From 880794f63e27b64ae03c40afc55a34928d090d57 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期三, 28 五月 2025 10:08:18 +0800
Subject: [PATCH] #ZH
---
src/main/java/com/zy/core/thread/RgvThread.java | 510 +++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 353 insertions(+), 157 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index c040606..b755b34 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -25,10 +25,7 @@
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
-import com.zy.core.model.protocol.RgvProtocol;
-import com.zy.core.model.protocol.RgvTaskProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import com.zy.core.model.protocol.TaskProtocol;
+import com.zy.core.model.protocol.*;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
@@ -56,6 +53,7 @@
private Long trackBenchmark = 1L;
// # 閬胯璺濈
private Long avoidDistance = 5000L;
+ private String errorRgv = "-";
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -120,7 +118,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "rgv杩炴帴澶辫触"+e.getMessage());
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
initRgv();
// e.printStackTrace();
@@ -132,6 +130,7 @@
while (true) {
try {
Thread.sleep(20);
+// System.out.println("璇荤嚎绋�"+ slave.getId());
readStatus();
@@ -141,7 +140,7 @@
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());
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
initRgv();
// e.printStackTrace();
@@ -174,7 +173,7 @@
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());
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
initRgv();
// e.printStackTrace();
@@ -187,115 +186,132 @@
/**
* 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();
- }
- }
- }
+// 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 {
- // 浼戠湢 1 绉�
- Thread.sleep(100);
-
- if (!deviceDetection()) {
- continue;
- }
- RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
- if (rgvTaskProtocol == null) {
- initRgv();
- rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
- }
- if (rgvTaskProtocol.getAvoid() != 1) {
- continue;
- }
- TaskProtocol issued = new TaskProtocol();
- issued.setTaskNo(32222L);
- issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
- issued.setTaskStatus(1);
- issued.setDirection(true);
- write(issued);
- rgvTaskProtocol.setAvoid(0);
-
- Thread.sleep(200);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
-
- } catch (Exception e) {
- 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();
- }
- }
- }
+// private void taskWalkIssued() {
+// while (true) {
+// try {
+// // 浼戠湢 1 绉�
+// Thread.sleep(100);
+//
+// if (!deviceDetection()) {
+// continue;
+// }
+// RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+// if (rgvTaskProtocol == null) {
+// initRgv();
+// rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+// }
+// if (rgvTaskProtocol.getAvoid() != 1) {
+// continue;
+// }
+// TaskProtocol issued = new TaskProtocol();
+// issued.setTaskNo(32222L);
+// issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+// issued.setTaskStatus(1);
+// issued.setDirection(true);
+// write(issued);
+// rgvTaskProtocol.setAvoid(0);
+//
+// Thread.sleep(200);
+// RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+//
+// } catch (Exception e) {
+// 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();
+// }
+// }
+// }
/**
* 浠诲姟涓嬪彂
*/
private void taskIssued() {
while (true) {
+ RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
+ if (!rgvRun.getRgvNo().equals(slave.getId())){
+ continue;
+ }
try {
+ Thread.sleep(50);
+ rgvRun = RgvRunCache.getRgvRun();
+// System.out.println(JSON.toJSON(rgvRun));
+
// 浼戠湢 1 绉�
- Thread.sleep(100);
- if (!deviceDetection()) {
+ if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 1000) {
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ } else {
continue;
}
+ if (!deviceDetection()) {
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
+ continue;
+ }
+
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
if (rgvProtocol == null || rgvTaskProtocol == null) {
@@ -303,10 +319,17 @@
rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
}
- if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
+ if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
continue;
}
if (rgvProtocol.getLoaded() == -1){
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅鎺㈢墿鐗╃姸鎬佸紓甯�");
continue;
}
if (rgvTaskProtocol.getAvoid() != 0) {
@@ -317,11 +340,16 @@
issued.setTaskStatus(1);
issued.setDirection(true);
write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
rgvTaskProtocol.setAvoid(0);
- Thread.sleep(200);
+// try{Thread.sleep(50L);} catch (Exception e){}
+
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
}
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
