From 209626ba2b4797f7d1c003a2876026ffcd39928a Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 24 十月 2025 16:56:35 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 66 +++++++++++++++-----------------
1 files changed, 31 insertions(+), 35 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index dddf6a7..ce27b3f 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,14 +5,18 @@
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;
+import com.zy.asrs.utils.NumUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -62,14 +66,6 @@
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
connectRgv = this.connect();
- while(!connectRgv){
- try {
- connectRgv = this.connect();
- Thread.sleep(100);
- } catch (Exception e){
-
- }
- }
// 鍚姩绾跨▼鑷姩閲嶈繛
new Thread(this::rgvConnect).start();
@@ -158,6 +154,16 @@
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.getStatus() != 0){
+ continue;
+ }
+ } catch (Exception ignore) {
+
+ }
+ try {
connectRgv = this.connect();
Thread.sleep(100);
} catch (Exception e){
@@ -222,31 +228,20 @@
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() {
@@ -295,7 +290,7 @@
rgvProtocol.setRgvPos((long)poi);
rgvProtocol.setRgvPosInt(poi);
}
- System.out.println(rgvProtocol.getRgvNo()+"鍙峰皬杞﹁鍙栧畾浣嶅�硷細"+poi);
+ log.info(rgvProtocol.getRgvNo()+"鍙峰皬杞﹁鍙栧畾浣嶅�硷細"+poi);
rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);
@@ -310,7 +305,7 @@
alarmChangeSign = new HashSet<>(alarmList).equals(new HashSet<>(rgvProtocol.getAlarmList()));
rgvProtocol.setAlarmList(alarmList);
-// rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
+// rgvProtocol.setRgvPos((long) NumUtils.GetRandomIntInRange(1737000));
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()));
@@ -357,7 +352,8 @@
private void rgvOpt(RgvCommand command) {
try{
BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
+ 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());
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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