From a09baeeeeeea5c36159952482a895eb79c5740f4 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期五, 09 五月 2025 18:05:27 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/RgvThread.java |   70 ++++++++++++++++++++++++++++++++--
 1 files changed, 65 insertions(+), 5 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 80b7140..38b1d23 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -81,6 +81,7 @@
 
             // 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();
@@ -127,6 +128,64 @@
     }
 
     /**
+     * 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 {
+                            Thread.sleep(100);
+                            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();
+            }
+        }
+    }
+
+    /**
      * 婕父
      */
     private void taskWalkIssued() {
@@ -149,6 +208,8 @@
                 TaskProtocol issued = new TaskProtocol();
                 issued.setTaskNo(32222L);
                 issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+                issued.setTaskStatus(1);
+                issued.setDirection(true);
                 write(issued);
                 rgvTaskProtocol.setAvoid(0);
 
@@ -186,11 +247,14 @@
                 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());
+//                        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
                         //鍙岃溅
                         if (rgvOtherStatusEnable()) {
                             //鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
@@ -203,16 +267,12 @@
                             Thread.sleep(100);
                             TaskProtocol issued = new TaskProtocol(taskProtocol);
                             write(issued);
-//                            taskProtocol.setIsRunning(4);
-//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                             taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
                             break;
                         } else {
                             Thread.sleep(100);
                             TaskProtocol issued = new TaskProtocol(taskProtocol,true);
                             write(issued);
-//                            taskProtocol.setIsRunning(4);
-//                            taskProtocolCache.updateTaskProtocol(taskProtocol);
                             break;
                         }
                     }

--
Gitblit v1.9.1