From 08d8933d3fe66fb83f1e2e7e4038e62b3c5143e1 Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期四, 19 六月 2025 11:10:43 +0800
Subject: [PATCH] #改造
---
src/main/java/com/zy/core/thread/RgvThread.java | 287 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 226 insertions(+), 61 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index c823915..602cae6 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -66,6 +66,7 @@
private boolean connectRgv = false;
private boolean delRgvTask = false;
+ private short wrkSign = 0;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -94,7 +95,7 @@
new Thread(this::taskIssued).start();
// 鍚姩婕父绾跨▼
-// new Thread(this::taskWalkIssued).start();
+ new Thread(this::taskWalkIssued).start();
// new Thread(this::taskWalkIssued2).start();
// 鍚姩浠诲姟瀹屾垚绾跨▼
@@ -130,8 +131,17 @@
private void readStatusRgv() {
while (true) {
try {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ initRgv();
+ continue;
+ }
Thread.sleep(20);
-// System.out.println("璇荤嚎绋�"+ slave.getId());
+// System.out.println("璇荤嚎绋�,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
readStatus();
@@ -157,15 +167,25 @@
private void taskComplete() {
while (true) {
try {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ continue;
+ }
if (delRgvTask){
writeDelRgvTask();
delRgvTask = false;
continue;
}
- Thread.sleep(40);
+ Thread.sleep(50L);
+
OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
if (status[0]){
+ Thread.sleep(500L);
OperateResult result4 = siemensNet.Write("DB100.12.0", false);
}
} catch (Exception e) {
@@ -250,46 +270,62 @@
/**
* 婕父
*/
-// private void taskWalkIssued() {
-// while (true) {
-// try {
-// // 浼戠湢 1 绉�
-// Thread.sleep(100);
-//
-// if (!deviceDetection()) {
-// continue;
-// }
-// RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
-// if (rgvTaskProtocol == null) {
-// initRgv();
-// rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
-// }
-// if (rgvTaskProtocol.getAvoid() != 1) {
-// continue;
-// }
-// TaskProtocol issued = new TaskProtocol();
-// issued.setTaskNo(32222L);
-// issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
-// issued.setTaskStatus(1);
-// issued.setDirection(true);
-// write(issued);
-// rgvTaskProtocol.setAvoid(0);
-//
+ private void taskWalkIssued() {
+ while (true) {
+ try {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ continue;
+ }
+ // 浼戠湢 1 绉�
+ Thread.sleep(100);
+
+ if (!deviceDetection()) {
+ continue;
+ }
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ initRgv();
+ rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ }
+ if (rgvTaskProtocol.getAvoid() != 1) {
+ continue;
+ }
+ TaskProtocol issued = new TaskProtocol();
+ issued.setTaskNo(32222L);
+ issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+ issued.setTaskStatus(1);
+ issued.setDirection(true);
+ write(issued);
+ rgvTaskProtocol.setAvoid(0);
+
// Thread.sleep(200);
-// RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
-//
-// } catch (Exception e) {
-// log.error("RGV琛岃蛋浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
-//// e.printStackTrace();
-// }
-// }
-// }
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+
+ } catch (Exception e) {
+ log.error("RGV琛岃蛋浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+// e.printStackTrace();
+ }
+ }
+ }
/**
* 浠诲姟涓嬪彂
*/
private void taskIssued() {
while (true) {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ continue;
+ }
RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
if (!rgvRun.getRgvNo().equals(slave.getId())){
continue;
@@ -300,13 +336,13 @@
// System.out.println(JSON.toJSON(rgvRun));
// 浼戠湢 1 绉�
- if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 1000) {
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 100) {
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
} else {
continue;
}
if (!deviceDetection()) {
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
if (!errorRgv.equals("鏃�")){
@@ -323,34 +359,20 @@
rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
}
if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
continue;
}
if (rgvProtocol.getLoaded() == -1){
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅鎺㈢墿鐗╃姸鎬佸紓甯�");
continue;
}
if (rgvTaskProtocol.getAvoid() != 0) {
- if (rgvTaskProtocol.getAvoid() == 1) {
- TaskProtocol issued = new TaskProtocol();
- issued.setTaskNo(32222L);
- issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
- issued.setTaskStatus(1);
- issued.setDirection(true);
- write(issued);
- RgvErrCache.updateRgvErr(slave.getId());
- rgvTaskProtocol.setAvoid(0);
-
-// try{Thread.sleep(50L);} catch (Exception e){}
-
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
- }
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
continue;
@@ -438,7 +460,7 @@
}
}
}
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
} catch (Exception e) {
@@ -450,7 +472,7 @@
// log.error("e2:"+e2.getMessage());
