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2025-05-25 ff28b7ce248f4f4b36e0cd1c6db71dc25d308189

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

@@ -292,7 +292,7 @@
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                Thread.sleep(50);
                if (!deviceDetection()) {
                    continue;
                }
@@ -319,7 +319,8 @@
                        write(issued);
                        rgvTaskProtocol.setAvoid(0);

                        Thread.sleep(200);
                        try{Thread.sleep(50L);} catch (Exception e){}

                        RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
                    }
                    continue;
@@ -352,22 +353,6 @@
                } else {
                    for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
                        if (taskProtocol.getIsRunning() == 1) {//准备下发
//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                            if (taskProtocol.getTaskStatus()==3){
                                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
                                StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
                                if (staProtocol == null ) {
                                    continue;
                                }
                                // 判断是否满足入库条件
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    Thread.sleep(500);
//                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
//                                continue;
                                }
                            }
                            //双车
                            if (rgvOtherStatusEnable()) {
                                //另一台车是否允许此台车执行
@@ -387,8 +372,6 @@
                                    if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                            || staProtocol.getWorkNo() != 0
                                    ){
                                        Thread.sleep(500);
//                                    System.out.println("<放货目标站>" + taskProtocol.getTargetPositionStaNo() + "<非自动或者有物或者存在工作号！！！>");
                                        continue;
                                    }
                                }
@@ -474,8 +457,27 @@

                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
                    TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
                    if (taskProtocolCacheOther.isNowPosRun(rgvProtocolOther.getRgvPos())){
                        return false;
                    TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
                    if (!Cools.isEmpty(nowPosRunTask)){
                        boolean signNowPosRun = true;
                        if (nowPosRunTask.getTaskStatus()==3){
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
                            if (staProtocol == null ) {
                                signNowPosRun =false;
                            }
                            if (signNowPosRun){
                                // 判断是否满足入库条件
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    signNowPosRun =false;
                                }
                            }
                        }
                        if (signNowPosRun){
                            return false;
                        }
                    }
                    long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
@@ -568,8 +570,27 @@
                } else {
                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
                    TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
                    if (taskProtocolCacheOther.isNowPosRun(rgvProtocolOther.getRgvPos())){
                        return false;
                    TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
                    if (!Cools.isEmpty(nowPosRunTask)){
                        boolean signNowPosRun = true;
                        if (nowPosRunTask.getTaskStatus()==3){
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
                            if (staProtocol == null ) {
                                signNowPosRun =false;
                            }
                            if (signNowPosRun){
                                // 判断是否满足入库条件
                                if (!staProtocol.isAutoing() || staProtocol.isLoading()
                                        || staProtocol.getWorkNo() != 0
                                ){
                                    signNowPosRun =false;
                                }
                            }
                        }
                        if (signNowPosRun){
                            return false;
                        }
                    }
                    long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
                    if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
@@ -910,8 +931,8 @@
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
//            Thread.sleep(50);
//            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
            log.error("RGV 命令下发 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());

@@ -960,8 +981,8 @@
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
//            Thread.sleep(200);
//            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null")));
            return true;