From 924d0d98c49c324669ba9dc5158b2141416447cc Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期四, 21 八月 2025 16:26:44 +0800
Subject: [PATCH] #rgv同时下发工位1和工位2任务，标记优先级
---
src/main/java/com/zy/core/thread/RgvThread.java | 294 +++++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 216 insertions(+), 78 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 67269ed..4817eb5 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -57,6 +57,8 @@
private boolean PakIn = true;
//鍑哄簱鏍囪
private boolean PakOut = true;
+ //鏍规嵁璺濈璺宠繃鍙栬揣
+ private boolean PakRgv = true;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -78,10 +80,10 @@
case 1:
readStatus();
break;
-// // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
-// case 2:
-// write((RgvCommand) task.getData());
-// break;
+ // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
+ case 2:
+ write12((RgvCommand) task.getData());
+ break;
//宸ヤ綅1鍐欏叆鏁版嵁
case 4:
write1((RgvCommand) task.getData());
@@ -102,6 +104,7 @@
command.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
command.setTargetPosition1( 0); // 婧愮珯
command.setEndStaNo1(0); // 鐩爣绔�
+ command.setWrkTaskPri((short)0);
command.setCommand(false);
write1(command);
break;
@@ -116,8 +119,35 @@
command2.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
command2.setTargetPosition2( 0); // 婧愮珯
command2.setEndStaNo2(0); // 鐩爣绔�
+ command2.setWrkTaskPri((short)0);
command2.setCommand(false);
write2(command2);
+ break;
+ case 7: //宸ヤ綅1鍙栬揣纭
+ RgvCommand command3 = (RgvCommand) task.getData();
+ if (null == command3) {
+ command3 = new RgvCommand();
+ }
+ command3.setRgvNo(slave.getId()); // RGV缂栧彿
+ command3.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
+ command3.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command3.setTargetPosition1( 0); // 婧愮珯
+ command3.setCommand(false);
+ command3.setWrkTaskPri((short)0);
+ write1(command3);
+ break;
+ case 8 :
+ RgvCommand command4 = (RgvCommand) task.getData();
+ if (null == command4) {
+ command4 = new RgvCommand();
+ }
+ command4.setRgvNo(slave.getId()); // RGV缂栧彿
+ command4.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
+ command4.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command4.setTargetPosition2( 0); // 灏忚溅鐩爣绔欐竻闆�
+ command4.setCommand(false);
+ command4.setWrkTaskPri((short)0);
+ write2(command4);
break;
// 鍥炲師鐐� 閬胯
case 9:
@@ -169,6 +199,7 @@
rgvProtocol.setErr5(false);
rgvProtocol.setErr6(false);
rgvProtocol.setErr7(false);
+ rgvProtocol.setWrkTaskPri((short)0);
//宸ヤ綅1鐘舵��
rgvProtocol.setTaskNo1(0);
rgvProtocol.setStatus1((short)-1);
@@ -216,7 +247,7 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 27);
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
@@ -250,6 +281,7 @@
rgvProtocol.setErr5(status3[4]);
rgvProtocol.setErr6(status3[5]);
rgvProtocol.setErr7(status3[6]);
+
// rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
@@ -320,73 +352,179 @@
}
}
-// /**
-// * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
-// */
-// private boolean write(RgvCommand command) throws InterruptedException {
-// if (null == command) {
-// log.error("RGV鍐欏叆鍛戒护涓虹┖");
-// return false;
-// }
-//// convertRow(command);
-// command.setRgvNo(slave.getId());
-// short[] array = new short[11];
-// array[0] = command.getAckFinish1();
-// array[1] = command.getTaskNo1();
-// array[2] = command.getTaskMode1();
-// array[3] = command.getSourceStaNo1();
-// array[4] = command.getDestinationStaNo1();
-//// array[0] = command.getAckFinish1();
-//// array[1] = command.getTaskNo1();
-//// array[2] = command.getTaskMode1();
-//// array[3] = command.getSourceStaNo1();
-//// array[4] = command.getDestinationStaNo1();
-//// array[5] = command.getAckFinish2();
-//// array[6] = command.getTaskNo2();
-//// array[7] = command.getTaskMode2();
-//// array[8] = command.getSourceStaNo2();
-//// array[9] = command.getDestinationStaNo2();
-//// array[10] = command.getCommand();
-// OperateResult result = siemensNet.Write("DB100.0", array);
-//
-//// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
-//// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
-//// Thread.sleep(100L);
-//// result = siemensNet.Write("DB100.20", commandFinish);
-//// }
-//
-// try {
-// // 鏃ュ織璁板綍
-// BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
-// BasRgvOpt basRgvOpt = new BasRgvOpt(
-// command.getTaskNo1().intValue(),
-// command.getTaskNo2().intValue(),
-// command.getRgvNo(),
-// new Date(),
-// command.getTaskModeType1().toString(),
-// command.getSourceStaNo1().intValue(),
-// command.getDestinationStaNo1().intValue(),
-// command.getSourceStaNo2().intValue(),
-// command.getDestinationStaNo2().intValue(),
-// null,
-// new Date(),
-// null
-// );
-// bean.insert(basRgvOpt);
-// } catch (Exception ignore) {}
-//
-// if (result != null && result.IsSuccess) {
-// Thread.sleep(200);
-// this.readStatus();
-// log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
-// 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(command)));
-// return true;
-// } else {
-// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-// log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
-// return false;
-// }
-// }
+ /**
+ * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
+ */
+ private boolean write12(RgvCommand command) throws InterruptedException {
