From 85d0972114327e5a1f515a00895d51dc32a4f2b4 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期五, 16 一月 2026 15:36:02 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 201 ++++++++++++++++++++++---------------------------
1 files changed, 91 insertions(+), 110 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 70700dc..a6a852d 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -65,6 +65,7 @@
private boolean resetFlag2 = false;
private boolean connectRgv = false;
+ private boolean connectRgv2 = false;
public Long currentTimeMilliConnectRgv= 0L;
private boolean delRgvTask = false;
@@ -77,22 +78,7 @@
@Override
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
- initRgv();
- try{
- Thread.sleep(2000);
- } catch (Exception e){
-
- }
- connectRgv = this.connect();
- while(!connectRgv){
- try {
- connectRgv = this.connect();
- Thread.sleep(100);
- } catch (Exception e){
-
- }
- }
-
+// initRgv();
// 鍚姩绾跨▼鑷姩閲嶈繛
new Thread(this::rgvConnect).start();
@@ -123,10 +109,12 @@
}
}
} catch (Exception e) {
+ connectRgv = false;
+ connectRgv2 = false;
log.error("rgv杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "rgv杩炴帴澶辫触"+e.getMessage());
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "rgv杩炴帴澶辫触"+e.getMessage());
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -140,8 +128,9 @@
while (true) {
try {
if(!connectRgv){
+ connectRgv2 = false;
try {
- Thread.sleep(1000L);
+ Thread.sleep(20L);
} catch (Exception e){
}
@@ -152,12 +141,15 @@
// System.out.println("璇荤嚎绋�,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
readStatus();
+ connectRgv2 = connectRgv;
} catch (Exception e) {
+ connectRgv = false;
+ connectRgv2 = false;
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());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鏁版嵁璇诲彇绾跨▼寮傚父"+e.getMessage());
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV鏁版嵁璇诲彇绾跨▼寮傚父"+e.getMessage());
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -188,7 +180,7 @@
delRgvTask = false;
continue;
}
- Thread.sleep(50L);
+ Thread.sleep(100L);
OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
@@ -197,14 +189,16 @@
OperateResult result4 = siemensNet.Write("DB100.12.0", false);
}
} catch (Exception e) {
+ connectRgv = false;
+ connectRgv2 = false;
log.error("RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父"+e.getMessage());
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父"+e.getMessage());
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
- initRgv();
+ initRgv2();
// e.printStackTrace();
}
@@ -213,75 +207,12 @@
}
/**
- * 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 {
-// TaskProtocol issued = new TaskProtocol(taskProtocol,true);
-// write(issued);
-// taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
-// break;
-// }
-// }
-// }
-// } catch (Exception e) {
-// log.error("RGV浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
-// try{
-// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
-// deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
-// } catch (Exception e2){
-// log.error("e2:"+e2.getMessage());
-// }
-//// e.printStackTrace();
-// }
-// }
-// }
-
- /**
* 婕父
*/
private void taskWalkIssued() {
while (true) {
try {
- if(!connectRgv){
+ if(!connectRgv2){
try {
Thread.sleep(1000L);
} catch (Exception e){
@@ -289,7 +220,7 @@
}
continue;
}
- // 浼戠湢 1 绉�
+ // 浼戠湢 0.1 绉�
Thread.sleep(100);
if (!deviceDetection()) {
@@ -297,7 +228,7 @@
}
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
if (rgvTaskProtocol == null) {
- initRgv();
+ initRgv2();
rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
}
if (rgvTaskProtocol.getAvoid() != 1) {
@@ -315,6 +246,8 @@
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
} catch (Exception e) {
+ connectRgv = false;
+ connectRgv2 = false;
log.error("RGV琛岃蛋浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
// e.printStackTrace();
}
@@ -326,7 +259,7 @@
*/
private void taskIssued() {
while (true) {
- if(!connectRgv){
+ if(!connectRgv2){
try {
Thread.sleep(1000L);
} catch (Exception e){
@@ -339,12 +272,12 @@
continue;
}
try {
- Thread.sleep(100);
+ Thread.sleep(200);
rgvRun = RgvRunCache.getRgvRun();
// System.out.println(JSON.toJSON(rgvRun));
// 浼戠湢 1 绉�
