From d074cb16f7b3ba11363766dd78802da60f4ec07d Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期四, 23 四月 2026 09:39:47 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 94 ++++++++++++++++++++++++++++++++--------------
1 files changed, 65 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 5e213cf..0f879e2 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,7 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCircularShuttle;
@@ -57,6 +57,7 @@
private boolean resetFlag2 = false;
private boolean connectRgv = false;
private boolean alarmChangeSign = false;
+ private boolean csSign = true;//娴嬭瘯鏍囪
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -156,7 +157,7 @@
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
BasCircularShuttleService basCircularShuttleService = SpringUtils.getBean(BasCircularShuttleService.class);
- BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", slave.getId()));
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.getOne(new QueryWrapper<BasCircularShuttle>().eq("rgv_no", slave.getId()));
if (basCircularShuttle.getStatus() != 0){
continue;
}
@@ -210,34 +211,28 @@
* 鍒濆鍖朢GV鐘舵��
*/
private void initRgv() {
+ if (csSign){
+ initRgvCS();
+ } else {
+ initRgvT();
+ }
+ }
+
+ /**
+ * 鍒濆鍖朢GV鐘舵��
+ */
+ private void initRgvT() {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
}
rgvProtocol.setRgvNo(slave.getId());
-// rgvProtocol.setMode((short) -1);
-// rgvProtocol.setStatus((short)-1);
-// rgvProtocol.setTaskNo1((short)0);
-// rgvProtocol.setStatus1((short)-1);
-// rgvProtocol.setLoaded1((short)0);
-// rgvProtocol.setWalkPos((short)0);
-// rgvProtocol.setRgvPos(0L);
-// rgvProtocol.setTaskNo2((short)0);
-// rgvProtocol.setStatus2((short)-1);
-// rgvProtocol.setLoaded2((short)0);
-// rgvProtocol.setAlarm((short)0);
-// rgvProtocol.setxSpeed((short) 0);
-// rgvProtocol.setxDistance((short) 0);
-// rgvProtocol.setxDuration((short) 0);
- rgvProtocol.setMode((short) 3);
- rgvProtocol.setStatus((short)0);
+ rgvProtocol.setMode((short) -1);
+ rgvProtocol.setStatus((short)-1);
rgvProtocol.setTaskNo1((short)0);
- rgvProtocol.setStatus1((short)0);
+ rgvProtocol.setStatus1((short)-1);
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
- if (rgvProtocol.getRgvPos()==null || rgvProtocol.getRgvPos()==0){
- rgvProtocol.setRgvPos(1L+rgvProtocol.getRgvNo()*10000);
- }
- rgvProtocol.setRgvPos(rgvProtocol.getRgvPos()+1000);
+ rgvProtocol.setRgvPos(0L);
rgvProtocol.setTaskNo2((short)0);
rgvProtocol.setStatus2((short)-1);
rgvProtocol.setLoaded2((short)0);
@@ -245,6 +240,47 @@
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
rgvProtocol.setxDuration((short) 0);
+ log.error("杩炴帴涓柇锛歊GV鍙凤細"+slave.getId());
+ try {
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+ BasRgv basRgv = new BasRgv();
+ basRgv.setRgvNo(slave.getId());
+ basRgv.setRgvSts((int)rgvProtocol.getMode());
+ basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
+ 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());
+ }
+ } catch (Exception ignore) {
+ }
+ }
+
+ /**
+ * 鍒濆鍖朢GV鐘舵��
+ */
+ private void initRgvCS() {
+ 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);
+ if (rgvProtocol.getRgvPos()==null || rgvProtocol.getRgvPos()==0){
+ rgvProtocol.setRgvPos(1L+rgvProtocol.getRgvNo()*10000);
+ }
+// rgvProtocol.setRgvPos(rgvProtocol.getRgvPos()+1000);
+ rgvProtocol.setRgvPos(rgvProtocol.getRgvPos());
+ rgvProtocol.setTaskNo2((short)0);
+ rgvProtocol.setStatus2((short)-1);
+ rgvProtocol.setLoaded2((short)0);
+ rgvProtocol.setAlarm((short)0);
+ rgvProtocol.setxSpeed((short) 0);
+ rgvProtocol.setxDistance((short) 0);
+ rgvProtocol.setxDuration((short) 0);
+ }
// log.error("杩炴帴涓柇锛歊GV鍙凤細"+slave.getId());
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -340,7 +376,7 @@
if (!alarmChangeSign && !alarmList.isEmpty()){
BasRgvErrLogService basRgvErrLogService = SpringUtils.getBean(BasRgvErrLogService.class);
BasRgvErrLog basRgvErrLog = new BasRgvErrLog(rgvProtocol.getAlarmList(), rgvProtocol.getTaskNo1(), rgvProtocol.getRgvNo());
- basRgvErrLogService.insert(basRgvErrLog);
+ basRgvErrLogService.save(basRgvErrLog);
}
} catch (Exception e){
log.error("RGV寮傚父淇℃伅淇濆瓨澶辫触锛侊紒");
@@ -371,7 +407,7 @@
BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosInt(), command);
log.info(rgvProtocol.getRgvNo()+"鍙峰皬杞﹀啓鍏ュ懡浠ゅ畾浣嶅�硷細"+rgvProtocol.getRgvPosInt());
- basRgvOptService.insert(basRgvOpt);
+ basRgvOptService.save(basRgvOpt);
}catch (Exception e){
log.error("RGV鍐欏叆鍛戒护淇濆瓨澶辫触锛侊紒");
}
@@ -380,7 +416,7 @@
try{
BasRgvOptService basRgvOptService = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(rgvProtocol.getTaskNo1().intValue(), rgvProtocol.getRgvNo(), rgvProtocol.getRgvPosI(), command);
- basRgvOptService.insert(basRgvOpt);
+ basRgvOptService.save(basRgvOpt);
}catch (Exception e){
log.error("RGV鍐欏叆鍛戒护淇濆瓨澶辫触锛侊紒");
}
@@ -432,7 +468,7 @@
new Date(),
null
);
- bean.insert(basRgvOpt);
+ bean.save(basRgvOpt);
} catch (Exception ignore) {}
if (result != null && result.IsSuccess) {
@@ -494,7 +530,7 @@
new Date(),
null
);
- bean.insert(basRgvOpt);
+ bean.save(basRgvOpt);
} catch (Exception ignore) {}
if (result != null && result.IsSuccess) {
@@ -579,7 +615,7 @@
new Date(),
null
);
- bean.insert(basRgvOpt);
+ bean.save(basRgvOpt);
} catch (Exception ignore) {}
if (result != null && result.IsSuccess) {
--
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