From abb914f4761cedcfc89eb3dcdd2cf377490d09bc Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期三, 14 五月 2025 14:41:40 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/RgvThread.java |   68 ++++++++++++++++++++++++++++-----
 1 files changed, 57 insertions(+), 11 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 8c2ceeb..5379142 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -14,6 +14,7 @@
 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.*;
 import com.zy.core.enums.RgvModeType;
@@ -25,6 +26,7 @@
 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;
@@ -63,6 +65,8 @@
      */
     private boolean resetFlag2 = false;
 
+    private boolean connectRgv = false;
+
     public RgvThread(RgvSlave slave) {
         this.slave = slave;
     }
@@ -70,21 +74,48 @@
     @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::taskIssued).start();
+        // 鍚姩璇绘暟鎹嚎绋�
+        new Thread(this::rgvConnect).start();
 
-            // 鍚姩婕父绾跨▼
-            new Thread(this::taskWalkIssued).start();
-            new Thread(this::taskWalkIssued2).start();
+        new Thread(this::readStatusRgv).start();
 
-            // 鍚姩浠诲姟瀹屾垚绾跨▼
-            new Thread(this::taskComplete).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();
+            }
         }
     }
 
@@ -265,6 +296,20 @@
                         if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                 && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
                             Thread.sleep(100);
+                            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
+                                ){
+                                    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());
@@ -618,6 +663,7 @@
 
             } 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());
             }

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