From 96f987b030f4c961a985f07079ba12abd865fdb2 Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期三, 17 十二月 2025 08:12:24 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/impl/ZyRgvThread.java |   64 +++++++++++++++++++++++++++----
 1 files changed, 55 insertions(+), 9 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java b/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
index 6ce7e22..e5c2d77 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
@@ -1,15 +1,16 @@
 package com.zy.core.thread.impl;
 
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
 import com.core.common.DateUtils;
 import com.core.common.SpringUtils;
 import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.BasRgvOpt;
 import com.zy.asrs.entity.DeviceConfig;
 import com.zy.asrs.entity.DeviceDataLog;
 import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.service.BasRgvOptService;
+import com.zy.asrs.utils.Utils;
 import com.zy.common.utils.RedisUtil;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.OutputQueue;
@@ -38,6 +39,9 @@
     private RedisUtil redisUtil;
     private ZyRgvConnectDriver zyRgvConnectDriver;
     private RgvProtocol rgvProtocol;
+    private int deviceLogCollectTime = 200;
+    private volatile boolean closed = false;
+    private Thread mainThread;
 
     public ZyRgvThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
         this.deviceConfig = deviceConfig;
@@ -49,8 +53,10 @@
     public void run() {
         connect();
         initRgv();
-        while (true) {
+        mainThread = Thread.currentThread();
+        while (!closed && !Thread.currentThread().isInterrupted()) {
             try {
+                deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                 int step = 1;
                 Task task = MessageQueue.poll(SlaveType.Rgv, deviceConfig.getDeviceNo());
                 if (task != null) {
@@ -67,6 +73,9 @@
                         break;
                 }
                 Thread.sleep(200);
+            } catch (InterruptedException ie) {
+                Thread.currentThread().interrupt();
+                break;
             } catch (Exception e) {
                 e.printStackTrace();
             }
@@ -89,7 +98,7 @@
     @Override
     public boolean connect() {
         zyRgvConnectDriver = new ZyRgvConnectDriver(deviceConfig);
-        new Thread(zyRgvConnectDriver).start();
+        zyRgvConnectDriver.start();
         DeviceConnectPool.put(SlaveType.Rgv, deviceConfig.getDeviceNo(), zyRgvConnectDriver);
         return true;
     }
@@ -117,7 +126,7 @@
             rgvProtocol.setLastCommandTime(System.currentTimeMillis());
         }
 
-        if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > 200) {
+        if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > deviceLogCollectTime) {
             DeviceDataLog deviceDataLog = new DeviceDataLog();
             deviceDataLog.setOriginData(JSON.toJSONString(s));
             deviceDataLog.setWcsData(JSON.toJSONString(rgvProtocol));
@@ -128,7 +137,12 @@
             rgvProtocol.setDeviceDataLog(System.currentTimeMillis());
         }
 
-        BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+        BasRgvService basRgvService = null;
+        try {
+            basRgvService = SpringUtils.getBean(BasRgvService.class);
+        } catch (Exception e) {
+
+        }
         if (basRgvService != null) {
             BasRgv basRgv = basRgvService.selectOne(new EntityWrapper<BasRgv>().eq("rgv_no", deviceConfig.getDeviceNo()));
             if(basRgv == null) {
@@ -143,7 +157,14 @@
 
     @Override
     public void close() {
-        zyRgvConnectDriver.close();
+        closed = true;
+        Thread t = mainThread;
+        if (t != null) {
+            try { t.interrupt(); } catch (Exception ignore) {}
+        }
+        if (zyRgvConnectDriver != null) {
+            zyRgvConnectDriver.close();
+        }
     }
 
     @Override
@@ -188,6 +209,31 @@
     @Override
     public synchronized CommandResponse sendCommand(RgvCommand command) {
         rgvProtocol.setLastCommandTime(System.currentTimeMillis());
-        return zyRgvConnectDriver.sendCommand(command);
+        CommandResponse response = null;
+        try {
+            response = zyRgvConnectDriver.sendCommand(command);
+            return response;
+        } finally {
+            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+            ZyRgvStatusEntity statusEntity = zyRgvConnectDriver.getStatus();
+            BasRgvOpt basRgvOpt = new BasRgvOpt(
+                    command.getTaskNo(),
+                    command.getRgvNo(),
+                    new Date(),
+                    String.valueOf(command.getTaskMode()),
+                    String.valueOf(command.getSourcePos()),
+                    String.valueOf(command.getTargetPos()),
+                    null,
+                    null,
+                    null,
+                    JSON.toJSONString(command),
+                    JSON.toJSONString(statusEntity),
+                    1,
+                    JSON.toJSONString(response)
+            );
+            if (bean != null) {
+                bean.insert(basRgvOpt);
+            }
+        }
     }
-}
\ No newline at end of file
+}

--
Gitblit v1.9.1