continue;
}
@@ -334,45 +362,34 @@
if (rgvOtherStatusEnable()) {
//鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
- continue;
+ RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
+ break;
}
}
if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
&& taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ RgvErrCache.updateRgvErr(slave.getId());
break;
} else {
TaskProtocol issued = new TaskProtocol(taskProtocol,true);
write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
break;
}
}
}
+ RgvErrCache.updateRgvErr(slave.getId());
} else {
for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
if (taskProtocol.getIsRunning() == 1) {//鍑嗗涓嬪彂
-// RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
- if (taskProtocol.getTaskStatus()==3){
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
- if (staProtocol == null ) {
- continue;
- }
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (!staProtocol.isAutoing() || staProtocol.isLoading()
- || staProtocol.getWorkNo() != 0
- ){
- Thread.sleep(500);
-// System.out.println("<鏀捐揣鐩爣绔�>" + taskProtocol.getTargetPositionStaNo() + "<闈炶嚜鍔ㄦ垨鑰呮湁鐗╂垨鑰呭瓨鍦ㄥ伐浣滃彿锛侊紒锛�>");
-// continue;
- }
- }
//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;
+ RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
+ break;
}
}
if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
@@ -381,51 +398,66 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
if (staProtocol == null ) {
- continue;
+ RgvErrCache.updateRgvErr(slave.getId(),"鏈煡鍒板皬杞︿綔涓氱珯"+staProtocol.getStaNo()+"绔欑偣");
+ break;
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (!staProtocol.isAutoing() || staProtocol.isLoading()
- || staProtocol.getWorkNo() != 0
){
- Thread.sleep(500);
-// System.out.println("<鏀捐揣鐩爣绔�>" + taskProtocol.getTargetPositionStaNo() + "<闈炶嚜鍔ㄦ垨鑰呮湁鐗╂垨鑰呭瓨鍦ㄥ伐浣滃彿锛侊紒锛�>");
- continue;
+ RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅绛夊緟"+staProtocol.getStaNo()+"绔欑偣灏辩华");
+ break;
+ }
+ } else if (taskProtocol.getTaskStatus()==2){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ RgvErrCache.updateRgvErr(slave.getId(),"鏈煡鍒板皬杞︿綔涓氱珯"+staProtocol.getStaNo()+"绔欑偣");
+ break;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo()==0
+ ){
+ RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅绛夊緟"+staProtocol.getStaNo()+"绔欑偣灏辩华");
+ break;
}
}
TaskProtocol issued = new TaskProtocol(taskProtocol);
write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
break;
} else {
TaskProtocol issued = new TaskProtocol(taskProtocol,true);
write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
break;
}
}
}
}
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
} 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());
+// log.error("e2:"+e2.getMessage());
}
+ rgvRun = RgvRunCache.getRgvRun();
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ continue;
// e.printStackTrace();
}
}
}
-
- public boolean deviceDetection() {
- RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ public boolean isSignRgvTaskProtocol() {
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
-
- if (rgvProtocol == null || rgvTaskProtocol == null) {
- return false;
- }
- if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ if (rgvTaskProtocol == null) {
return false;
}
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -435,7 +467,52 @@
return false;
}
if (rgvProtocolOther.statusEnable) {
+ if (rgvTaskProtocolOther == null) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+
+ public boolean deviceDetection() {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹁繛鎺ュけ璐�";
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹂潪鑷姩";
+ return false;
+ }
+ if (rgvProtocol.getRgvPos().equals(0L)
+ || rgvTaskProtocol.getAvoid() == -1
+ || rgvProtocol.getRgvPosDestination() == 0L) {
+ errorRgv = slave.getId()+"鍙峰皬杞︾姸鎬佸紓甯�";
+ return false;
+ }
+ if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹂潪绌洪棽";
+ return false;
+ }
+ if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹀瓨鍦ㄨ繍琛岀洰鏍囧�硷紝闇�瑕佸浣嶏紒锛侊紒";
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+// System.out.println("rgvTaskProtocol:"+slave.getId()+"sign:"+rgvTaskProtocol.isSignRun()+"/n"+
+// "rgvTaskProtocolOther:"+slave.getOtherId()+"sign:"+rgvTaskProtocolOther.isSignRun()+"/n");
+
+ if (rgvProtocolOther == null) {
+ errorRgv = slave.getOtherId()+"鍙峰皬杞﹁繛鎺ュけ璐�";
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ errorRgv = slave.getOtherId()+"鍙峰皬杞︾姸鎬佸紓甯�";
return false;
}
}
@@ -464,21 +541,71 @@
Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);
if (new TrackRangeUtils().IsItSmall(slave)) {
-
- if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) {
if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
> avoidDistance - 50) {//鏃犻渶閬胯
