#改造

cpT

2025-06-22 87b052cbd5bb44bf90ac4e9c4aeaf1cdcf5acf63

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

@@ -8,15 +8,15 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvErrLogService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.NumUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
@@ -27,7 +27,10 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashSet;
import java.util.List;

/**
 * RGV线程
@@ -48,6 +51,8 @@
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;
    private boolean connectRgv = false;
    private boolean alarmChangeSign = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -56,22 +61,57 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        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();

        // 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();
    }


    /**
     * 任务下发
     */
    private void taskIssued() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    //漫游任务完成信号
                    case 1:
                        readStatus();
//                        readStatus();
                        taskComplete();
                        break;
                    //工位1写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        RgvCommand command2 = (RgvCommand) task.getData();
                        rgvOpt(command2);
                        write(command2);
                        break;
                    // 复位
                    case 3:
@@ -85,17 +125,83 @@
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        rgvOpt(command);
                        write3(command);
                        break;
                    //工位1写入取消数据
                    case 4:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        rgvOpt(command4);
                        write4(command4);
                        break;
                    // 漫游
                    case 5:
                        Long aLong = (Long) task.getData();
                        rgvOpt(aLong);
                        write5(aLong);
                    //工位1写入取消数据
                    case 6:
                        rgvOpt();
                        write6();
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
                Thread.sleep(50);
            } catch (Exception e) {
                log.error("RGV写线程异常"+e.getMessage());
//                e.printStackTrace();
            }

        }
    }

    private void rgvConnect() {
        while (true) {
            try {
                Thread.sleep(1000);
                if(!connectRgv){
                    try {
                        connectRgv = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {

                log.error("rgv连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                initRgv();
//                e.printStackTrace();
            }
        }
    }

    private void readStatusRgv() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    initRgv();
                    continue;
                }
                Thread.sleep(40);
                readStatus();

            } catch (Exception e) {
                log.error("RGV读线程异常"+e.getMessage());

                log.error("RGV数据读取线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                initRgv();
//                e.printStackTrace();
            }

        }

    }

    /**
@@ -120,7 +226,32 @@
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        log.error("连接中断：RGV号："+slave.getId());
    }

//    /**
//     * 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() {
@@ -150,7 +281,8 @@
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
            OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
            OperateResultExOne<byte[]> resultE = siemensNet.Read("DB20.26", (short) 2);
            if (result.IsSuccess) {
            OperateResultExOne<byte[]> resultError = siemensNet.Read("DB13.0", (short) 13);
            if (result.IsSuccess && resultV.IsSuccess && resultE.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
@@ -163,11 +295,29 @@
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                int poi = siemensNet.getByteTransform().TransInt32(result.Content, 16);
                if (poi>0){
                    rgvProtocol.setRgvPos((long)poi);
                    rgvProtocol.setRgvPosInt(poi);
                }
                log.info(rgvProtocol.getRgvNo()+"号小车读取定位值："+poi);
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
                rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
                boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);
                int alarmCount = 0;
                List<Integer> alarmList = new ArrayList<>();
                for (boolean alarmSign : statusAlarmList){
                    alarmCount++;
                    if (alarmSign){
                        alarmList.add(alarmCount);
                    }
                }
                alarmChangeSign = new HashSet<>(alarmList).equals(new HashSet<>(rgvProtocol.getAlarmList()));
                rgvProtocol.setAlarmList(alarmList);

//                rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));


                try {
                    // 根据实时信息更新数据库
@@ -179,6 +329,16 @@
                    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());
                    }
                    try{
                        if (!alarmChangeSign && !alarmList.isEmpty()){
                            BasRgvErrLogService basRgvErrLogService = SpringUtils.getBean(BasRgvErrLogService.class);
                            BasRgvErrLog basRgvErrLog = new BasRgvErrLog(rgvProtocol.getAlarmList(), rgvProtocol.getTaskNo1(), rgvProtocol.getRgvNo());
                            basRgvErrLogService.insert(basRgvErrLog);
                        }
                    } catch (Exception e){
                        log.error("RGV异常信息保存失败！！");
                    }

                } catch (Exception ignore) {

                }
@@ -199,6 +359,34 @@
    /**
     * 工位1写入数据
     */
    private void rgvOpt(RgvCommand command) {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosInt(), command);
            log.info(rgvProtocol.getRgvNo()+"号小车写入命令定位值："+rgvProtocol.getRgvPosInt());
            basRgvOptService.insert(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
        }
    }
    private void rgvOpt(Long command) {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
            basRgvOptService.insert(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
        }
    }
    private void rgvOpt() {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI());
            basRgvOptService.insert(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
        }
    }
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
@@ -216,10 +404,14 @@
        array[3] = command.getTaskMode1();//任务模式
        array[4] = command.getTaskNo1();



        OperateResult result = siemensNet.Write("DB24.0", array);

        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(100L);
//            Thread.sleep(100L);
            siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
            Thread.sleep(20L);
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
@@ -246,8 +438,8 @@
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
//            Thread.sleep(200);
//            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
            return true;
@@ -257,6 +449,104 @@
            return false;
        }
    }
    private boolean write4(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

//        siemensNet.Write("DB24.10.0", false);
//        siemensNet.Write("DB24.10.1", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getRgvNo().shortValue();
        array[1] = command.getSourceStaNo1();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getTaskMode1();//任务模式
        array[4] = command.getTaskNo1();



        OperateResult result = siemensNet.Write("DB24.0", array);
//
//        if (command.getAckFinish1().equals((short)0)) {
////            Thread.sleep(100L);
////            siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
////            Thread.sleep(20L);
////            result = siemensNet.Write("DB24.10.0", true);
//        } else {
//            siemensNet.Write("DB24.10.1", true);
//        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

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

    /**
     * 完成
     */
    private void taskComplete() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB24.11", (short) 1);
            boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
            if (status[0]){
                OperateResult result4 = siemensNet.Write("DB24.11.0", false);
            }
        } catch (Exception e) {
            log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    private void write5(Long devperimeter){
        try {
            siemensNet.Write("DB24.12", devperimeter.intValue());
            Thread.sleep(10L);
            siemensNet.Write("DB24.11.0", true);

        } catch (Exception ignore) {
            log.error("写入RGV plc工位1漫游数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    private void write6(){
        try {
            siemensNet.Write("DB24.11.1", true);

        } catch (Exception ignore) {
            log.error("写入RGV plc工位1漫游数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    private boolean write3(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
@@ -277,7 +567,7 @@
//        OperateResult result = siemensNet.Write("DB24.0", array);
        OperateResult result = null;
        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(100L);
            Thread.sleep(20L);
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
@@ -304,8 +594,8 @@
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
//            Thread.sleep(200);
//            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
            return true;
@@ -324,18 +614,18 @@
    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        RgvSlave slave = new RgvSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        slave.setSlot(0);
        RgvThread rgvThread = new RgvThread(slave);
        rgvThread.connect();
        rgvThread.readStatus();
        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
        Thread.sleep(3000L);

    }
//    public static void main(String[] args) throws InterruptedException {
//        RgvSlave slave = new RgvSlave();
//        slave.setId(1);
//        slave.setIp("192.168.6.9");
//        slave.setRack(0);
//        slave.setSlot(0);
//        RgvThread rgvThread = new RgvThread(slave);
//        rgvThread.connect();
//        rgvThread.readStatus();
//        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
//        Thread.sleep(3000L);
//
//    }

}