#改造

cpT

2025-06-19 c1ef2d1fc4c0dae2bc8452924dcd77a0ff3a1ef5

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

@@ -65,6 +65,8 @@
    private boolean resetFlag2 = false;

    private boolean connectRgv = false;
    public Long currentTimeMilliConnectRgv= 0L;

    private boolean delRgvTask = false;
    private short wrkSign = 0;

@@ -75,6 +77,12 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        initRgv();
        try{
            Thread.sleep(2000);
        } catch (Exception e){

        }
        connectRgv = this.connect();
        while(!connectRgv){
            try {
@@ -1055,11 +1063,18 @@
//            OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());

            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc连接失败");
            } catch (Exception e2){
            if (System.currentTimeMillis()-currentTimeMilliConnectRgv>1000*60*10){
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc连接失败");
                } catch (Exception e2){
//                log.error("e2:"+e2.getMessage());
                }
                if (currentTimeMilliConnectRgv == 0){
                    currentTimeMilliConnectRgv = System.currentTimeMillis()-1000*60*10-1;
                } else {
                    currentTimeMilliConnectRgv = System.currentTimeMillis();
                }
            }
        }
        initRgv();
@@ -1118,11 +1133,10 @@
                rgvProtocol.setErr4(status[11]);
                rgvProtocol.setErr5(status[12]);
                rgvProtocol.setErr6(status[13]);
                rgvProtocol.setErr7(status[14]);
                rgvProtocol.setErr8(status[15]);
//                System.out.println("读线程"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));
//                System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()+"小车数据："+JSON.toJSONString(rgvProtocol));
                if (rgvProtocol.getRgvNo()==1){
                    log.info("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()+"小车数据："+JSON.toJSONString(rgvProtocol));
                }
                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.getStatusType().equals(RgvStatusType.WAITING)
@@ -1228,10 +1242,11 @@
        OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());
        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右
        Thread.sleep(20L);
        this.wrkSign = 1;

        OperateResult result4 = siemensNet.Write("DB100.12.0", true);
        log.info("任务下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());
        this.wrkSign = 1;

//        log.info("任务下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());

//        if (taskProtocol.getAckFinish1() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入