#改造

cpT

2 天以前 deb12de25c41d2b8b20b0b08c9b1338e8a4d8b12

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

@@ -66,6 +66,7 @@

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

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -130,8 +131,17 @@
    private void readStatusRgv() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    initRgv();
                    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();

@@ -157,15 +167,25 @@
    private void taskComplete() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                if (delRgvTask){
                    writeDelRgvTask();
                    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) {
@@ -253,6 +273,14 @@
    private void taskWalkIssued() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                // 休眠 1 秒
                Thread.sleep(100);

@@ -275,7 +303,7 @@
                write(issued);
                rgvTaskProtocol.setAvoid(0);

                Thread.sleep(200);
//                Thread.sleep(200);
                RgvTaskCache.updateRgvStatus(rgvTaskProtocol);

            } catch (Exception e) {
@@ -290,6 +318,14 @@
     */
    private void taskIssued() {
        while (true) {
            if(!connectRgv){
                try {
                    Thread.sleep(1000L);
                } catch (Exception e){

                }
                continue;
            }
            RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
            if (!rgvRun.getRgvNo().equals(slave.getId())){
                continue;
@@ -300,13 +336,13 @@
//                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")){
@@ -323,20 +359,20 @@
                    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;
@@ -424,7 +460,7 @@
                        }
                    }
                }
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
                rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
                rgvRun.setRgvNo(slave.getOtherId());
                RgvRunCache.updateRgvStatus(rgvRun);
            } catch (Exception e) {
@@ -436,7 +472,7 @@
//                    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;
@@ -795,6 +831,67 @@
                            return false;
                        }
                    }

                    TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
                    if (!Cools.isEmpty(nowPosRunTask2)){
                        boolean signNowPosRun = true;
                        boolean signNowPosA = true;
                        if (targetPosition - rgvProtocol.getRgvPos()>0){
                            if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
                                if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
                                    signNowPosA = false;
                                    signNowPosRun = false;
                                }
                            }
                        } else if (targetPosition - rgvProtocol.getRgvPos()<0){
                            if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
                                if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
                                    signNowPosA = false;
                                    signNowPosRun = false;
                                }
                            }
                        }

                        if (signNowPosA){
                            if (nowPosRunTask2.getTaskStatus()==3){
                                long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
                                if (Math.abs(onePos - twoPos)>100){
                                    if (onePos-50>twoPos+50){
                                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
                                        StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
                                        if (staProtocol == null ) {
                                            signNowPosRun =false;
                                        }
                                        if (signNowPosRun){
                                            // 判断是否满足入库条件
                                            if (staProtocol.isAutoing() && !staProtocol.isLoading()
                                            ){
                                                errorRgv = slave.getOtherId()+"号RGV等待作业...";
                                                return false;
                                            }
                                        }
                                        signNowPosRun =false;
                                    }
                                }
                            } else {
                                long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
                                if (twoPos<100){
                                    errorRgv = slave.getOtherId()+"号RGV等待作业...";
                                    return false;
                                }
                                if (Math.abs(onePos - twoPos)>100){
                                    if (onePos-50>twoPos+50){
                                        signNowPosRun =false;
                                    }
                                }
                            }
                        }

                        if (signNowPosRun){
                            errorRgv = slave.getOtherId()+"号RGV等待作业...";
                            return false;
                        }
                    }
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
                        log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
@@ -993,6 +1090,16 @@
                }

                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));
@@ -1011,8 +1118,10 @@
                rgvProtocol.setErr4(status[11]);
                rgvProtocol.setErr5(status[12]);
                rgvProtocol.setErr6(status[13]);
                rgvProtocol.setErr7(status[13]);
                rgvProtocol.setErr8(status[13]);
//                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)
@@ -1104,9 +1213,8 @@
        }
//        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();
@@ -1118,8 +1226,13 @@
        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);
@@ -1147,6 +1260,7 @@
        } catch (Exception ignore) {
        }

        readStatus();
        if (result != null && result.IsSuccess) {
//            Thread.sleep(50);
//            this.readStatus();
@@ -1175,6 +1289,7 @@
        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