From cc885fe7e9629fa922a369c3938a748ec7f7e246 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期六, 14 六月 2025 16:32:38 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 195 ++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 178 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 630b06f..3d1e4f3 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -8,15 +8,14 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.entity.BasRgvOpt;
+import com.zy.asrs.service.BasRgvErrLogService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
-import com.zy.asrs.utils.NumUtils;
-import com.zy.asrs.utils.RouteUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
@@ -27,7 +26,10 @@
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
+import java.util.ArrayList;
import java.util.Date;
+import java.util.HashSet;
+import java.util.List;
/**
* RGV绾跨▼
@@ -49,6 +51,7 @@
*/
private boolean resetFlag2 = false;
private boolean connectRgv = false;
+ private boolean alarmChangeSign = false;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -98,13 +101,16 @@
step = task.getStep();
}
switch (step) {
- // 璇绘暟鎹�
+ //婕父浠诲姟瀹屾垚淇″彿
case 1:
// readStatus();
+ taskComplete();
break;
//宸ヤ綅1鍐欏叆鏁版嵁
case 2:
- write((RgvCommand) task.getData());
+ RgvCommand command2 = (RgvCommand) task.getData();
+ rgvOpt(command2);
+ write(command2);
break;
// 澶嶄綅
case 3:
@@ -118,26 +124,25 @@
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short)0); // 婧愮珯
command.setDestinationStaNo1((short)0); // 鐩爣绔�
+ rgvOpt(command);
write3(command);
break;
- // 澶嶄綅
+ //宸ヤ綅1鍐欏叆鍙栨秷鏁版嵁
case 4:
RgvCommand command4 = (RgvCommand) task.getData();
- if (null == command4) {
- command4 = new RgvCommand();
- }
- command4.setRgvNo(slave.getId()); // RGV缂栧彿
- command4.setTaskNo1((short) 0); // 宸ヤ綔鍙�
- command4.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
- command4.setTaskMode1(RgvTaskModeType.X_MOVE); // 浠诲姟妯″紡
- command4.setSourceStaNo1((short)0); // 婧愮珯
- command4.setDestinationStaNo1((short)0); // 鐩爣绔�
- write3(command4);
+ rgvOpt(command4);
+ write4(command4);
+ break;
+ // 婕父
+ case 5:
+ Long aLong = (Long) task.getData();
+ rgvOpt(aLong);
+ write5(aLong);
break;
default:
break;
}
- Thread.sleep(100);
+ Thread.sleep(50);
} catch (Exception e) {
log.error("RGV鍐欑嚎绋嬪紓甯�"+e.getMessage());
// e.printStackTrace();
@@ -176,6 +181,7 @@
} catch (Exception e){
}
+ initRgv();
continue;
}
Thread.sleep(40);
@@ -217,6 +223,30 @@
rgvProtocol.setxDuration((short) 0);
}
+// /**
+// * 鍒濆鍖朢GV鐘舵��
+// */
+// private void initRgv() {
+// if (null == rgvProtocol) {
+// rgvProtocol = new RgvProtocol();
+// }
+// rgvProtocol.setRgvNo(slave.getId());
+// rgvProtocol.setMode((short) 3);
+// rgvProtocol.setStatus((short)0);
+// rgvProtocol.setTaskNo1((short)0);
+// rgvProtocol.setStatus1((short)0);
+// rgvProtocol.setLoaded1((short)0);
+// rgvProtocol.setWalkPos((short)0);
+// rgvProtocol.setRgvPos(slave.getId()*100000L);
+// rgvProtocol.setTaskNo2((short)0);
+// rgvProtocol.setStatus2((short)0);
+// rgvProtocol.setLoaded2((short)0);
+// rgvProtocol.setAlarm((short)0);
+// rgvProtocol.setxSpeed((short) 0);
+// rgvProtocol.setxDistance((short) 0);
+// rgvProtocol.setxDuration((short) 0);
+// }
+
@Override
public boolean connect() {
boolean result = false;
@@ -245,6 +275,7 @@
OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
OperateResultExOne<byte[]> resultE = siemensNet.Read("DB20.26", (short) 2);
+ OperateResultExOne<byte[]> resultError = siemensNet.Read("DB13.0", (short) 13);
if (result.IsSuccess && resultV.IsSuccess && resultE.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
@@ -261,8 +292,21 @@
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
+ boolean[] statusAlarmList = siemensNet.getByteTransform().TransBool(resultError.Content, 0, 13);
+ int alarmCount = 0;
+ List<Integer> alarmList = new ArrayList<>();
+ for (boolean alarmSign : statusAlarmList){
+ alarmCount++;
+ if (alarmSign){
+ alarmList.add(alarmCount);
+ }
+ }
