From 92c572e50893a93a810bbe6adb6d3cdbfc225073 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期二, 20 五月 2025 14:17:33 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 648 +++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 542 insertions(+), 106 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 620c6e5..365d9b9 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -13,11 +13,10 @@
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.RouteUtils;
+import com.zy.asrs.utils.TrackRangeUtils;
+import com.zy.core.DevpThread;
import com.zy.core.ThreadHandler;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.OutputQueue;
-import com.zy.core.cache.RgvStatusCache;
-import com.zy.core.cache.TaskProtocolCache;
+import com.zy.core.cache.*;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
@@ -26,9 +25,12 @@
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 lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
import java.text.MessageFormat;
import java.util.Date;
@@ -45,8 +47,14 @@
private SiemensS7Net siemensNet;
private RgvSlave slave;
-// private RgvProtocol rgvProtocol;
+ // private RgvProtocol rgvProtocol;
private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
+ // # 杞ㄩ亾鎬婚暱
+ private Long trackEntireLength = 224000L;
+ //# 杞ㄩ亾鍩哄噯鐐�
+ private Long trackBenchmark = 1L;
+ // # 閬胯璺濈
+ private Long avoidDistance = 5000L;
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -57,6 +65,9 @@
*/
private boolean resetFlag2 = false;
+ private boolean connectRgv = false;
+ private boolean delRgvTask = false;
+
public RgvThread(RgvSlave slave) {
this.slave = slave;
}
@@ -64,22 +75,52 @@
@Override
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
- boolean connect = this.connect();
- if (connect){
+ connectRgv = this.connect();
+ while(!connectRgv){
+ try {
+ connectRgv = this.connect();
+ Thread.sleep(100);
+ } catch (Exception e){
- // 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::taskTakeIssued).start();
+ // 鍚姩璇绘暟鎹嚎绋�
+ new Thread(this::rgvConnect).start();
- new Thread(this::taskPutIssued).start();
+ new Thread(this::readStatusRgv).start();
- new Thread(this::taskWalkIssued).start();
+ // 鍚姩浠诲姟涓嬪彂绾跨▼
+ new Thread(this::taskIssued).start();
+
+ // 鍚姩婕父绾跨▼
+ new Thread(this::taskWalkIssued).start();
+ new Thread(this::taskWalkIssued2).start();
+
+ // 鍚姩浠诲姟瀹屾垚绾跨▼
+ new Thread(this::taskComplete).start();
+ }
+
+ private void rgvConnect() {
+ while (true) {
+ try {
+ if(!connectRgv){
+ try {
+ connectRgv = this.connect();
+ Thread.sleep(100);
+ } catch (Exception e){
+
+ }
+ }
+ } catch (Exception e) {
+ log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+ initRgv();
+// e.printStackTrace();
+ }
}
}
- private void readStatusRgv(){
+ private void readStatusRgv() {
while (true) {
try {
Thread.sleep(100);
@@ -87,7 +128,34 @@
readStatus();
} catch (Exception e) {
- log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�"+e.getMessage());
+ log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+ initRgv();
+// e.printStackTrace();
+ }
+
+ }
+
+ }
+
+ /**
+ * 瀹屾垚
+ */
+ private void taskComplete() {
+ while (true) {
+ try {
+ if (delRgvTask){
+ writeDelRgvTask();
+ delRgvTask = false;
+ continue;
+ }
+ Thread.sleep(100);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
+ boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
+ if (status[0]){
+ OperateResult result4 = siemensNet.Write("DB100.12.0", false);
+ }
+ } catch (Exception e) {
+ log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
initRgv();
// e.printStackTrace();
}
@@ -99,88 +167,62 @@
/**
* 浠诲姟涓嬪彂
*/
- private void taskTakeIssued() {
+ private void taskWalkIssued2() {
while (true) {
try {
// 浼戠湢 1 绉�
Thread.sleep(100);
- if (!deviceDetection()){
+ if (!deviceDetection()) {
continue;
}
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
- if (rgvProtocol == null) {
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
initRgv();
rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
}
- if (rgvProtocol.getAvoid() == 0 || !rgvProtocol.getLoaded().equals((short) 0)) {
+ if (rgvTaskProtocol.getAvoid() != 0) {
continue;
}
- List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllTakeTaskProtocol();
- for(TaskProtocol taskProtocol: allTakeTaskProtocol){
- if (taskProtocol.getTaskStatus() == 1){//鍑嗗涓嬪彂
-
-
-
-
-
-
-
-
- TaskProtocol issued = new TaskProtocol(taskProtocol);
- write(issued);
- taskProtocol.setIsRunning(taskProtocol.getIsRunning() +1);
- taskProtocolCache.updateTaskProtocol(taskProtocol);
- break;
- }
+ 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鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�"+e.getMessage());
-// e.printStackTrace();
- }
- }
- }
-
- public boolean deviceDetection(){
- RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
