From 7133241a7ad244824dcb2fd4afb560e9214bfbad Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 29 五月 2025 16:27:44 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/core/thread/RgvThread.java |  109 +++++++++++++++++++++++++++++++++++++++++++++---------
 1 files changed, 90 insertions(+), 19 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index ba75be7..f40cf84 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -43,6 +43,8 @@
      * 宸ヤ綅1澶嶄綅淇″彿
      */
     private boolean resetFlag1 = false;
+    private boolean connectRgv = false;
+
     /**
      * 宸ヤ綅2澶嶄綅淇″彿
      */
@@ -55,7 +57,70 @@
     @Override
     @SuppressWarnings("InfiniteLoopStatement")
     public void run() {
-        this.connect();
+        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();
+
+        // 鍚姩璇绘暟鎹嚎绋�
+        new Thread(this::readStatusRgv).start();
+
+        // 鍚姩浠诲姟涓嬪彂绾跨▼
+        new Thread(this::taskIssued).start();
+    }
+
+    private void rgvConnect() {
+        while (true) {
+            try {
+                Thread.sleep(1000);
+                if(!connectRgv){
+                    try {
+                        connectRgv = this.connect();
+                        Thread.sleep(100);
+                    } catch (Exception e){
+
+                    }
+                }
+            } catch (Exception e) {
+
+                log.error("rgv杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                initRgv();
+//                e.printStackTrace();
+            }
+        }
+    }
+
+    private void readStatusRgv() {
+        while (true) {
+            try {
+                Thread.sleep(50);
+                readStatus();
+
+            } catch (Exception e) {
+                log.error("RGV璇荤嚎绋嬪紓甯�"+e.getMessage());
+
+                log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+                initRgv();
+//                e.printStackTrace();
+            }
+
+        }
+
+    }
+
+
+    /**
+     * 浠诲姟涓嬪彂
+     */
+    private void taskIssued() {
         while (true) {
             try {
                 int step = 1;
@@ -66,7 +131,7 @@
                 switch (step) {
                     // 璇绘暟鎹�
                     case 1:
-                        readStatus();
+//                        readStatus();
                         break;
                     // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
                     case 2:
@@ -123,8 +188,10 @@
                     default:
                         break;
                 }
-                Thread.sleep(500);
+                Thread.sleep(200);
             } catch (Exception e) {
+                log.error("RGV鍐欑嚎绋嬪紓甯�"+e.getMessage());
+
 //                e.printStackTrace();
             }
 
@@ -135,23 +202,27 @@
      * 鍒濆鍖朢GV鐘舵��
      */
     private void initRgv() {
-        if (null == rgvProtocol) {
-            rgvProtocol = new RgvProtocol();
+        try{
+            if (null == rgvProtocol) {
+                rgvProtocol = new RgvProtocol();
+            }
+            rgvProtocol.setMode((short) -1);
+            rgvProtocol.setStatus((short)-1);
+            rgvProtocol.setTaskNo1((short)0);
+            rgvProtocol.setStatus1((short)-1);
+            rgvProtocol.setLoaded1((short)0);
+            rgvProtocol.setWalkPos((short)0);
+            rgvProtocol.setRgvPos((short)0);
+            rgvProtocol.setTaskNo2((short)0);
+            rgvProtocol.setStatus2((short)-1);
+            rgvProtocol.setLoaded2((short)0);
+            rgvProtocol.setAlarm((short)0);
+            rgvProtocol.setxSpeed((short) 0);
+            rgvProtocol.setxDistance((short) 0);
+            rgvProtocol.setxDuration((short) 0);
+        }catch (Exception e){
+            log.error("鍒濆鍖朢GV澶辫触"+e.getMessage());
         }
-        rgvProtocol.setMode((short) -1);
-        rgvProtocol.setStatus((short)-1);
-        rgvProtocol.setTaskNo1((short)0);
-        rgvProtocol.setStatus1((short)-1);
-        rgvProtocol.setLoaded1((short)0);
-        rgvProtocol.setWalkPos((short)0);
-        rgvProtocol.setRgvPos((short)0);
-        rgvProtocol.setTaskNo2((short)0);
-        rgvProtocol.setStatus2((short)-1);
-        rgvProtocol.setLoaded2((short)0);
-        rgvProtocol.setAlarm((short)0);
-        rgvProtocol.setxSpeed((short) 0);
-        rgvProtocol.setxDistance((short) 0);
-        rgvProtocol.setxDuration((short) 0);
     }
 
     @Override

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