#

zjj

2025-07-02 d3f3d4b309cfb285fcbbc48b91c4046111c7e9cd

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

@@ -9,8 +9,10 @@
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;

import com.zy.asrs.service.BasRgvErrService;
import com.zy.asrs.service.BasRgvService;

import com.zy.common.utils.News;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -23,6 +25,7 @@
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.apache.poi.ss.formula.functions.T;

import java.text.MessageFormat;
import java.util.Date;
@@ -135,7 +138,7 @@
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setLoaded1(false);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos(0);
//        rgvProtocol.setTaskNo2((short)0);
@@ -145,6 +148,8 @@
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        rgvProtocol.setSouSta((short)0);
        rgvProtocol.setEndSta((short)0);
    }

    @Override
@@ -172,7 +177,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 30);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 18);
            if (result.IsSuccess) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                    rgvProtocol = new RgvProtocol();
@@ -186,21 +191,28 @@
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 14));
//                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransBool(result.Content,18));


                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
                if (rgvProtocol.getAlarm() > 0 ){
                    BasRgvErrService basRgvErrService = SpringUtils.getBean(BasRgvErrService.class);
                    News.errorNoLog("RGV 异常 ===>> [id:{}] [ip:{}],报警代码:{},报警文本:{}",slave.getId(), slave.getIp(),rgvProtocol.getAlarm(),basRgvErrService.selectById(rgvProtocol.getAlarm()).getErrName());
                }else {
                    News.infoNoLog("RGV状态正常==>[id:{}]",slave.getId());
                }

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }
//                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag1) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish1((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag1 = false;
//                        }
//                    }
//                }

                // 工位2复位信号
//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
@@ -253,18 +265,23 @@
        boolean[] array = new boolean[1];
        array[0] = true;
        if (command.isAuto()){
            result = siemensNet.Write("DB99.0.1", array);
            result = siemensNet.Write("DB99.0.0", true);
        } else if (command.isRestoreTask()) {
            result = siemensNet.Write("DB99.0.2", array);
            result = siemensNet.Write("DB99.0.1", true);
        }
        else if (command.isCompTask()) {
            result = siemensNet.Write("DB99.0.3", array);
            result = siemensNet.Write("DB99.0.2", true);
        }
        else if (command.isStop()) {
            result = siemensNet.Write("DB99.0.4", array);
            result = siemensNet.Write("DB99.0.3", true);
        }
        else if (command.isReset()) {
            result = siemensNet.Write("DB99.0.5", array);
            siemensNet.Write("DB99.0.3", false);
            Thread.sleep(100);
            result = siemensNet.Write("DB99.0.4", true);
        }
        else if (command.isNoStop()) {
            result = siemensNet.Write("DB99.0.3", false);
        }

//        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {