*

lsh

2025-05-22 95604a56963ae7f0c629925e90037cd0200d61ad

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

@@ -94,8 +94,8 @@
        new Thread(this::taskIssued).start();

        // 启动漫游线程
        new Thread(this::taskWalkIssued).start();
        new Thread(this::taskWalkIssued2).start();
//        new Thread(this::taskWalkIssued).start();
//        new Thread(this::taskWalkIssued2).start();

        // 启动任务完成线程
        new Thread(this::taskComplete).start();
@@ -123,7 +123,7 @@
    private void readStatusRgv() {
        while (true) {
            try {
                Thread.sleep(100);
                Thread.sleep(20);

                readStatus();

@@ -277,44 +277,56 @@
                    rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
                    continue;
                }
                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
                    continue;
                }
                if (rgvProtocol.getLoaded() == -1){
                    continue;
                }
                if (rgvTaskProtocol.getAvoid() != 0) {
                    if (rgvTaskProtocol.getAvoid() == 1) {
                        TaskProtocol issued = new TaskProtocol();
                        issued.setTaskNo(32222L);
                        issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
                        issued.setTaskStatus(1);
                        issued.setDirection(true);
                        write(issued);
                        rgvTaskProtocol.setAvoid(0);

                        Thread.sleep(200);
                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    }
                    continue;
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
                if (allTakeTaskProtocol.isEmpty()){
                    allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol();
                    for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                        if (taskProtocol.getIsRunning() == 1) {//准备下发
                            // 双车
                            if (rgvOtherStatusEnable()) {
                                //另一台车是否允许此台车执行
                                if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                    continue;
                                }
                            }
                            if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                    && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                break;
                            } else {
                                TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                                write(issued);
                                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                                break;
                            }
                        }
                    }
                } else {
                    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
                            if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                continue;
                            }
                        }
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            if (taskProtocol.getTaskStatus()==3){
                                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
@@ -327,17 +339,42 @@
                                ){
                                    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
                                if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
                                    continue;
                                }
                            }
                            TaskProtocol issued = new TaskProtocol(taskProtocol);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            break;
                            if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                    && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                                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 {
                                TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                                write(issued);
                                break;
                            }
                        }
                    }
                }