From 75bd6db4408e4e7dd40e0ebcc7f6afa074dffbe6 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期六, 12 七月 2025 15:25:14 +0800
Subject: [PATCH] *

---
 src/main/java/com/zy/core/thread/RgvThread.java |  119 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 files changed, 116 insertions(+), 3 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 85d4e40..6f98c45 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -47,6 +47,7 @@
      * 宸ヤ綅2澶嶄綅淇″彿
      */
     private boolean resetFlag2 = false;
+    private boolean connectRgv = false;
 
     public RgvThread(RgvSlave slave) {
         this.slave = slave;
@@ -55,9 +56,52 @@
     @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();
+
+
         while (true) {
             try {
+
+                Thread.sleep(500);
+            } catch (Exception e) {
+//                e.printStackTrace();
+            }
+
+        }
+    }
+
+
+    /**
+     * 浠诲姟涓嬪彂
+     */
+    private void taskIssued() {
+        while (true) {
+            try {
+                if(!connectRgv){
+                    try {
+                        Thread.sleep(1000L);
+                    } catch (Exception e){
+
+                    }
+                    continue;
+                }
                 int step = 1;
                 Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                 if (task != null) {
@@ -66,7 +110,7 @@
                 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:
@@ -100,6 +144,26 @@
                         command.setCommand((short)0);
                         write(command);
                         break;
+                    // 澶嶄綅
+                    case 8:
+                        RgvCommand command4 = (RgvCommand) task.getData();
+                        if (null == command4) {
+                            command4 = new RgvCommand();
+                        }
+                        command4.setRgvNo(slave.getId()); // RGV缂栧彿
+//                        command4.setTaskNo1((short) command4); // 宸ヤ綔鍙�
+                        command4.setAckFinish1((short) 1);  // 浠诲姟瀹屾垚纭浣�
+                        command4.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+                        command4.setSourceStaNo1((short)0);     // 婧愮珯
+                        command4.setDestinationStaNo1((short)0);     // 鐩爣绔�
+                        command4.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+                        command4.setAckFinish2((short) 1);  // 浠诲姟瀹屾垚纭浣�
+                        command4.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+                        command4.setSourceStaNo2((short)0);     // 婧愮珯
+                        command4.setDestinationStaNo2((short)0);     // 鐩爣绔�
+                        command4.setCommand((short)0);
+                        write(command4);
+                        break;
                     // 鍥炲師鐐�  閬胯
                     case 9:
                         RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
@@ -123,12 +187,60 @@
                     default:
                         break;
                 }
-                Thread.sleep(500);
+                Thread.sleep(100);
             } catch (Exception e) {
+                log.error("RGV鍐欑嚎绋嬪紓甯�"+e.getMessage());
 //                e.printStackTrace();
             }
 
         }
+    }
+
+    private void rgvConnect() {
+        while (true) {
+            try {
+                Thread.sleep(1000L);
+                if(!connectRgv){
+                    try {
+                        connectRgv = this.connect();
+                        Thread.sleep(100L);
+                    } 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 {
+                if(!connectRgv){
+                    try {
+                        Thread.sleep(1000L);
+                    } catch (Exception e){
+
+                    }
+                    continue;
+                }
+                Thread.sleep(40);
+                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();
+            }
+
+        }
+
     }
 
     /**
@@ -238,6 +350,7 @@
                     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());
                     }

--
Gitblit v1.9.1