#

Junjie

2026-01-15 e14a4372b6bd4a38e40a3a68bde32350d96071ab

 src/main/java/com/zy/core/thread/impl/ZyRgvThread.java

@@ -1,15 +1,16 @@
package com.zy.core.thread.impl;

import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -29,6 +30,8 @@

import java.text.MessageFormat;
import java.util.Date;
import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.service.BasRgvErrLogService;

@Data
@Slf4j
@@ -38,6 +41,7 @@
    private RedisUtil redisUtil;
    private ZyRgvConnectDriver zyRgvConnectDriver;
    private RgvProtocol rgvProtocol;
    private int deviceLogCollectTime = 200;

    public ZyRgvThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
@@ -49,28 +53,39 @@
    public void run() {
        connect();
        initRgv();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, deviceConfig.getDeviceNo());
                if (task != null) {
                    step = task.getStep();

        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                    readStatus();
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("RgvThread Fail", e);
                }
                switch (step) {
                    case 1:
                        readStatus();
                        break;
                    case 2:
                        sendCommand((RgvCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(200);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
        });
        readThread.start();

        Thread processThread = new Thread(() -> {
            while (true) {
                try {
                    int step = 1;
                    Task task = MessageQueue.poll(SlaveType.Rgv, deviceConfig.getDeviceNo());
                    if (task != null) {
                        step = task.getStep();
                    }
                    if (step == 2) {
                        sendCommand((RgvCommand) task.getData());
                    }

                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("RgvProcess Fail", e);
                }
            }
        });
        processThread.start();
    }

    private void initRgv() {
@@ -89,7 +104,7 @@
    @Override
    public boolean connect() {
        zyRgvConnectDriver = new ZyRgvConnectDriver(deviceConfig);
        new Thread(zyRgvConnectDriver).start();
        zyRgvConnectDriver.start();
        DeviceConnectPool.put(SlaveType.Rgv, deviceConfig.getDeviceNo(), zyRgvConnectDriver);
        return true;
    }
@@ -117,7 +132,7 @@
            rgvProtocol.setLastCommandTime(System.currentTimeMillis());
        }

        if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > 200) {
        if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > deviceLogCollectTime) {
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(JSON.toJSONString(s));
            deviceDataLog.setWcsData(JSON.toJSONString(rgvProtocol));
@@ -128,7 +143,47 @@
            rgvProtocol.setDeviceDataLog(System.currentTimeMillis());
        }

        BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
        try {
            BasRgvErrLogService errLogService = SpringUtils.getBean(BasRgvErrLogService.class);
            if (errLogService != null) {
                String errFlagKey = RedisKeyType.DEVICE_ERR_ACTIVE_RGV.key + rgvProtocol.getRgvNo();
                Object active = redisUtil.get(errFlagKey);
                if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
                    if (active == null) {
                        BasRgvErrLog log = new BasRgvErrLog();
                        log.setTaskNo(rgvProtocol.getTaskNo());
                        log.setStartTime(new Date());
                        log.setRgvNo(rgvProtocol.getRgvNo());
                        log.setErrCode(rgvProtocol.getAlarm());
                        log.setStatus(1);
                        log.setCreateTime(new Date());
                        log.setSystemStatus(JSON.toJSONString(rgvProtocol));
                        errLogService.insert(log);
                        if (log.getId() != null) {
                            redisUtil.set(errFlagKey, log.getId(), 60 * 60 * 24);
                        }
                    }
                } else {
                    if (active != null) {
                        Long id = Long.valueOf(String.valueOf(active));
                        BasRgvErrLog update = new BasRgvErrLog();
                        update.setId(id);
                        update.setEndTime(new Date());
                        update.setStatus(2);
                        update.setUpdateTime(new Date());
                        errLogService.updateById(update);
                        redisUtil.del(errFlagKey);
                    }
                }
            }
        } catch (Exception ignore) {}

        BasRgvService basRgvService = null;
        try {
            basRgvService = SpringUtils.getBean(BasRgvService.class);
        } catch (Exception e) {

        }
        if (basRgvService != null) {
            BasRgv basRgv = basRgvService.selectOne(new EntityWrapper<BasRgv>().eq("rgv_no", deviceConfig.getDeviceNo()));
            if(basRgv == null) {
@@ -143,7 +198,9 @@

    @Override
    public void close() {
        zyRgvConnectDriver.close();
        if (zyRgvConnectDriver != null) {
            zyRgvConnectDriver.close();
        }
    }

    @Override
@@ -188,6 +245,31 @@
    @Override
    public synchronized CommandResponse sendCommand(RgvCommand command) {
        rgvProtocol.setLastCommandTime(System.currentTimeMillis());
        return zyRgvConnectDriver.sendCommand(command);
        CommandResponse response = null;
        try {
            response = zyRgvConnectDriver.sendCommand(command);
            return response;
        } finally {
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            ZyRgvStatusEntity statusEntity = zyRgvConnectDriver.getStatus();
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo(),
                    command.getRgvNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    String.valueOf(command.getSourcePos()),
                    String.valueOf(command.getTargetPos()),
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basRgvOpt);
            }
        }
    }
}
}