}
rgvRun = RgvRunCache.getRgvRun();
- rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+10;
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
continue;
@@ -537,6 +559,10 @@
public boolean otherRgvAvoid(Long targetPosition) {
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ long onePos = Math.abs(targetPosition - rgvProtocol.getRgvPos());
+ if (onePos<50){
+ return true;
+ }
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -594,6 +620,66 @@
}
}
}
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
+ if (!Cools.isEmpty(nowPosRunTask2)){
+ boolean signNowPosRun = true;
+ boolean signNowPosA = true;
+ if (targetPosition - rgvProtocol.getRgvPos()>0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
+ if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ } else if (targetPosition - rgvProtocol.getRgvPos()<0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
+ if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ }
+
+ if (signNowPosA){
+ if (nowPosRunTask2.getTaskStatus()==3){
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && !staProtocol.isLoading()
+ ){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ signNowPosRun =false;
+ }
+ }
+ } else {
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (twoPos<100){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ signNowPosRun =false;
+ }
+ }
+ }
+ }
+
if (signNowPosRun){
errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
return false;
@@ -740,6 +826,67 @@
}
}
}
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+
+ TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
+ if (!Cools.isEmpty(nowPosRunTask2)){
+ boolean signNowPosRun = true;
+ boolean signNowPosA = true;
+ if (targetPosition - rgvProtocol.getRgvPos()>0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
+ if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ } else if (targetPosition - rgvProtocol.getRgvPos()<0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
+ if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ }
+
+ if (signNowPosA){
+ if (nowPosRunTask2.getTaskStatus()==3){
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && !staProtocol.isLoading()
+ ){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ signNowPosRun =false;
+ }
+ }
+ } else {
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (twoPos<100){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ signNowPosRun =false;
+ }
+ }
+ }
+ }
+
if (signNowPosRun){
errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
return false;
@@ -943,6 +1090,16 @@
}
rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));
+// rgvProtocol.setStatus((short)1);
+
+ //浣滀笟鍚姩涓� 瑙ｅ喅浠诲姟涓嬪彂鍚庡皬杞︾姸鎬佹湭鏇存柊锛屽皬杞︾姸鎬佷笉鍙婃椂
+ if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){
+ this.wrkSign = 0;
+ }
+ if (this.wrkSign == 1){
+ rgvProtocol.setStatus((short)110);
+ }
+
rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));
rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14));
@@ -961,8 +1118,10 @@
rgvProtocol.setErr4(status[11]);
rgvProtocol.setErr5(status[12]);
rgvProtocol.setErr6(status[13]);
+ rgvProtocol.setErr7(status[13]);
+ rgvProtocol.setErr8(status[13]);
// System.out.println("璇荤嚎绋�"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));
-
+// System.out.println("璇荤嚎绋�,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis()+"灏忚溅鏁版嵁锛�"+JSON.toJSONString(rgvProtocol));
OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), slave.getId()));
// // 宸ヤ綅1澶嶄綅淇″彿
// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
@@ -1054,9 +1213,8 @@
}
// convertRow(command);
// taskProtocol.setRgvNo(slave.getId());
- Long[] array = new Long[11];
+// Long[] array = new Long[11];
OperateResult result41 = siemensNet.Write("DB100.12.0", false);
-
// array[0] = taskProtocol.getAckFinish1();
// array[1] = taskProtocol.getTaskNo();
// array[2] = taskProtocol.getTaskMode();
@@ -1068,8 +1226,13 @@
OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);
OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());
OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+ Thread.sleep(20L);
OperateResult result4 = siemensNet.Write("DB100.12.0", true);
+ this.wrkSign = 1;
+
+// log.info("浠诲姟涓嬪彂绾跨▼,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
+
// if (taskProtocol.getAckFinish1() == 0) {
// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
// Thread.sleep(100L);
@@ -1097,6 +1260,7 @@
} catch (Exception ignore) {
}
+ readStatus();
if (result != null && result.IsSuccess) {
// Thread.sleep(50);
// this.readStatus();
@@ -1125,6 +1289,7 @@
OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);
OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);
OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+ log.info("浠诲姟瀹屾垚涓嬪彂绾跨▼,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
try {
// 鏃ュ織璁板綍
--
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