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2025-05-14 dcdfc93b50febf61301832d91dfcddcfa1ca5403

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

@@ -48,11 +48,11 @@
    //    private RgvProtocol rgvProtocol;
    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
    // # 轨道总长
    private Long trackEntireLength = 100L;
    private Long trackEntireLength = 224000L;
    //# 轨道基准点
    private Long trackBenchmark = 100L;
    private Long trackBenchmark = 1L;
    //  # 避让距离
    private Long avoidDistance = 100L;
    private Long avoidDistance = 5000L;

    /**
     * 工位1复位信号
@@ -63,6 +63,8 @@
     */
    private boolean resetFlag2 = false;

    private boolean connectRgv = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
    }
@@ -70,20 +72,48 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        boolean connect = this.connect();
        if (connect) {
        connectRgv = this.connect();
        while(!connectRgv){
            try {
                connectRgv = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            // 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();
        // 启动读数据线程
        new Thread(this::rgvConnect).start();

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

            // 启动任务完成线程
            new Thread(this::taskComplete).start();
        // 启动任务下发线程
        new Thread(this::taskIssued).start();

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

        // 启动任务完成线程
        new Thread(this::taskComplete).start();
    }

    private void rgvConnect() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        connectRgv = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
                initRgv();
//                e.printStackTrace();
            }
        }
    }

@@ -114,7 +144,7 @@
                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
                if (status[0]){
                    OperateResult result4 = siemensNet.Write("DB100.12.0", true);
                    OperateResult result4 = siemensNet.Write("DB100.12.0", false);
                }
            } catch (Exception e) {
                log.error("RGV数据读取线程异常！！！" + e.getMessage());
@@ -124,6 +154,64 @@

        }

    }

    /**
     * 任务下发
     */
    private void taskWalkIssued2() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                if (!deviceDetection()) {
                    continue;
                }
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null || rgvTaskProtocol == null) {
                    initRgv();
                    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;
                }

                List<TaskProtocol> 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 {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        }
                    }
                }
            } catch (Exception e) {
                log.error("RGV取货任务下发线程异常！！！" + e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    /**
@@ -149,6 +237,8 @@
                TaskProtocol issued = new TaskProtocol();
                issued.setTaskNo(32222L);
                issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
                issued.setTaskStatus(1);
                issued.setDirection(true);
                write(issued);
                rgvTaskProtocol.setAvoid(0);

@@ -186,11 +276,14 @@
                if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
                    continue;
                }
                if (rgvProtocol.getLoaded() == -1){
                    continue;
                }

                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
                for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                    if (taskProtocol.getIsRunning() == 1) {//准备下发
                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                        //双车
                        if (rgvOtherStatusEnable()) {
                            //另一台车是否允许此台车执行
@@ -200,18 +293,15 @@
                        }
                        if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                            Thread.sleep(100);
//                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol);
                            write(issued);
                            taskProtocol.setIsRunning(4);
                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                            taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                            break;
                        } else {
                            Thread.sleep(100);
                            TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                            write(issued);
//                            taskProtocol.setIsRunning(4);
//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                            break;
                        }
                    }
@@ -282,6 +372,10 @@
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -298,6 +392,10 @@
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -309,10 +407,14 @@
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()) {
                    if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
                        long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                            log.error("行走超出范围！！！任务异常  联系管理员！！！");
                            return false;
                        }
                        long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
                        if (avoidAbs<51){
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
@@ -321,6 +423,12 @@
                        return false;
                    }
                    return false;
                }
            } else {
                if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                }
            }
        } else {
@@ -334,6 +442,10 @@
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -351,6 +463,10 @@
                        log.error("行走超出范围！！！任务异常  联系管理员！！！");
                        return false;
                    }
                    long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
                    if (avoidAbs<51){
                        return true;
                    }
                    rgvTaskProtocolOther.setAvoid(1);
                    rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -363,10 +479,14 @@
                        > avoidDistance) {//无需避让
                    return true;
                } else {
                    if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) {
                    if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
                        long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
                        if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
                            log.error("行走超出范围！！！任务异常  联系管理员！！！");
                            return false;
                        }
                        long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
                        if (avoidAbs<51){
                            return false;
                        }
                        rgvTaskProtocol.setAvoid(1);
@@ -375,6 +495,12 @@
                        return false;
                    }
                    return false;
                }
            } else {
                if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())
                        > avoidDistance) {//无需避让
                    return true;
                }
            }
        }
@@ -459,8 +585,10 @@
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setRgvNo(slave.getId());
                rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
                rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());

                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
@@ -519,6 +647,7 @@

            } else {
                initRgv();
                connectRgv = false;
//                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [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("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
@@ -541,6 +670,8 @@
//        convertRow(command);
//        taskProtocol.setRgvNo(slave.getId());
        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();