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2025-05-28 8e19e67d1178e834a868f4a820d827ddf64c6e01

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

@@ -104,6 +104,7 @@
    private void rgvConnect() {
        while (true) {
            try {
                Thread.sleep(1000);
                if(!connectRgv){
                    try {
                        connectRgv = this.connect();
@@ -118,7 +119,7 @@
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "rgv连接失败"+e.getMessage());
                } catch (Exception e2){
                    log.error("e2:"+e2.getMessage());
//                    log.error("e2:"+e2.getMessage());
                }
                initRgv();
//                e.printStackTrace();
@@ -140,7 +141,7 @@
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV数据读取线程异常"+e.getMessage());
                } catch (Exception e2){
                    log.error("e2:"+e2.getMessage());
//                    log.error("e2:"+e2.getMessage());
                }
                initRgv();
//                e.printStackTrace();
@@ -173,7 +174,7 @@
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV数据任务下发复位线程异常"+e.getMessage());
                } catch (Exception e2){
                    log.error("e2:"+e2.getMessage());
//                    log.error("e2:"+e2.getMessage());
                }
                initRgv();
//                e.printStackTrace();
@@ -291,7 +292,6 @@
        while (true) {
            RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
            if (!rgvRun.getRgvNo().equals(slave.getId())){

                continue;
            }
            try {
@@ -309,7 +309,9 @@
                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                    rgvRun.setRgvNo(slave.getOtherId());
                    RgvRunCache.updateRgvStatus(rgvRun);
                    RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                    if (!errorRgv.equals("无")){
                        RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
                    }
                    continue;
                }

@@ -445,7 +447,7 @@
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV任务下发线程异常"+e.getMessage());
                } catch (Exception e2){
                    log.error("e2:"+e2.getMessage());
//                    log.error("e2:"+e2.getMessage());
                }
                rgvRun = RgvRunCache.getRgvRun();
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
@@ -495,7 +497,7 @@
            return false;
        }
        if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
            errorRgv = slave.getId()+"号小车非空闲";
            errorRgv = "无";
            return false;
        }
        if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
@@ -574,7 +576,7 @@
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                                } catch (Exception e2){
                                                    log.error("e2:"+e2.getMessage());
//                                                    log.error("e2:"+e2.getMessage());
                                                }
                                                return false;
                                            }
@@ -606,7 +608,7 @@
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
                            log.error("e2:"+e2.getMessage());
//                            log.error("e2:"+e2.getMessage());
                        }
                        return false;
                    }
@@ -634,7 +636,7 @@
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
                            log.error("e2:"+e2.getMessage());
//                            log.error("e2:"+e2.getMessage());
                        }
                        return false;
                    }
@@ -663,7 +665,7 @@
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                            } catch (Exception e2){
                                log.error("e2:"+e2.getMessage());
//                                log.error("e2:"+e2.getMessage());
                            }
                            return false;
                        }
@@ -720,7 +722,7 @@
                                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                                                } catch (Exception e2){
                                                    log.error("e2:"+e2.getMessage());
//                                                    log.error("e2:"+e2.getMessage());
                                                }
                                                return false;
                                            }
@@ -752,7 +754,7 @@
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
                            log.error("e2:"+e2.getMessage());
//                            log.error("e2:"+e2.getMessage());
                        }
                        return false;
                    }
@@ -780,7 +782,7 @@
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                        } catch (Exception e2){
                            log.error("e2:"+e2.getMessage());
//                            log.error("e2:"+e2.getMessage());
                        }
                        return false;
                    }
@@ -810,7 +812,7 @@
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV行走超出范围");
                            } catch (Exception e2){
                                log.error("e2:"+e2.getMessage());
//                                log.error("e2:"+e2.getMessage());
                            }
                            return false;
                        }
@@ -872,7 +874,7 @@
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV异常"+e.getMessage());
            } catch (Exception e2){
                log.error("e2:"+e2.getMessage());
//                log.error("e2:"+e2.getMessage());
            }
            rgvProtocol.setStatusEnable(true);
        }
@@ -910,7 +912,7 @@
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc连接失败");
            } catch (Exception e2){
                log.error("e2:"+e2.getMessage());
//                log.error("e2:"+e2.getMessage());
            }
        }
        initRgv();
@@ -996,7 +998,7 @@
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV plc数据库更新失败");
                        } catch (Exception e2){
                            log.error("e2:"+e2.getMessage());
//                            log.error("e2:"+e2.getMessage());
                        }
                    }
                } catch (Exception ignore) {
@@ -1017,7 +1019,7 @@
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "读取RGV plc状态信息失败");
                } catch (Exception e2){
                    log.error("e2:"+e2.getMessage());
//                    log.error("e2:"+e2.getMessage());
                }
            }
        } catch (Exception e) {
@@ -1029,7 +1031,7 @@
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "读取RGV plc状态信息失败");
            } catch (Exception e2){
                log.error("e2:"+e2.getMessage());
//                log.error("e2:"+e2.getMessage());
            }
            initRgv();
        }
@@ -1046,7 +1048,7 @@
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV写入命令为空");
            } catch (Exception e2){
                log.error("e2:"+e2.getMessage());
//                log.error("e2:"+e2.getMessage());
            }
            return false;
        }
@@ -1105,7 +1107,7 @@
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV 命令下发"+JSON.toJSON(taskProtocol));
            } catch (Exception e2){
                log.error("e2:"+e2.getMessage());
//                log.error("e2:"+e2.getMessage());
            }
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
            return true;