Merge remote-tracking branch 'origin/jshdwcs' into jshdwcs

lty

2025-08-28 531304243540f64d278c0a701a3ca34e516c4165

Merge remote-tracking branch 'origin/jshdwcs' into jshdwcs

 src/main/java/com/zy/core/MainProcess.java

@@ -24,6 +24,7 @@
    private MainServiceImpl mainService;
    // 所属线程
    private Thread thread;
    private Thread thread2;
    // 频率
    private int i = 0;
    private int k = 0;
@@ -33,7 +34,13 @@
     * =====>>  开始工作
     */
    public void start(){
        thread = new Thread(() -> {
        thread = new Thread(this::crnAndDevRun);
        thread.start();

        thread2 = new Thread(this::roboticArmDispatch);
//        thread2.start();
    }
    private void crnAndDevRun() {
            while (!Thread.currentThread().isInterrupted()) {
                try {

@@ -136,13 +143,30 @@
                    e.printStackTrace();
                }
            }
        });
        thread.start();
    }

    private void roboticArmDispatch() {
        while (!Thread.currentThread().isInterrupted()) {
            try {

                // 间隔
                Thread.sleep(1000);

                // 系统运行状态判断
                if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                    continue;
                }

            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    @PreDestroy
    public void shutDown(){
        if (thread != null) thread.interrupt();
        if (thread2 != null) thread2.interrupt();
    }

}

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

New file
@@ -0,0 +1,157 @@
package com.zy.core.thread;

import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.zy.core.ThreadHandler;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

/**
 * RoboticArm 机械手线程
 * Created by Monkey D. Luffy on 2025/8/22
 */
@Data
@Slf4j
public class RoboticArmThread implements Runnable, ThreadHandler {

    private SiemensS7Net siemensS7Net;
//    private RoboticArmSlave slave;
//    private RoboticArmProtocol roboticArmProtocol;
    private short heartBeatVal = 1;
    private boolean connectRoboticArm = false;


//    public RoboticArmThread(RoboticArmSlave slave) {
//        this.slave = slave;
//    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {

        connectRoboticArm = this.connect();
        while(!connectRoboticArm){
            try {
                connectRoboticArm = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            }
        }

        // 启动线程自动重连
        new Thread(this::roboticArmConnect).start();

        // 启动读数据线程
        new Thread(this::readStatusRoboticArm).start();

        // 启动任务下发线程
        new Thread(this::taskIssued).start();


    }

    /**
     * 任务下发
     */
    private void taskIssued() {
        while (true) {
            try {
//                int step = 1;
//                Task task = MessageQueue.poll(SlaveType.RoboticArm, slave.getId());
//                if (task != null) {
//                    step = task.getStep();
//                }
//                switch (step) {
//                    case 1:
//                        break;
//                    case 2:
////                        write((RoboticArmCommand) task.getData());
//                        break;
//                    default:
//                        break;
//                }
                // 心跳
//                heartbeat();
                Thread.sleep(200);
            } catch (Exception e) {
                log.error("RoboticArm写线程异常"+e.getMessage());
            }

        }
    }

    private void roboticArmConnect() {
        while (true) {
            try {
                Thread.sleep(1000);
                if(!connectRoboticArm){
                    try {
                        connectRoboticArm = this.connect();
                        Thread.sleep(100);
                    } catch (Exception e){

                    }
                }
            } catch (Exception e) {
                initSte();
            }
        }
    }

    private void readStatusRoboticArm() {
        while (true) {
            try {
                Thread.sleep(50);

                readStatus();

            } catch (Exception e) {
                initSte();
            }

        }

    }

    /**
     * 初始化状态
     */
    private void initSte() {

    }

    @Override
    public boolean connect() {
        boolean result = false;


        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){

    }
//
//    /**
//     * 写入数据
//     */
//    private synchronized boolean write(String command){
//
//    }

    @Override
    public void close() {

    }

    /**
     * 心跳
     */
    private void heartbeat(){

    }

}