- if (rgvProtocol == null) {
- return false;
- }
- if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
- || !rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)) {
- return false;
- }
- RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
- if (rgvProtocolOther == null) {
- return false;
- }
- if (rgvProtocolOther.statusEnable){
- if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
- return false;
- }
- }
- return true;
- }
-
- /**
- * 浠诲姟涓嬪彂
- */
- private void taskPutIssued() {
- while (true) {
- try {
- // 浼戠湢 1 绉�
- Thread.sleep(100);
-
- } catch (Exception e) {
- log.error("RGV鏀捐揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�"+e.getMessage());
+ log.error("RGV鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
// e.printStackTrace();
}
}
}
/**
- * 浠诲姟涓嬪彂
+ * 婕父
*/
private void taskWalkIssued() {
while (true) {
@@ -188,12 +230,316 @@
// 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());
+ 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) {
+ 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.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
+ 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;
+ }
+ }
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+ 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;
+ }
+ }
+ TaskProtocol issued = new TaskProtocol(taskProtocol);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ break;
+ }
+ }
+ }
+ } catch (Exception e) {
+ log.error("RGV鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
+// e.printStackTrace();
+ }
+ }
+ }
+
+ public boolean deviceDetection() {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ 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))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ public boolean rgvOtherStatusEnable() {
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable) {
+// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
+ return true;
+// }
+ }
+ return false;
+ }
+
+ public boolean otherRgvAvoid(Long targetPosition) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+ Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);
+
+ if (new TrackRangeUtils().IsItSmall(slave)) {
+
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ } else {
+ long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return true;
+ }
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
+ if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ } else {
+ long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return true;
+ }
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
+ if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ } else {
+ if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
+ long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ 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;
+ }
+ return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ }
+ }
+ } else {
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ } else {
+ long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return true;
+ }
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ } else {
+ long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return true;
+ }
+
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ } else {
+ if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
+ long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠＄悊鍛橈紒锛侊紒");
+ 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;
+ }
+ return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
+ }
+ }
+ }
+ return false;
}
/**
@@ -206,21 +552,39 @@
rgvProtocol.setRgvNo(slave.getId());
}
rgvProtocol.setMode((short) -1);
- rgvProtocol.setStatus((short)-1);
- rgvProtocol.setWalkPos((short)0);
+ rgvProtocol.setStatus((short) -1);
+ rgvProtocol.setWalkPos((short) 0);
rgvProtocol.setRgvPos(0L);
- rgvProtocol.setAlarm((short)0);
+ rgvProtocol.setAlarm((short) 0);
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
rgvProtocol.setxDuration((short) 0);
- BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
- BasRgv rgv = basRgvService.selectById(slave.getId());
- if (!Cools.isEmpty(rgv)){
- rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
- } else {
- rgvProtocol.setStatusEnable(false);
+ rgvProtocol.setCarBodyJiaoMing(0L);
+ rgvProtocol.setCarBodyKunPeng(0L);
+ try {
+ BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+ BasRgv rgv = basRgvService.selectById(slave.getId());
+ if (!Cools.isEmpty(rgv)) {
+ rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
+ } else {
+ rgvProtocol.setStatusEnable(false);
+ }
+ } catch (Exception e) {
+ log.error("RGV寮傚父锛侊紒锛�" + e.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);
}
@@ -231,15 +595,16 @@
siemensNet.setRack(slave.getRack().byteValue());
