#

lsh

昨天 0d8fcb1505ba869290cce9099b42370e4333b708

#

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

@@ -47,8 +47,6 @@

                    //初始化RGV地图
//                    mainService.initRgvMap();
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
@@ -73,6 +71,10 @@
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();


                    //刷新RGV地图
                    mainService.refreshRgvMap();

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    k++;

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

@@ -47,6 +47,7 @@
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;
    private boolean connectRgv = false;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -55,9 +56,52 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        connectRgv = this.connect();
        while(!connectRgv){
            try {
                connectRgv = this.connect();
                Thread.sleep(100);
            } catch (Exception e){

            }
        }

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

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

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


        while (true) {
            try {

                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
            }

        }
    }


    /**
     * 任务下发
     */
    private void taskIssued() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
@@ -66,7 +110,7 @@
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
//                        readStatus();
                        break;
                    // 工位1、2写入数据
                    case 2:
@@ -123,14 +167,62 @@
                    default:
                        break;
                }
                Thread.sleep(500);
                Thread.sleep(100);
            } catch (Exception e) {
                log.error("RGV写线程异常"+e.getMessage());
//                e.printStackTrace();
            }

        }
    }

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

                    }
                }
            } catch (Exception e) {

                log.error("rgv连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                initRgv();
//                e.printStackTrace();
            }
        }
    }

    private void readStatusRgv() {
        while (true) {
            try {
                if(!connectRgv){
                    try {
                        Thread.sleep(1000L);
                    } catch (Exception e){

                    }
                    continue;
                }
                Thread.sleep(40);
                readStatus();

            } catch (Exception e) {
                log.error("RGV读线程异常"+e.getMessage());

                log.error("RGV数据读取线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                initRgv();
//                e.printStackTrace();
            }

        }

    }

    /**
     * 初始化RGV状态
     */