From 1dacf2305187f5c2fb44f03b6b754c46cb73ba25 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期四, 19 三月 2026 08:53:59 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 88 +++++++++++++++++++++----------------------
1 files changed, 43 insertions(+), 45 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index a7ef7c1..313db76 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,11 +5,14 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasCircularShuttle;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.entity.BasRgvOpt;
+import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasRgvErrLogService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
@@ -52,9 +55,8 @@
* 宸ヤ綅2澶嶄綅淇″彿
*/
private boolean resetFlag2 = false;
- private boolean connectRgv = false;
+ private volatile boolean connectRgv = false;
private boolean alarmChangeSign = false;
- private int rgvIII = 1;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -63,16 +65,8 @@
@Override
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
- rgvIII = this.slave.getId();
- connectRgv = this.connect();
- while(!connectRgv){
- try {
- connectRgv = this.connect();
- Thread.sleep(100);
- } catch (Exception e){
-
- }
- }
+ // 绾跨▼鍚姩鍗崇粰鍗忚浣撳畬鏁撮粯璁ゅ��
+ initRgv();
// 鍚姩绾跨▼鑷姩閲嶈繛
new Thread(this::rgvConnect).start();
@@ -161,6 +155,19 @@
Thread.sleep(1000);
if(!connectRgv){
try {
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasCircularShuttleService basCircularShuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", slave.getId()));
+ if (basCircularShuttle == null) {
+ continue;
+ }
+ if (basCircularShuttle.getStatus() != 0){
+ continue;
+ }
+ } catch (Exception ignore) {
+
+ }
+ try {
connectRgv = this.connect();
Thread.sleep(100);
} catch (Exception e){
@@ -222,35 +229,26 @@
rgvProtocol.setStatus2((short)-1);
rgvProtocol.setLoaded2((short)0);
rgvProtocol.setAlarm((short)0);
+ rgvProtocol.setAlarmList(new ArrayList<>());
+ rgvProtocol.setInstantaneousSpeed(0D);
+ rgvProtocol.setEndStaM((short)0);
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
rgvProtocol.setxDuration((short) 0);
log.error("杩炴帴涓柇锛歊GV鍙凤細"+slave.getId());
+ try {
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+ BasRgv basRgv = new BasRgv();
+ basRgv.setRgvNo(slave.getId());
+ basRgv.setRgvSts((int)rgvProtocol.getMode());
+ basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
+ if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
+ log.error("RGV plc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ }
+ } catch (Exception ignore) {
+ }
}
-
-// /**
-// * 鍒濆鍖朢GV鐘舵��
-// */
-// 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() {
@@ -315,12 +313,6 @@
rgvProtocol.setAlarmList(alarmList);
// rgvProtocol.setRgvPos((long) NumUtils.GetRandomIntInRange(1737000));
- rgvProtocol.setRgvPos((long) (10000*rgvIII+rgvProtocol.getRgvNo()*10000));
- if (rgvProtocol.getRgvPos()>1737000){
- rgvIII = rgvProtocol.getRgvNo();
- rgvProtocol.setRgvPos((long) (10000*rgvIII+rgvProtocol.getRgvNo()*10000));
- }
- rgvIII++;
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()));
@@ -367,8 +359,11 @@
private void rgvOpt(RgvCommand command) {
try{
BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosInt(), command);
- log.info(rgvProtocol.getRgvNo()+"鍙峰皬杞﹀啓鍏ュ懡浠ゅ畾浣嶅�硷細"+rgvProtocol.getRgvPosInt());
+ int taskNo = (rgvProtocol == null || rgvProtocol.getTaskNo1() == null) ? 0 : rgvProtocol.getTaskNo1().intValue();
+ int rgvNo = (rgvProtocol == null || rgvProtocol.getRgvNo() == null) ? slave.getId() : rgvProtocol.getRgvNo();
+ int rgvPos = (rgvProtocol == null) ? 0 : rgvProtocol.getRgvPosInt();
+ BasRgvOpt basRgvOpt = new BasRgvOpt(taskNo, rgvNo, rgvPos, command);
+ log.info(rgvNo+"鍙峰皬杞﹀啓鍏ュ懡浠ゅ畾浣嶅�硷細"+rgvPos);
basRgvOptService.insert(basRgvOpt);
}catch (Exception e){
log.error("RGV鍐欏叆鍛戒护淇濆瓨澶辫触锛侊紒");
@@ -377,7 +372,10 @@
private void rgvOpt(Long command) {
try{
BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
+ int taskNo = (rgvProtocol == null || rgvProtocol.getTaskNo1() == null) ? 0 : rgvProtocol.getTaskNo1().intValue();
+ int rgvNo = (rgvProtocol == null || rgvProtocol.getRgvNo() == null) ? slave.getId() : rgvProtocol.getRgvNo();
+ int rgvPos = (rgvProtocol == null) ? 0 : rgvProtocol.getRgvPosI();
+ BasRgvOpt basRgvOpt = new BasRgvOpt(taskNo, rgvNo, rgvPos, command);
basRgvOptService.insert(basRgvOpt);
}catch (Exception e){
log.error("RGV鍐欏叆鍛戒护淇濆瓨澶辫触锛侊紒");
--
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