- if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500) {
+ if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500L) {
rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
} else {
continue;
@@ -362,7 +295,7 @@
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
if (rgvProtocol == null || rgvTaskProtocol == null) {
- initRgv();
+ initRgv2();
rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
}
@@ -472,10 +405,12 @@
rgvRun.setRgvNo(slave.getOtherId());
RgvRunCache.updateRgvStatus(rgvRun);
} catch (Exception e) {
+ connectRgv = false;
+ connectRgv2 = false;
log.error("RGV浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -608,7 +543,7 @@
errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -700,7 +635,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -728,7 +663,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -757,7 +692,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -814,7 +749,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -907,7 +842,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -935,7 +870,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -965,7 +900,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -1027,12 +962,47 @@
log.error("RGV寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV寮傚父"+e.getMessage());
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV寮傚父"+e.getMessage());
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
rgvProtocol.setStatusEnable(true);
}
+
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ rgvTaskProtocol = new RgvTaskProtocol();
+ rgvTaskProtocol.setRgvNo(slave.getId());
+ }
+ rgvTaskProtocol.setAvoid(0);
+ rgvTaskProtocol.setAvoidingTheDestination(0L);
+
+ RgvStatusCache.updateRgvStatus(rgvProtocol);
+
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+
+ }
+
+ /**
+ * 鍒濆鍖朢GV鐘舵��
+ */
+ private void initRgv2() {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ if (rgvProtocol == null) {
+ rgvProtocol = new RgvProtocol();
+ rgvProtocol.setRgvNo(slave.getId());
+ }
+ rgvProtocol.setMode((short) -1);
+ rgvProtocol.setStatus((short) -1);
+ rgvProtocol.setWalkPos((short) 0);
+ rgvProtocol.setRgvPos(0L);
+ rgvProtocol.setAlarm((short) 0);
+ rgvProtocol.setxSpeed((short) 0);
+ rgvProtocol.setxDistance((short) 0);
+ rgvProtocol.setxDuration((short) 0);
+ rgvProtocol.setCarBodyJiaoMing(0L);
+ rgvProtocol.setCarBodyKunPeng(0L);
+ rgvProtocol.setStatusEnable(true);
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
if (rgvTaskProtocol == null) {
@@ -1066,7 +1036,7 @@
if (System.currentTimeMillis()-currentTimeMilliConnectRgv>1000*60*10){
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc杩炴帴澶辫触");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGVplc杩炴帴澶辫触");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -1077,7 +1047,7 @@
}
}
}
- initRgv();
+ initRgv2();
// siemensNet.ConnectClose();
return result;
}
@@ -1170,7 +1140,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV plc鏁版嵁搴撴洿鏂板け璐�");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV plc鏁版嵁搴撴洿鏂板け璐�");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -1184,26 +1154,29 @@
RgvStatusCache.updateRgvStatus(rgvProtocol);
} else {
- initRgv();
connectRgv = false;
+ connectRgv2 = false;
+ initRgv();
// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
}
} catch (Exception e) {
+ connectRgv = false;
+ connectRgv2 = false;
// e.printStackTrace();
// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -1220,7 +1193,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鍐欏叆鍛戒护涓虹┖");
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV鍐欏叆鍛戒护涓虹┖");
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -1284,7 +1257,7 @@
try{
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
- deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV 鍛戒护涓嬪彂"+JSON.toJSON(taskProtocol));
+ deviceErrorService.addDeviceError("rgvWrite", slave.getId(), "RGV 鍛戒护涓嬪彂"+JSON.toJSON(taskProtocol));
} catch (Exception e2){
// log.error("e2:"+e2.getMessage());
}
@@ -1341,6 +1314,14 @@
}
+ /**
+ * 娓呴櫎浣滀笟鍚姩涓�
+ */
+ @Override
+ public void setWrkSign() {
+ this.wrkSign = 0;
+ }
+
public void setDelRgvTask() {
delRgvTask = true;
}
--
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