From 97cfc84c932f52c6419eebfd4888f2d8212edb5b Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期一, 26 五月 2025 22:46:04 +0800
Subject: [PATCH] #ZH
---
src/main/java/com/zy/core/thread/RgvThread.java | 599 ++++++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 445 insertions(+), 154 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 6ba22dd..561a4e5 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -12,6 +12,7 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.service.DeviceErrorService;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.core.DevpThread;
@@ -55,6 +56,7 @@
private Long trackBenchmark = 1L;
// # 閬胯璺濈
private Long avoidDistance = 5000L;
+ private Long currentTimeMilliOld = 0L;
/**
* 宸ヤ綅1澶嶄綅淇″彿
@@ -114,7 +116,13 @@
}
}
} 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());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
initRgv();
// e.printStackTrace();
}
@@ -125,11 +133,18 @@
while (true) {
try {
Thread.sleep(20);
+ System.out.println("璇荤嚎绋�"+ slave.getId());
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� ===>> [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());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
initRgv();
// e.printStackTrace();
}
@@ -156,7 +171,13 @@
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());
+ 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());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
initRgv();
// e.printStackTrace();
}
@@ -168,97 +189,103 @@
/**
* 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鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.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
@@ -267,10 +294,20 @@
while (true) {
try {
// 浼戠湢 1 绉�
- Thread.sleep(100);
- if (!deviceDetection()) {
+ if (System.currentTimeMillis() - currentTimeMilliOld > 100) {
+ currentTimeMilliOld = System.currentTimeMillis()+50;
+ } else {
continue;
}
+ if (!deviceDetection()) {
+ currentTimeMilliOld = System.currentTimeMillis()+50;
+ continue;
+ }
+ if (!signRunStart()){
+ currentTimeMilliOld = System.currentTimeMillis()+50;
+ continue;
+ }
+
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
if (rgvProtocol == null || rgvTaskProtocol == null) {
@@ -278,10 +315,14 @@
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)){
+ signRunEnd();
+ currentTimeMilliOld = System.currentTimeMillis()+50;
continue;
}
if (rgvProtocol.getLoaded() == -1){
+ signRunEnd();
+ currentTimeMilliOld = System.currentTimeMillis()+50;
continue;
}
if (rgvTaskProtocol.getAvoid() != 0) {
@@ -294,9 +335,12 @@
write(issued);
rgvTaskProtocol.setAvoid(0);
- Thread.sleep(200);
+// try{Thread.sleep(50L);} catch (Exception e){}
+
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
}
+ signRunEnd();
+ currentTimeMilliOld = System.currentTimeMillis()+50;
continue;
}
@@ -309,7 +353,7 @@
if (rgvOtherStatusEnable()) {
//鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
- continue;
+ break;
}
}
if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
@@ -327,27 +371,11 @@
} 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;
+ break;
}
}
if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
@@ -360,10 +388,7 @@
}
// 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;
}
}
@@ -379,22 +404,23 @@
}
}
}
+ signRunEnd();
+ currentTimeMilliOld = System.currentTimeMillis()+50;
} 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());
+ 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();
}
}
}
-
- 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());
@@ -404,7 +430,89 @@
return false;
}
if (rgvProtocolOther.statusEnable) {
+ if (rgvTaskProtocolOther == null) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ public boolean signRunStart() {
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ return false;
+ }
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+ if (rgvTaskProtocolOther == null) {
+ return false;
+ }
+ if(!rgvTaskProtocol.isSignRun()) {
+ return false;
+ }
+ if(rgvTaskProtocolOther.isSignRun()) {
+ rgvTaskProtocol.setSignRun(rgvTaskProtocol.getRgvNo()==1);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ return false;
+ }
+ rgvTaskProtocol.setSignRun(false);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ return true;
+ }
+
+ public boolean signRunEnd() {
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ if (rgvProtocolOther == null) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+ if (rgvTaskProtocolOther == null) {
+ return false;
+ }
+ rgvTaskProtocol.setSignRun(false);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+
+ rgvTaskProtocolOther.setSignRun(true);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ } else {
+ rgvTaskProtocol.setSignRun(true);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ }
+ return true;
+ }
+
+
+ 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) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ if (signRunStart()){
+ signRunEnd();
+ }
+ 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) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ if (signRunStart()){
+ signRunEnd();
+ }
return false;
}
}
@@ -433,16 +541,68 @@
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) {//鏃犻渶閬胯
+ > 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());
+ 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){
+ return false;
+ }
+ }
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");
+ 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());
+ 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 - rgvProtocolOther.getRgvPos());
@@ -452,17 +612,23 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//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");
+ 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());
+ 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 - rgvProtocolOther.getRgvPos());
@@ -472,18 +638,24 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//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");
+ 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());
+ 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());
@@ -500,20 +672,72 @@
} else {
if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//鏃犻渶閬胯
return true;
}
}
} 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) {//鏃犻渶閬胯
+ > 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());
+ 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){
+ return false;
+ }
+ }
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");
+ 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());
+ 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 - rgvProtocolOther.getRgvPos());
@@ -523,17 +747,23 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//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");
+ 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());
+ 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 - rgvProtocolOther.getRgvPos());
@@ -543,19 +773,25 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance-50) {//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");
+ 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());
+ 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());
@@ -572,7 +808,7 @@
} else {
if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//鏃犻渶閬胯
return true;
}
}
@@ -608,7 +844,13 @@
rgvProtocol.setStatusEnable(false);
}
} catch (Exception e) {
- log.error("RGV寮傚父锛侊紒锛�" + e.getMessage());
+ 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());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
rgvProtocol.setStatusEnable(true);
}
@@ -641,6 +883,12 @@
// 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());
+ try{
+ 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());
+ }
}
initRgv();
// siemensNet.ConnectClose();
@@ -652,7 +900,7 @@
*/
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 19);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);
if (result.IsSuccess) {
// 鏋勫缓璁惧鐘舵�佸璞�
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -679,8 +927,15 @@
// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
// OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
- boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 1);
+ boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);
rgvProtocol.setLoaded(status[0]? (short)1:(short)0);
+ rgvProtocol.setErr1(status[8]);
+ rgvProtocol.setErr2(status[9]);
+ rgvProtocol.setErr3(status[10]);
+ 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
@@ -709,6 +964,13 @@
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());
+
+ try{
+ 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());
+ }
}
} catch (Exception ignore) {
@@ -723,11 +985,25 @@
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());
+
+ try{
+ 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());
+ }
}
} catch (Exception e) {
// 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�");
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
initRgv();
}
}
@@ -737,7 +1013,14 @@
*/
private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
if (null == taskProtocol) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ log.error("RGV鍐欏叆鍛戒护涓虹┖ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+ try{
+ 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());
+ }
return false;
}
// convertRow(command);
@@ -786,9 +1069,17 @@
}
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());
+
+ try{
+ 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());
+ }
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;
} else {
@@ -828,8 +1119,8 @@
}
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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