (rgvProtocolOther.statusEnable) {
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
                return false;
            }
        }
        return true;
    }

    public boolean rgvOtherStatusEnable() {
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
//            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
            return true;
//            }
        }
        return false;
    }

    public boolean otherRgvAvoid(Long targetPosition) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
        Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);

        if (new TrackRangeUtils().IsItSmall(slave)) {

            if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
                if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
                if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
                if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()) {
                        long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                            log.error("行走超出范围！！！任务异常  联系管理员！！！");
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
                        rgvTaskProtocol.setAvoidingTheDestination(avoid);
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    return false;
                }
            }
        } else {
            if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }
            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
                    return true;
                }

            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
                        - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) {
                        long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                            log.error("行走超出范围！！！任务异常  联系管理员！！！");
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
                        rgvTaskProtocol.setAvoidingTheDestination(avoid);
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                        return false;
                    }
                    return false;
                }
            }
        }
        return false;
    }

    /**
@@ -206,21 +353,39 @@
            rgvProtocol.setRgvNo(slave.getId());
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setStatus((short) -1);
        rgvProtocol.setWalkPos((short) 0);
        rgvProtocol.setRgvPos(0L);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setAlarm((short) 0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
        BasRgv rgv = basRgvService.selectById(slave.getId());
        if (!Cools.isEmpty(rgv)){
            rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
        } else {
            rgvProtocol.setStatusEnable(false);
        rgvProtocol.setCarBodyJiaoMing(0L);
        rgvProtocol.setCarBodyKunPeng(0L);
        try {
            BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
            BasRgv rgv = basRgvService.selectById(slave.getId());
            if (!Cools.isEmpty(rgv)) {
                rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
            } else {
                rgvProtocol.setStatusEnable(false);
            }
        } catch (Exception e) {
            log.error("RGV异常！！！" + e.getMessage());
            rgvProtocol.setStatusEnable(true);
        }

        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
        if (rgvTaskProtocol == null) {
            rgvTaskProtocol = new RgvTaskProtocol();
            rgvTaskProtocol.setRgvNo(slave.getId());
        }
        rgvTaskProtocol.setAvoid(-1);
        rgvTaskProtocol.setAvoidingTheDestination(0L);

        RgvStatusCache.updateRgvStatus(rgvProtocol);

        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);

    }

@@ -231,15 +396,16 @@
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
        if (connect.IsSuccess) {
            result = true;
            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()));
//            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()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            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()));
//            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());
            initRgv();

        }
        initRgv();
//        siemensNet.ConnectClose();
        return result;
    }
@@ -247,7 +413,7 @@
    /**
     * 读取状态
     */
    private void readStatus(){
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            if (result.IsSuccess) {
@@ -265,7 +431,7 @@
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                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)
//                        || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
@@ -282,18 +448,18 @@
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = basRgvService.selectById(slave.getId());
                    if (!Cools.isEmpty(basRgv)){
                    if (!Cools.isEmpty(basRgv)) {
                        rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
                    } else {
                        rgvProtocol.setStatusEnable(false);
                    }
//                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                    basRgv.setRgvSts((int) rgvProtocol.getMode());
                    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){
                } catch (Exception ignore) {

                }

@@ -331,6 +497,7 @@
//        array[4] = command.getDestinationStaNo();
//        array[10] = taskProtocol.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
        OperateResult result1 = siemensNet.Write("DB100.1", taskProtocol.isDirection()); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右

//        if (taskProtocol.getAckFinish1() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入
@@ -350,13 +517,14 @@
                    null,
                    null,
                    null,
                    result.IsSuccess? 1 : 0,
                    result.IsSuccess ? 1 : 0,
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);