From 2aaf47ead1a69ccbaf6a0167ae161aafd3622114 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 27 十一月 2025 08:14:35 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/impl/ZyRgvThread.java |   51 ++++++++++++++++++++++++++++++++++++++++-----------
 1 files changed, 40 insertions(+), 11 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java b/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
index 130e0bc..6ce7e22 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
@@ -3,13 +3,18 @@
 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.BasRgv;
 import com.zy.asrs.entity.DeviceConfig;
 import com.zy.asrs.entity.DeviceDataLog;
+import com.zy.asrs.service.BasRgvService;
 import com.zy.common.utils.RedisUtil;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.OutputQueue;
 import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.RgvTaskModeType;
 import com.zy.core.enums.SlaveType;
 import com.zy.core.model.CommandResponse;
 import com.zy.core.model.Task;
@@ -28,6 +33,7 @@
 @Data
 @Slf4j
 public class ZyRgvThread implements Runnable, RgvThread {
+
     private DeviceConfig deviceConfig;
     private RedisUtil redisUtil;
     private ZyRgvConnectDriver zyRgvConnectDriver;
@@ -72,7 +78,7 @@
             rgvProtocol = new RgvProtocol();
             rgvProtocol.setRgvNo(deviceConfig.getDeviceNo());
         }
-        rgvProtocol.setMode(-1);
+        rgvProtocol.setMode(0);
         rgvProtocol.setTaskNo(0);
         rgvProtocol.setStatus(-1);
         rgvProtocol.setRgvPos(0);
@@ -82,8 +88,7 @@
 
     @Override
     public boolean connect() {
-        SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
-        zyRgvConnectDriver = new ZyRgvConnectDriver(siemensS7Net, deviceConfig);
+        zyRgvConnectDriver = new ZyRgvConnectDriver(deviceConfig);
         new Thread(zyRgvConnectDriver).start();
         DeviceConnectPool.put(SlaveType.Rgv, deviceConfig.getDeviceNo(), zyRgvConnectDriver);
         return true;
@@ -122,6 +127,18 @@
             redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
             rgvProtocol.setDeviceDataLog(System.currentTimeMillis());
         }
+
+        BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+        if (basRgvService != null) {
+            BasRgv basRgv = basRgvService.selectOne(new EntityWrapper<BasRgv>().eq("rgv_no", deviceConfig.getDeviceNo()));
+            if(basRgv == null) {
+                basRgv = new BasRgv();
+                basRgv.setRgvNo(deviceConfig.getDeviceNo());
+                basRgv.setStatus(1);
+                basRgv.setCreateTime(new Date());
+                basRgvService.insert(basRgv);
+            }
+        }
     }
 
     @Override
@@ -135,13 +152,25 @@
     }
 
     @Override
+    public RgvCommand getTransportCommand(Integer taskNo, Integer rgvNo, Integer sourcePos, Integer targetPos) {
+        RgvCommand cmd = new RgvCommand();
+        cmd.setRgvNo(rgvNo);
+        cmd.setTaskNo(taskNo);
+        cmd.setTaskMode(RgvTaskModeType.FETCH_PUT.id);
+        cmd.setSourcePos(sourcePos);
+        cmd.setTargetPos(targetPos);
+        cmd.setCommand(1);
+        return cmd;
+    }
+
+    @Override
     public RgvCommand getMoveCommand(Integer taskNo, Integer rgvNo, Integer targetPos) {
         RgvCommand cmd = new RgvCommand();
         cmd.setRgvNo(rgvNo);
-        cmd.setTaskNo(taskNo.shortValue());
-        cmd.setTaskMode((short) 1);
-        cmd.setTargetPos(targetPos.shortValue());
-        cmd.setCommand((short) 1);
+        cmd.setTaskNo(taskNo);
+        cmd.setTaskMode(RgvTaskModeType.X_MOVE.id);
+        cmd.setTargetPos(targetPos);
+        cmd.setCommand(1);
         return cmd;
     }
 
@@ -149,10 +178,10 @@
     public RgvCommand getResetCommand(Integer rgvNo) {
         RgvCommand cmd = new RgvCommand();
         cmd.setRgvNo(rgvNo);
-        cmd.setTaskNo((short) 0);
-        cmd.setAckFinish((short) 1);
-        cmd.setTaskMode((short) 0);
-        cmd.setCommand((short) 1);
+        cmd.setTaskNo(0);
+        cmd.setAckFinish(1);
+        cmd.setTaskMode(0);
+        cmd.setCommand(1);
         return cmd;
     }
 

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