#

1

2025-05-14 7c75c8b98bb06517bacd809e01ad29ab77b2f2dc

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

@@ -14,6 +14,7 @@
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.core.DevpThread;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.*;
import com.zy.core.enums.RgvModeType;
@@ -25,6 +26,7 @@
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.StaProtocol;
import com.zy.core.model.protocol.TaskProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -48,11 +50,11 @@
    //    private RgvProtocol rgvProtocol;
    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
    // # 轨道总长
    private Long trackEntireLength = 100L;
    private Long trackEntireLength = 224000L;
    //# 轨道基准点
    private Long trackBenchmark = 100L;
    private Long trackBenchmark = 1L;
    //  # 避让距离
    private Long avoidDistance = 100L;
    private Long avoidDistance = 5000L;

    /**
     * 工位1复位信号
@@ -63,6 +65,9 @@
     */
    private boolean resetFlag2 = false;

    private boolean connectRgv = false;
    private boolean delRgvTask = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
    }
@@ -70,21 +75,48 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        boolean connect = this.connect();
        if (connect) {
        connectRgv = this.connect();
        while(!connectRgv){
            try {
                connectRgv = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

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

            // 启动任务下发线程
            new Thread(this::taskIssued).start();
        // 启动读数据线程
        new Thread(this::rgvConnect).start();

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

            // 启动任务完成线程
            new Thread(this::taskComplete).start();
        // 启动任务下发线程
        new Thread(this::taskIssued).start();

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

        // 启动任务完成线程
        new Thread(this::taskComplete).start();
    }

    private void rgvConnect() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        connectRgv = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
                initRgv();
//                e.printStackTrace();
            }
        }
    }

@@ -111,6 +143,11 @@
    private void taskComplete() {
        while (true) {
            try {
                if (delRgvTask){
                    writeDelRgvTask();
                    delRgvTask = false;
                    continue;
                }
                Thread.sleep(100);
                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
@@ -170,7 +207,6 @@
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
@@ -255,6 +291,21 @@
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                        if (taskProtocol.getTaskStatus()==3){
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                            if (staProtocol == null ) {
                                continue;
                            }
                            // 判断是否满足入库条件
                            if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                    || staProtocol.getWorkNo() != 0
                            ){
                                Thread.sleep(500);
//                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
//                                continue;
                            }
                        }
                        //双车
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
@@ -264,13 +315,26 @@
                        }
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            Thread.sleep(100);
                            if (taskProtocol.getTaskStatus()==3){
                                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                                if (staProtocol == null ) {
                                    continue;
                                }
                                // 判断是否满足入库条件
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    Thread.sleep(500);
//                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
                                    continue;
                                }
                            }
                            TaskProtocol issued = new TaskProtocol(taskProtocol);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            break;
@@ -343,6 +407,10 @@
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -359,6 +427,10 @@
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -370,10 +442,14 @@
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()) {
                    if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
                        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;
                        }
                        long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
                        if (avoidAbs<51){
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
@@ -382,6 +458,12 @@
                        return false;
                    }
                    return false;
                }
            } else {
                if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                }
            }
        } else {
@@ -395,6 +477,10 @@
                    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;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -412,6 +498,10 @@
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -424,10 +514,14 @@
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) {
                    if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
                        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;
                        }
                        long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
                        if (avoidAbs<51){
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
@@ -436,6 +530,12 @@
                        return false;
                    }
                    return false;
                }
            } else {
                if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                }
            }
        }
@@ -520,8 +620,10 @@
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setRgvNo(slave.getId());
                rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
                rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());

                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
@@ -580,6 +682,7 @@

            } else {
                initRgv();
                connectRgv = false;
//                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [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("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
@@ -657,6 +760,53 @@
        }
    }

    private boolean writeDelRgvTask() throws InterruptedException {
//
        OperateResult result = siemensNet.Write("DB100.12.0", false);
        OperateResult result0 = siemensNet.Write("DB100.0", (int) 0);
        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

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    0,
                    0,
                    slave.getId(),
                    new Date(),
                    String.valueOf(0),
                    null,
                    null,
                    null,
                    result.IsSuccess ? 1 : 0,
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null")));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc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数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }


    public void setDelRgvTask() {
        delRgvTask = true;
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();