*

lsh

2025-06-06 bb6bc1f4030cf813e128f021ccecd42420f35628

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

@@ -11,6 +11,8 @@
import com.zy.asrs.entity.BasRgvOpt;
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;
@@ -46,6 +48,7 @@
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;
    private boolean connectRgv = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -54,30 +57,55 @@
    @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();
                        break;
                    // 工位1、2写入数据
                    case 2:
                        write((RgvCommand) task.getData());
//                        readStatus();
                        taskComplete();
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -91,23 +119,84 @@
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setAckFinish2((short) 1);  // 任务完成确认位
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short)0);     // 源站
                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        write3(command);
                        break;
                    // 复位
                    case 4:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        if (null == command4) {
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
                        command4.setTaskNo1((short) 0); // 工作号
                        command4.setAckFinish1((short) 1);  // 任务完成确认位
                        command4.setTaskMode1(RgvTaskModeType.X_MOVE); // 任务模式
                        command4.setSourceStaNo1((short)0);     // 源站
                        command4.setDestinationStaNo1((short)0);     // 目标站
                        write3(command4);
                        break;
                    // 漫游
                    case 5:
                        write5((Long) task.getData());
                        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();
            }

        }

    }

    /**
@@ -117,13 +206,14 @@
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setRgvNo(slave.getId());
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
        rgvProtocol.setRgvPos(0L);
        rgvProtocol.setTaskNo2((short)0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2((short)0);
@@ -158,58 +248,27 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB1.0", (short) 34);
            if (result.IsSuccess) {
            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 && resultV.IsSuccess && resultE.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

                rgvProtocol.setRgvNo(slave.getId());
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                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));
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
                rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
//                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()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = 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
@@ -217,10 +276,13 @@
                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
                    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());
                    }
                } catch (Exception ignore){}
                } catch (Exception ignore) {

                }

            } else {
                initRgv();
@@ -236,94 +298,36 @@
    }

    /**
     * 工位1、2同时写入数据
     * 工位1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[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写入数据
     */
    private boolean write1(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        siemensNet.Write("DB100.20", command.getCommand());
        siemensNet.Write("DB24.10.0", false);
        siemensNet.Write("DB24.10.1", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        siemensNet.Write("DB100.20", command.getCommand());
        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("DB100.0", array);

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);

        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 {
@@ -347,10 +351,10 @@
        } catch (Exception ignore) {}

        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1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            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;
        } 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()));
@@ -360,29 +364,55 @@
    }

    /**
     * 工位2写入数据
     * 完成
     */
    private boolean write2(RgvCommand command) throws InterruptedException {
    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 boolean write3(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[6];
        array[0] = command.getAckFinish2();
        array[1] = command.getTaskNo2();
        array[2] = command.getTaskMode2();
        array[3] = command.getSourceStaNo2();
        array[4] = command.getDestinationStaNo2();
        array[5] = command.getCommand();
        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("DB100.10", array);

        if (command.getAckFinish2() == 0) {
            short commandFinish = 2;  //工位2任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
//        OperateResult result = siemensNet.Write("DB24.0", array);
        OperateResult result = null;
        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(20L);
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
        }

        try {
@@ -406,14 +436,14 @@
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            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;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2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2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            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数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
@@ -426,18 +456,18 @@
    /******************************************************************************************/
    /**************************************** 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);
//
//    }

}