#

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;
@@ -64,6 +66,7 @@
    private boolean resetFlag2 = false;

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

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -140,6 +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);
@@ -199,7 +207,6 @@
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
@@ -284,6 +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
@@ -293,13 +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;
@@ -725,6 +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();