siemensNet.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensNet.ConnectServer();
- if(connect.IsSuccess){
+ if (connect.IsSuccess) {
result = true;
- OutputQueue.RGV.offer(MessageFormat.format( "銆恵0}銆慠GV plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+// OutputQueue.RGV.offer(MessageFormat.format( "銆恵0}銆慠GV plc杩炴帴鎴愬姛 ===>> [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.info("RGV plc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
} else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慠GV plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慠GV plc杩炴帴澶辫触锛侊紒锛� ===>> [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("RGV plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
- initRgv();
+
}
+ initRgv();
// siemensNet.ConnectClose();
return result;
}
@@ -247,25 +612,39 @@
/**
* 璇诲彇鐘舵��
*/
- private void readStatus(){
+ private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 19);
if (result.IsSuccess) {
// 鏋勫缓璁惧鐘舵�佸璞�
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
}
- rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 10));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+ rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
+ rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
+
+ rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
+ rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
+ 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));
+
+ rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
- 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()));
+// OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
+ boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 1);
+ rgvProtocol.setLoaded(status[0]? (short)1:(short)0);
+
+ 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
// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
// || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
@@ -282,18 +661,18 @@
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
BasRgv basRgv = basRgvService.selectById(slave.getId());
- if (!Cools.isEmpty(basRgv)){
+ if (!Cools.isEmpty(basRgv)) {
rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
} else {
rgvProtocol.setStatusEnable(false);
}
// BasRgv basRgv = new BasRgv();
basRgv.setRgvNo(slave.getId());
- basRgv.setRgvSts((int)rgvProtocol.getMode());
- if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
+ basRgv.setRgvSts((int) rgvProtocol.getMode());
+ 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());
}
- } catch (Exception ignore){
+ } catch (Exception ignore) {
}
@@ -303,6 +682,7 @@
} else {
initRgv();
+ connectRgv = false;
// 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());
}
@@ -325,13 +705,21 @@
// convertRow(command);
// taskProtocol.setRgvNo(slave.getId());
Long[] array = new Long[11];
+ OperateResult result41 = siemensNet.Write("DB100.12.0", false);
+
// array[0] = taskProtocol.getAckFinish1();
- array[1] = taskProtocol.getTaskNo();
+// array[1] = taskProtocol.getTaskNo();
// array[2] = taskProtocol.getTaskMode();
// array[4] = command.getDestinationStaNo();
// array[10] = taskProtocol.getCommand();
- OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
+ int taskStatus = taskProtocol.getTaskStatus();
+ OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue());
+ OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);
+ OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());
+ OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+
+ OperateResult result4 = siemensNet.Write("DB100.12.0", true);
// if (taskProtocol.getAckFinish1() == 0) {
// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
// Thread.sleep(100L);
@@ -350,13 +738,14 @@
null,
null,
null,
- result.IsSuccess? 1 : 0,
+ result.IsSuccess ? 1 : 0,
null,
new Date(),
null
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
@@ -371,6 +760,53 @@
}
}
+ private boolean writeDelRgvTask() throws InterruptedException {
+//
+ OperateResult result = siemensNet.Write("DB100.12.0", false);
+ OperateResult result0 = siemensNet.Write("DB100.0", (int) 0);
+ OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);
+ OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);
+ OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+
+ try {
+ // 鏃ュ織璁板綍
+ BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(
+ 0,
+ 0,
+ slave.getId(),
+ new Date(),
+ String.valueOf(0),
+ null,
+ null,
+ null,
+ result.IsSuccess ? 1 : 0,
+ 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("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;
+ } 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;
+ }
+ }
+
+
+ public void setDelRgvTask() {
+ delRgvTask = true;
+ }
+
@Override
public void close() {
siemensNet.ConnectClose();
--
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