+ alarmChangeSign = new HashSet<>(alarmList).equals(new HashSet<>(rgvProtocol.getAlarmList()));
+ rgvProtocol.setAlarmList(alarmList);
+
// rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
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()));
+
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -274,6 +318,16 @@
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{
+ if (!alarmChangeSign && !alarmList.isEmpty()){
+ BasRgvErrLogService basRgvErrLogService = SpringUtils.getBean(BasRgvErrLogService.class);
+ BasRgvErrLog basRgvErrLog = new BasRgvErrLog(rgvProtocol.getAlarmList(), rgvProtocol.getTaskNo1(), rgvProtocol.getRgvNo());
+ basRgvErrLogService.insert(basRgvErrLog);
+ }
+ } catch (Exception e){
+ log.error("RGV寮傚父淇℃伅淇濆瓨澶辫触锛侊紒");
+ }
+
} catch (Exception ignore) {
}
@@ -294,6 +348,24 @@
/**
* 宸ヤ綅1鍐欏叆鏁版嵁
*/
+ private void rgvOpt(RgvCommand command) {
+ try{
+ BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol, command);
+ basRgvOptService.insert(basRgvOpt);
+ }catch (Exception e){
+ log.error("RGV鍐欏叆鍛戒护淇濆瓨澶辫触锛侊紒");
+ }
+ }
+ private void rgvOpt(Long command) {
+ try{
+ BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol, command);
+ basRgvOptService.insert(basRgvOpt);
+ }catch (Exception e){
+ log.error("RGV鍐欏叆鍛戒护淇濆瓨澶辫触锛侊紒");
+ }
+ }
private boolean write(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
@@ -356,6 +428,95 @@
return false;
}
}
+ private boolean write4(RgvCommand command) throws InterruptedException {
+ if (null == command) {
+ log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+
+// siemensNet.Write("DB24.10.0", false);
+// siemensNet.Write("DB24.10.1", false);
+
+ command.setRgvNo(slave.getId());
+ short[] array = new short[5];
+ array[0] = command.getRgvNo().shortValue();
+ array[1] = command.getSourceStaNo1();
+ array[2] = command.getDestinationStaNo1();
+ array[3] = command.getTaskMode1();//浠诲姟妯″紡
+ array[4] = command.getTaskNo1();
+
+
+
+ OperateResult result = siemensNet.Write("DB24.0", array);
+//
+// if (command.getAckFinish1().equals((short)0)) {
+//// Thread.sleep(100L);
+//// siemensNet.Write("DB24.10.7", command.getRgvSome() == 1);
+//// Thread.sleep(20L);
+//// result = siemensNet.Write("DB24.10.0", true);
+// } else {
+// siemensNet.Write("DB24.10.1", true);
+// }
+
+ try {
+ // 鏃ュ織璁板綍
+ BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(
+ command.getTaskNo1().intValue(),
+ command.getTaskNo2().intValue(),
+ command.getRgvNo(),
+ new Date(),
+ command.getTaskModeType1().toString(),
+ command.getSourceStaNo1().intValue(),
+ command.getDestinationStaNo1().intValue(),
+ command.getSourceStaNo2().intValue(),
+ command.getDestinationStaNo2().intValue(),
+ null,
+ new Date(),
+ null
+ );
+ bean.insert(basRgvOpt);
+ } catch (Exception ignore) {}
+
+ if (result != null && result.IsSuccess) {
+// Thread.sleep(200);
+// this.readStatus();
+ log.info("RGV 宸ヤ綅1鍙栨秷鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅1鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
+ return true;
+ } else {
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅1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宸ヤ綅1鍙栨秷鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+
+ /**
+ * 瀹屾垚
+ */
+ private void taskComplete() {
+ try {
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB24.11", (short) 1);
+ boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
+ if (status[0]){
+ OperateResult result4 = siemensNet.Write("DB24.11.0", false);
+ }
+ } catch (Exception e) {
+ 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());
+ }
+ }
+
+ private void write5(Long devperimeter){
+ try {
+ siemensNet.Write("DB24.12", devperimeter.intValue());
+ Thread.sleep(10L);
+ siemensNet.Write("DB24.11.0", true);
+
+ } catch (Exception ignore) {
+ log.error("鍐欏叆RGV plc宸ヤ綅1婕父鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+ }
+
private boolean write3(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
--
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