From 2cf9b53834bf61455fffd322b0201b3d0080577a Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期六, 10 五月 2025 17:06:49 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 99 +++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 87 insertions(+), 12 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 0258e1d..1e6df7b 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,11 +48,11 @@
// private RgvProtocol rgvProtocol;
private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
// # 杞ㄩ亾鎬婚暱
- private Long trackEntireLength = 100L;
+ private Long trackEntireLength = 215000L;
//# 杞ㄩ亾鍩哄噯鐐�
- private Long trackBenchmark = 100L;
+ private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 100L;
+ private Long avoidDistance = 4000L;
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -81,6 +81,7 @@
// 鍚姩婕父绾跨▼
new Thread(this::taskWalkIssued).start();
+ new Thread(this::taskWalkIssued2).start();
// 鍚姩浠诲姟瀹屾垚绾跨▼
new Thread(this::taskComplete).start();
@@ -114,7 +115,7 @@
OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
if (status[0]){
- OperateResult result4 = siemensNet.Write("DB100.12.0", true);
+ OperateResult result4 = siemensNet.Write("DB100.12.0", false);
}
} catch (Exception e) {
log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
@@ -124,6 +125,64 @@
}
+ }
+
+ /**
+ * 浠诲姟涓嬪彂
+ */
+ private void taskWalkIssued2() {
+ while (true) {
+ try {
+ // 浼戠湢 1 绉�
+ Thread.sleep(100);
+ if (!deviceDetection()) {
+ continue;
+ }
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ initRgv();
+ rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ }
+ if (rgvTaskProtocol.getAvoid() != 0) {
+ continue;
+ }
+ if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
+ continue;
+ }
+ if (rgvProtocol.getLoaded() == -1){
+ continue;
+ }
+
+ List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol();
+ for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
+ if (taskProtocol.getIsRunning() == 1) {//鍑嗗涓嬪彂
+ // 鍙岃溅
+ if (rgvOtherStatusEnable()) {
+ //鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
+ if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
+ continue;
+ }
+ }
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ Thread.sleep(100);
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ }
+ }
+ }
+ } catch (Exception e) {
+ log.error("RGV鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+// e.printStackTrace();
+ }
+ }
}
/**
@@ -149,6 +208,8 @@
TaskProtocol issued = new TaskProtocol();
issued.setTaskNo(32222L);
issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+ issued.setTaskStatus(1);
+ issued.setDirection(true);
write(issued);
rgvTaskProtocol.setAvoid(0);
@@ -186,11 +247,14 @@
if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
continue;
}
+ if (rgvProtocol.getLoaded() == -1){
+ continue;
+ }
List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
if (taskProtocol.getIsRunning() == 1) {//鍑嗗涓嬪彂
- RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+// RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//鍙岃溅
if (rgvOtherStatusEnable()) {
//鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
@@ -198,12 +262,19 @@
continue;
}
}
- Thread.sleep(100);
- TaskProtocol issued = new TaskProtocol(taskProtocol);
- write(issued);
- taskProtocol.setIsRunning(4);
- taskProtocolCache.updateTaskProtocol(taskProtocol);
- break;
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+ Thread.sleep(100);
+ TaskProtocol issued = new TaskProtocol(taskProtocol);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ Thread.sleep(100);
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ break;
+ }
}
}
} catch (Exception e) {
@@ -449,8 +520,10 @@
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
}
+ rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
+ rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
@@ -531,6 +604,8 @@
// convertRow(command);
// taskProtocol.setRgvNo(slave.getId());
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();
--
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