#

lty

2025-08-05 83f222c9eebcee8db94d41a081596506f60f9775

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

@@ -12,6 +12,7 @@
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.common.utils.News;
import com.zy.core.RgvThread2;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,7 +36,7 @@
 */
@Data
@Slf4j
public class RgvThread implements Runnable, ThreadHandler {
public class RgvThread implements Runnable, RgvThread2 {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
@@ -48,6 +49,9 @@
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;

    //锁定标记
    private boolean PakMk = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -78,9 +82,9 @@
                        write1((RgvCommand) task.getData());
                        break;
//                    //工位2写入数据
//                    case 5:
//                        write2((RgvCommand) task.getData());
//                        break;
                    case 5:
                        write2((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
@@ -95,6 +99,20 @@
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setCommand((short)0);
                        write1(command);
                        break;
                    case 6:
                        RgvCommand command2 = (RgvCommand) task.getData();
                        if (null == command2) {
                            command2 = new RgvCommand();
                        }
                        command2.setRgvNo(slave.getId()); // RGV编号
                        command2.setTaskNo2((short) 0); // 工作号
                        command2.setAckFinish2((short) 1);  // 任务完成确认位
                        command2.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command2.setSourceStaNo2((short)0);     // 源站
                        command2.setDestinationStaNo2((short)0);     // 目标站
                        command2.setCommand((short)0);
                        write2(command2);
                        break;
                    // 回原点  避让
                    case 9:
@@ -141,9 +159,10 @@
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
//        rgvProtocol.setTaskNo2((short)0);
//        rgvProtocol.setStatus2((short)-1);
//        rgvProtocol.setLoaded2((short)0);
        //工位2状态
        rgvProtocol.setTaskNo2((short)0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2((short)0);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
@@ -189,6 +208,8 @@
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
//                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
@@ -216,17 +237,17 @@
                    }
                }

                // 工位2复位信号
//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag2) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish2((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag2 = false;
//                        }
//                    }
//                }
//                 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2((short)1);
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
@@ -331,6 +352,26 @@
            return false;
        }

        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB100.0", (short) 12);
        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result3.IsSuccess){
            RgvCommand one = new RgvCommand();
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
            one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
            one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
            one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));

            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result8 = siemensNet.Write("DB100.10", (short) 0);
        if (result8.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }

//        siemensNet.Write("DB100.20", command.getCommand());

        command.setRgvNo(slave.getId());
@@ -340,7 +381,7 @@
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        siemensNet.Write("DB100.10", command.getCommand());
//        siemensNet.Write("DB100.10", command.getCommand());

        OperateResult result = siemensNet.Write("DB100.0", array);