*

L

2026-04-23 d074cb16f7b3ba11363766dd78802da60f4ec07d

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

@@ -5,14 +5,18 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCircularShuttle;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasRgvErrLogService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.NumUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -53,6 +57,7 @@
    private boolean resetFlag2 = false;
    private boolean connectRgv = false;
    private boolean alarmChangeSign = false;
    private boolean csSign = true;//测试标记

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -62,14 +67,6 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        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();
@@ -158,6 +155,16 @@
                Thread.sleep(1000);
                if(!connectRgv){
                    try {
                        // 根据实时信息更新数据库
                        BasCircularShuttleService basCircularShuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
                        BasCircularShuttle basCircularShuttle = basCircularShuttleService.getOne(new QueryWrapper<BasCircularShuttle>().eq("rgv_no",  slave.getId()));
                        if (basCircularShuttle.getStatus() != 0){
                            continue;
                        }
                    } catch (Exception ignore) {

                    }
                    try {
                        connectRgv = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){
@@ -186,8 +193,8 @@
                    continue;
                }
                Thread.sleep(40);
                readStatus();

//                readStatus();
                initRgv();
            } catch (Exception e) {
                log.error("RGV读线程异常"+e.getMessage());

@@ -204,6 +211,17 @@
     * 初始化RGV状态
     */
    private void initRgv() {
       if (csSign){
           initRgvCS();
       } else {
           initRgvT();
       }
    }

    /**
     * 初始化RGV状态
     */
    private void initRgvT() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
@@ -222,31 +240,61 @@
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        log.error("连接中断：RGV号："+slave.getId());
        try {
            // 根据实时信息更新数据库
            BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
            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) {
        }
    }

//    /**
//     * 初始化RGV状态
//     */
//    private void initRgv() {
//        if (null == rgvProtocol) {
//            rgvProtocol = new RgvProtocol();
//        }
//        rgvProtocol.setRgvNo(slave.getId());
//        rgvProtocol.setMode((short) 3);
//        rgvProtocol.setStatus((short)0);
//        rgvProtocol.setTaskNo1((short)0);
//        rgvProtocol.setStatus1((short)0);
//        rgvProtocol.setLoaded1((short)0);
//        rgvProtocol.setWalkPos((short)0);
//        rgvProtocol.setRgvPos(slave.getId()*100000L);
//        rgvProtocol.setTaskNo2((short)0);
//        rgvProtocol.setStatus2((short)0);
//        rgvProtocol.setLoaded2((short)0);
//        rgvProtocol.setAlarm((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 0);
//    }
    /**
     * 初始化RGV状态
     */
    private void initRgvCS() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
            rgvProtocol.setRgvNo(slave.getId());
            rgvProtocol.setMode((short) 3);
            rgvProtocol.setStatus((short)0);
            rgvProtocol.setTaskNo1((short)0);
            rgvProtocol.setStatus1((short)0);
            rgvProtocol.setLoaded1((short)0);
            rgvProtocol.setWalkPos((short)0);
            if (rgvProtocol.getRgvPos()==null ||  rgvProtocol.getRgvPos()==0){
                rgvProtocol.setRgvPos(1L+rgvProtocol.getRgvNo()*10000);
            }
//        rgvProtocol.setRgvPos(rgvProtocol.getRgvPos()+1000);
            rgvProtocol.setRgvPos(rgvProtocol.getRgvPos());
            rgvProtocol.setTaskNo2((short)0);
            rgvProtocol.setStatus2((short)-1);
            rgvProtocol.setLoaded2((short)0);
            rgvProtocol.setAlarm((short)0);
            rgvProtocol.setxSpeed((short) 0);
            rgvProtocol.setxDistance((short) 0);
            rgvProtocol.setxDuration((short) 0);
        }
//        log.error("连接中断：RGV号："+slave.getId());
        try {
            // 根据实时信息更新数据库
            BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
            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) {
        }
    }

    @Override
    public boolean connect() {
@@ -295,7 +343,7 @@
                    rgvProtocol.setRgvPos((long)poi);
                    rgvProtocol.setRgvPosInt(poi);
                }
                System.out.println(rgvProtocol.getRgvNo()+"号小车读取定位值："+poi);
                log.info(rgvProtocol.getRgvNo()+"号小车读取定位值："+poi);
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
                rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
                boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);
@@ -310,7 +358,7 @@
                alarmChangeSign = new HashSet<>(alarmList).equals(new HashSet<>(rgvProtocol.getAlarmList()));
                rgvProtocol.setAlarmList(alarmList);

//                rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
//                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()));


@@ -328,7 +376,7 @@
                        if (!alarmChangeSign && !alarmList.isEmpty()){
                            BasRgvErrLogService basRgvErrLogService = SpringUtils.getBean(BasRgvErrLogService.class);
                            BasRgvErrLog basRgvErrLog = new BasRgvErrLog(rgvProtocol.getAlarmList(), rgvProtocol.getTaskNo1(), rgvProtocol.getRgvNo());
                            basRgvErrLogService.insert(basRgvErrLog);
                            basRgvErrLogService.save(basRgvErrLog);
                        }
                    } catch (Exception e){
                        log.error("RGV异常信息保存失败！！");
@@ -357,8 +405,9 @@
    private void rgvOpt(RgvCommand command) {
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
            basRgvOptService.insert(basRgvOpt);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosInt(), command);
            log.info(rgvProtocol.getRgvNo()+"号小车写入命令定位值："+rgvProtocol.getRgvPosInt());
            basRgvOptService.save(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
        }
@@ -367,7 +416,7 @@
        try{
            BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
            basRgvOptService.insert(basRgvOpt);
            basRgvOptService.save(basRgvOpt);
        }catch (Exception e){
            log.error("RGV写入命令保存失败！！");
        }
@@ -419,7 +468,7 @@
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
            bean.save(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
@@ -481,7 +530,7 @@
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
            bean.save(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
@@ -566,7 +615,7 @@
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
            bean.save(basRgvOpt);
        } catch (Exception ignore) {}

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