return true;
} else {
+
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
+ TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
+ if (!Cools.isEmpty(nowPosRunTask)){
+ boolean signNowPosRun = true;
+ if (nowPosRunTask.getTaskStatus()==3){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ ){
+ if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
+ if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
+ long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
+ rgvTaskProtocol.setAvoid(1);
+ rgvTaskProtocol.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ }
+ return false;
+ }
+ signNowPosRun =false;
+ }
+ }
+ }
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -500,11 +627,13 @@
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -527,11 +656,13 @@
long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -544,6 +675,8 @@
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
return false;
}
+ errorRgv = slave.getOtherId()+"鍙稲GV褰卞搷锛岀瓑寰呬腑...";
+
return false;
}
} else {
@@ -554,20 +687,71 @@
}
}
} else {
- if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
> avoidDistance - 50) {//鏃犻渶閬胯
return true;
} else {
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
+ TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
+ if (!Cools.isEmpty(nowPosRunTask)){
+ boolean signNowPosRun = true;
+ if (nowPosRunTask.getTaskStatus()==3){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ ){
+ if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
+ if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
+ long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
+ return false;
+ }
+ rgvTaskProtocol.setAvoid(1);
+ rgvTaskProtocol.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ }
+ return false;
+ }
+ signNowPosRun =false;
+ }
+ }
+ }
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -589,11 +773,13 @@
long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -617,11 +803,13 @@
long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ 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");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -634,6 +822,7 @@
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
return false;
}
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟涓�...";
return false;
}
} else {
@@ -644,6 +833,8 @@
}
}
}
+
+ errorRgv = slave.getOtherId()+"鍙稲GV褰卞搷锛岀瓑寰呬腑...";
return false;
}
@@ -680,7 +871,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV寮傚父"+e.getMessage());
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
rgvProtocol.setStatusEnable(true);
}
@@ -718,7 +909,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc杩炴帴澶辫触");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
}
initRgv();
@@ -747,6 +938,7 @@
if (rgvProtocol.getRgvPosDestination()==0L){
rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos());
}
+
rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));
rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));
@@ -766,6 +958,7 @@
rgvProtocol.setErr4(status[11]);
rgvProtocol.setErr5(status[12]);
rgvProtocol.setErr6(status[13]);
+// System.out.println("璇荤嚎绋�"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));
OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), slave.getId()));
// // 宸ヤ綅1澶嶄綅淇″彿
@@ -779,6 +972,9 @@
// }
// }
// }
+ if (rgvProtocol.getAlarm$()!=0){
+ RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());
+ }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -799,7 +995,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV plc鏁版嵁搴撴洿鏂板け璐�");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
}
} catch (Exception ignore) {
@@ -820,7 +1016,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
}
} catch (Exception e) {
@@ -832,7 +1028,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
initRgv();
}
@@ -849,7 +1045,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV鍐欏叆鍛戒护涓虹┖");
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
return false;
}
@@ -899,8 +1095,8 @@
}
if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
+// Thread.sleep(50);
+// this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
log.error("RGV 鍛戒护涓嬪彂 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
@@ -908,7 +1104,7 @@
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV 鍛戒护涓嬪彂"+JSON.toJSON(taskProtocol));
} catch (Exception e2){
- log.error("e2:"+e2.getMessage());
+// log.error("e2:"+e2.getMessage());
}
OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
return true;
@@ -949,8 +1145,8 @@
}
if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
+// Thread.sleep(200);
+// this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null")));
return true;
--
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