+ if (null == command) {
+ log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
+// OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
+ if (result1.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
+ one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
+ one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
+ one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
+ one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
+ one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
+ one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
+ one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
+ one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
+
+ News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ OperateResult result2 = siemensNet.Write("DB100.34", false);
+ if (result2.IsSuccess){
+ News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓篺alse");
+ }
+ byte[] writeBytes = new byte[36];
+ command.setRgvNo(slave.getId());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
+ setBool(writeBytes, 32, 0, command.getAckFinish1());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
+ setBool(writeBytes, 32, 1, command.getAckFinish2());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 36, command.getWrkTaskPri());
+
+ OperateResult result = siemensNet.Write("DB100.0", writeBytes);
+
+ if (!result.IsSuccess){
+ News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
+ MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }
+
+ //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(400);
+ try {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
+ if (resultRead.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
+ one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
+ one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
+ one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
+ one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
+ one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
+ one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
+ if (
+ !command.getDirection1().equals(one.getDirection1()) ||
+ !command.getTaskNo1().equals(one.getTaskNo1()) ||
+ !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
+ !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
+ !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
+ !command.getDirection2().equals(one.getDirection2()) ||
+ !command.getTaskNo2().equals(one.getTaskNo2()) ||
+ !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
+ !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
+ !command.getTargetPosition2().equals(one.getTargetPosition2())
+ ) {
+ try{
+ News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }catch (Exception e){
+ try{
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
+ }catch (Exception e1){
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+ News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }else {
+ News.info("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ }
+ }catch (Exception e){
+ News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+
+ if (command.getAckFinish1() || command.getAckFinish2()) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ boolean commandFinish = false;
+ boolean commandFinish2 = false;
+ result = siemensNet.Write("DB100.DBX32.0", commandFinish);
+ OperateResult result3 = siemensNet.Write("DB100.DBX32.1", commandFinish);
+
+ if(result.IsSuccess && result3.IsSuccess){
+ //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
+ commandFinish2=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
+
+ if (!commandFinish && !commandFinish2) {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }else{
+ //浠诲姟鍛戒护鍐欏叆鎴愬姛
+ News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
+ }
+
+
+ try {
+ // 鏃ュ織璁板綍
+ BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(
+ command.getTaskNo1(),
+ command.getTaskNo2(),
+ command.getRgvNo(),
+ new Date(),
+ command.getTargetPosition1()
+ );
+ bean.insert(basRgvOpt);
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
+
+ if (result != null && result.IsSuccess) {
+ Thread.sleep(200);
+ this.readStatus();
+ log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅12鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ return true;
+ } else {
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅12鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
/**
* 宸ヤ綅1鍐欏叆鏁版嵁
@@ -419,7 +557,7 @@
OperateResult result2 = siemensNet.Write("DB100.34", false);
if (result2.IsSuccess){
- News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
+ News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓篺alse");
}
byte[] writeBytes = new byte[34];
command.setRgvNo(slave.getId());
@@ -610,11 +748,11 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
- one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
+ one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
+ one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
+ one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
+ one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
+ one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
if (
!command.getDirection2().equals(one.getDirection2()) ||
!command.getTaskNo2().equals(one.getTaskNo2()) ||
--
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