#rgv同时下发工位1和工位2任务，标记优先级

lty

2025-08-21 924d0d98c49c324669ba9dc5158b2141416447cc

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

@@ -57,6 +57,8 @@
    private boolean PakIn = true;
    //出库标记
    private boolean PakOut = true;
    //根据距离跳过取货
    private boolean PakRgv = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -78,10 +80,10 @@
                    case 1:
                        readStatus();
                        break;
//                    // 工位1、2写入数据
//                    case 2:
//                        write((RgvCommand) task.getData());
//                        break;
                    // 工位1、2写入数据
                    case 2:
                        write12((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
@@ -102,6 +104,7 @@
                        command.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command.setTargetPosition1( 0);     // 源站
                        command.setEndStaNo1(0);     // 目标站
                        command.setWrkTaskPri((short)0);
                        command.setCommand(false);
                        write1(command);
                        break;
@@ -116,8 +119,35 @@
                        command2.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command2.setTargetPosition2( 0);     // 源站
                        command2.setEndStaNo2(0);     // 目标站
                        command2.setWrkTaskPri((short)0);
                        command2.setCommand(false);
                        write2(command2);
                        break;
                    case 7: //工位1取货确认
                        RgvCommand command3 = (RgvCommand) task.getData();
                        if (null == command3) {
                            command3 = new RgvCommand();
                        }
                        command3.setRgvNo(slave.getId()); // RGV编号
                        command3.setAckFinish1(true);  // 任务完成确认位
                        command3.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command3.setTargetPosition1( 0);     // 源站
                        command3.setCommand(false);
                        command3.setWrkTaskPri((short)0);
                        write1(command3);
                        break;
                    case 8 :
                        RgvCommand command4 = (RgvCommand) task.getData();
                        if (null == command4) {
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
                        command4.setAckFinish2(true);  // 任务完成确认位
                        command4.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command4.setTargetPosition2( 0);     // 小车目标站清零
                        command4.setCommand(false);
                        command4.setWrkTaskPri((short)0);
                        write2(command4);
                        break;
                    // 回原点  避让
                    case 9:
@@ -169,6 +199,7 @@
        rgvProtocol.setErr5(false);
        rgvProtocol.setErr6(false);
        rgvProtocol.setErr7(false);
        rgvProtocol.setWrkTaskPri((short)0);
        //工位1状态
        rgvProtocol.setTaskNo1(0);
        rgvProtocol.setStatus1((short)-1);
@@ -216,7 +247,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 27);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
@@ -250,6 +281,7 @@
                rgvProtocol.setErr5(status3[4]);
                rgvProtocol.setErr6(status3[5]);
                rgvProtocol.setErr7(status3[6]);


//                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
@@ -320,73 +352,179 @@
        }
    }

//    /**
//     * 工位1、2同时写入数据
//     */
//    private boolean write(RgvCommand command) throws InterruptedException {
//        if (null == command) {
//            log.error("RGV写入命令为空");
//            return false;
//        }
////        convertRow(command);
//        command.setRgvNo(slave.getId());
//        short[] array = new short[11];
//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
//        array[3] = command.getSourceStaNo1();
//        array[4] = command.getDestinationStaNo1();
////        array[0] = command.getAckFinish1();
////        array[1] = command.getTaskNo1();
////        array[2] = command.getTaskMode1();
////        array[3] = command.getSourceStaNo1();
////        array[4] = command.getDestinationStaNo1();
////        array[5] = command.getAckFinish2();
////        array[6] = command.getTaskNo2();
////        array[7] = command.getTaskMode2();
////        array[8] = command.getSourceStaNo2();
////        array[9] = command.getDestinationStaNo2();
////        array[10] = command.getCommand();
//        OperateResult result = siemensNet.Write("DB100.0", array);
//
////        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
////            short commandFinish = 3;  //工位1、2任务同时写入
////            Thread.sleep(100L);
////            result = siemensNet.Write("DB100.20", commandFinish);
////        }
//
//        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 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            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;
//        }
//    }
    /**
     * 工位1、2同时写入数据
     */
    private boolean write12(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
//        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
            one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
            one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
            one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
            one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
            one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
            one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
            one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
            one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));

            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 result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为false");
        }
        byte[] writeBytes = new byte[36];
        command.setRgvNo(slave.getId());
        siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
        siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
        siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
        setBool(writeBytes, 32, 0, command.getAckFinish1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
        siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
        siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
        setBool(writeBytes, 32, 1, command.getAckFinish2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 36, command.getWrkTaskPri());

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

        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
                one.setWrkTaskPri(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
                one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
                if (
                        !command.getDirection1().equals(one.getDirection1()) ||
                                !command.getTaskNo1().equals(one.getTaskNo1()) ||
                                !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
                                !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
                                !command.getDirection2().equals(one.getDirection2()) ||
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||
                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
                                !command.getTargetPosition2().equals(one.getTargetPosition2())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1() || command.getAckFinish2()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    boolean commandFinish = false;
                    boolean commandFinish2 = false;
                    result = siemensNet.Write("DB100.DBX32.0", commandFinish);
                    OperateResult result3 = siemensNet.Write("DB100.DBX32.1", commandFinish);

                    if(result.IsSuccess && result3.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            commandFinish2=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);

                            if (!commandFinish && !commandFinish2) {
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }


        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1(),
                    command.getTaskNo2(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTargetPosition1()
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位12命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位12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数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位1写入数据
@@ -419,7 +557,7 @@

        OperateResult result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为0");
            News.error("下发前把车子确认位置为false");
        }
        byte[] writeBytes = new byte[34];
        command.setRgvNo(slave.getId());
@@ -610,11 +748,11 @@
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
                one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
                if (
                        !command.getDirection2().equals(one.getDirection2()) ||
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||