自动化立库仓库-WCS系统
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cpT
2025-06-19 c1ef2d1fc4c0dae2bc8452924dcd77a0ff3a1ef5 
 src/main/java/com/zy/core/thread/RgvThread.java


@@ -65,7 +65,10 @@


    private boolean resetFlag2 = false;




    private boolean connectRgv = false;


    public Long currentTimeMilliConnectRgv= 0L;




    private boolean delRgvTask = false;


    private short wrkSign = 0;




    public RgvThread(RgvSlave slave) {


        this.slave = slave;


@@ -74,6 +77,12 @@


    @Override


    @SuppressWarnings("InfiniteLoopStatement")


    public void run() {


        initRgv();


        try{


            Thread.sleep(2000);


        } catch (Exception e){




        }


        connectRgv = this.connect();


        while(!connectRgv){


            try {


@@ -140,7 +149,7 @@


                    continue;


                }


                Thread.sleep(20);


//                System.out.println("读线程"+ slave.getId());


//                System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());




                readStatus();




@@ -179,10 +188,12 @@


                    delRgvTask = false;


                    continue;


                }


                Thread.sleep(40);


                Thread.sleep(50L);




                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);


                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);


                if (status[0]){


                    Thread.sleep(500L);


                    OperateResult result4 = siemensNet.Write("DB100.12.0", false);


                }


            } catch (Exception e) {


@@ -300,7 +311,7 @@


                write(issued);


                rgvTaskProtocol.setAvoid(0);




                Thread.sleep(200);


//                Thread.sleep(200);


                RgvTaskCache.updateRgvStatus(rgvTaskProtocol);




            } catch (Exception e) {


@@ -333,13 +344,13 @@


//                System.out.println(JSON.toJSON(rgvRun));




                // 休眠 1 秒


                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 1000) {


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 100) {


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                } else {


                    continue;


                }


                if (!deviceDetection()) {


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                    rgvRun.setRgvNo(slave.getOtherId());


                    RgvRunCache.updateRgvStatus(rgvRun);


                    if (!errorRgv.equals("无")){


@@ -356,20 +367,20 @@


                    rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());


                }


                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                    rgvRun.setRgvNo(slave.getOtherId());


                    RgvRunCache.updateRgvStatus(rgvRun);


                    continue;


                }


                if (rgvProtocol.getLoaded() == -1){


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                    rgvRun.setRgvNo(slave.getOtherId());


                    RgvRunCache.updateRgvStatus(rgvRun);


                    RgvErrCache.updateRgvErr(slave.getId(),"小车探物物状态异常");


                    continue;


                }


                if (rgvTaskProtocol.getAvoid() != 0) {


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                    rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                    rgvRun.setRgvNo(slave.getOtherId());


                    RgvRunCache.updateRgvStatus(rgvRun);


                    continue;


@@ -457,7 +468,7 @@


                        }


                    }


                }


                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                rgvRun.setRgvNo(slave.getOtherId());


                RgvRunCache.updateRgvStatus(rgvRun);


            } catch (Exception e) {


@@ -469,7 +480,7 @@


//                    log.error("e2:"+e2.getMessage());


                }


                rgvRun = RgvRunCache.getRgvRun();


                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;


                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;


                rgvRun.setRgvNo(slave.getOtherId());


                RgvRunCache.updateRgvStatus(rgvRun);


                continue;


@@ -1052,11 +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();


@@ -1087,6 +1105,16 @@


                }




                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));


//                rgvProtocol.setStatus((short)1);




                //作业启动中  解决任务下发后小车状态未更新，小车状态不及时


                if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){


                    this.wrkSign = 0;


                }


                if (this.wrkSign == 1){


                    rgvProtocol.setStatus((short)110);


                }




                rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));




                rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14));


@@ -1105,8 +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));


                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)


@@ -1198,9 +1228,8 @@


        }


//        convertRow(command);


//        taskProtocol.setRgvNo(slave.getId());


        Long[] array = new Long[11];


//        Long[] array = new Long[11];


        OperateResult result41 = siemensNet.Write("DB100.12.0", false);




//        array[0] = taskProtocol.getAckFinish1();


//        array[1] = taskProtocol.getTaskNo();


//        array[2] = taskProtocol.getTaskMode();


@@ -1212,8 +1241,13 @@


        OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);


        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);




        OperateResult result4 = siemensNet.Write("DB100.12.0", true);


        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


//            Thread.sleep(100L);


@@ -1241,6 +1275,7 @@


        } catch (Exception ignore) {


        }




        readStatus();


        if (result != null && result.IsSuccess) {


//            Thread.sleep(50);


//            this.readStatus();


@@ -1269,6 +1304,7 @@


        OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);


        OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);


        OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


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




        try {


            // 日志记录