rgv调度优化

pjb

昨天 e156048b1ea844434ca7675af45e37a2dfad6e8c

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

@@ -11,12 +11,9 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.NumUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
@@ -148,7 +145,8 @@
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
            OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
//            OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
//            OperateResultExOne<byte[]> resultE = siemensNet.Read("DB20.26", (short) 2);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
@@ -163,7 +161,8 @@
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
//                rgvProtocol.setInstantaneousSpeed((double) siemensNet.getByteTransform().TransInt16(resultV.Content, 0));
//                rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
//                rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

@@ -215,9 +214,7 @@
        array[4] = command.getTaskNo1();

        OperateResult result = siemensNet.Write("DB24.0", array);

        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(100L);
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
@@ -244,7 +241,7 @@
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            Thread.sleep(400);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
@@ -279,6 +276,7 @@
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
            log.info("任务完成后复位清除rgv信息：小车号：{}，ack:{}", command.getRgvNo(),command.getAckFinish1());
        }

        try {