*

lsh

2025-06-14 cc885fe7e9629fa922a369c3938a748ec7f7e246

*

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -515,7 +515,7 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
@@ -576,6 +576,15 @@
                        }
                    } catch (Exception e){}
                    wrkMastService.updateById(wrkMast);
                } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ){
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("小车复位线程报错！" + e);
@@ -613,7 +622,7 @@
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                        wrkMast.setLogErrTime(new Date());

 src/main/java/com/zy/core/enums/RgvStatusType.java

@@ -16,6 +16,7 @@
    CANCEL(12, "等待取消","#95A5A6"),
    WALK(20, "走行","#F1C40F"),
    WAITING(100, "任务执行完成等待确认","#AED6F1"),
    WAITING101(101, "任务执行完成等待确认","#AED6F1"),
    SOS110(110, "报警","#E74C3C"),
    SOS(999, "未知","#FF0000")
    ;

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

@@ -127,6 +127,12 @@
                        rgvOpt(command);
                        write3(command);
                        break;
                    //工位1写入取消数据
                    case 4:
                        RgvCommand command4 = (RgvCommand) task.getData();
                        rgvOpt(command4);
                        write4(command4);
                        break;
                    // 漫游
                    case 5:
                        Long aLong = (Long) task.getData();
@@ -216,6 +222,30 @@
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
    }

//    /**
//     * 初始化RGV状态
//     */
//    private void initRgv() {
//        if (null == rgvProtocol) {
//            rgvProtocol = new RgvProtocol();
//        }
//        rgvProtocol.setRgvNo(slave.getId());
//        rgvProtocol.setMode((short) 3);
//        rgvProtocol.setStatus((short)0);
//        rgvProtocol.setTaskNo1((short)0);
//        rgvProtocol.setStatus1((short)0);
//        rgvProtocol.setLoaded1((short)0);
//        rgvProtocol.setWalkPos((short)0);
//        rgvProtocol.setRgvPos(slave.getId()*100000L);
//        rgvProtocol.setTaskNo2((short)0);
//        rgvProtocol.setStatus2((short)0);
//        rgvProtocol.setLoaded2((short)0);
//        rgvProtocol.setAlarm((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 0);
//    }

    @Override
    public boolean connect() {
@@ -398,6 +428,68 @@
            return false;
        }
    }
    private boolean write4(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

//        siemensNet.Write("DB24.10.0", false);
//        siemensNet.Write("DB24.10.1", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getRgvNo().shortValue();
        array[1] = command.getSourceStaNo1();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getTaskMode1();//任务模式
        array[4] = command.getTaskNo1();



        OperateResult result = siemensNet.Write("DB24.0", array);
//
//        if (command.getAckFinish1().equals((short)0)) {
////            Thread.sleep(100L);
////            siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
////            Thread.sleep(20L);
////            result = siemensNet.Write("DB24.10.0", true);
//        } else {
//            siemensNet.Write("DB24.10.1", true);
//        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
//            Thread.sleep(200);
//            this.readStatus();
            log.info("RGV 工位1取消命令下发[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)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1取消数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 完成