From d75bdc98e2bc456eecfa4003bf700cb701d52a9b Mon Sep 17 00:00:00 2001 From: 野心家 <1051256694@qq.com> Date: 星期五, 23 五月 2025 18:38:56 +0800 Subject: [PATCH] 初始化 --- src/main/java/com/zy/core/thread/RgvThread.java | 535 ++++++++++++++++++++++++++++++++++++++++++++++++++++------ 1 files changed, 476 insertions(+), 59 deletions(-) diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java index f8cc43d..c040606 100644 --- a/src/main/java/com/zy/core/thread/RgvThread.java +++ b/src/main/java/com/zy/core/thread/RgvThread.java @@ -12,8 +12,10 @@ 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; import com.zy.core.ThreadHandler; import com.zy.core.cache.*; import com.zy.core.enums.RgvModeType; @@ -25,6 +27,7 @@ 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; @@ -48,11 +51,11 @@ // private RgvProtocol rgvProtocol; private TaskProtocolCache taskProtocolCache = new TaskProtocolCache(); // # 杞ㄩ亾鎬婚暱 - private Long trackEntireLength = 100L; + private Long trackEntireLength = 224000L; //# 杞ㄩ亾鍩哄噯鐐� - private Long trackBenchmark = 100L; + private Long trackBenchmark = 1L; // # 閬胯璺濈 - private Long avoidDistance = 100L; + private Long avoidDistance = 5000L; /** * 宸ヤ綅1澶嶄綅淇″彿 @@ -63,6 +66,9 @@ */ private boolean resetFlag2 = false; + private boolean connectRgv = false; + private boolean delRgvTask = false; + public RgvThread(RgvSlave slave) { this.slave = slave; } @@ -70,32 +76,73 @@ @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(); + // 鍚姩绾跨▼鑷姩閲嶈繛 + new Thread(this::rgvConnect).start(); - // 鍚姩婕父绾跨▼ - new Thread(this::taskWalkIssued).start(); + // 鍚姩璇绘暟鎹嚎绋� + 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(); + } } } private void readStatusRgv() { while (true) { try { - Thread.sleep(100); + Thread.sleep(20); 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(); } @@ -108,7 +155,96 @@ * 瀹屾垚 */ private void taskComplete() { + while (true) { + try { + if (delRgvTask){ + writeDelRgvTask(); + delRgvTask = false; + continue; + } + Thread.sleep(40); + OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1); + boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1); + if (status[0]){ + OperateResult result4 = siemensNet.Write("DB100.12.0", 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()); + 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(); + } + } + + } + + /** + * 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(); + } + } } /** @@ -134,6 +270,8 @@ TaskProtocol issued = new TaskProtocol(); issued.setTaskNo(32222L); issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination()); + issued.setTaskStatus(1); + issued.setDirection(true); write(issued); rgvTaskProtocol.setAvoid(0); @@ -165,31 +303,115 @@ rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); } + if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){ + continue; + } + if (rgvProtocol.getLoaded() == -1){ + continue; + } if (rgvTaskProtocol.getAvoid() != 0) { + if (rgvTaskProtocol.getAvoid() == 1) { + 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); + } 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()); - //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 (allTakeTaskProtocol.isEmpty()){ + 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; } } - Thread.sleep(100); - TaskProtocol issued = new TaskProtocol(taskProtocol); - write(issued); - taskProtocol.setIsRunning(taskProtocol.getIsRunning() + 1); - taskProtocolCache.updateTaskProtocol(taskProtocol); - break; + } + } 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; + } + } + if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50 + && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){ + 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; + } + } + TaskProtocol issued = new TaskProtocol(taskProtocol); + write(issued); + taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection()); + break; + } else { + TaskProtocol issued = new TaskProtocol(taskProtocol,true); + write(issued); + 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()); + 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(); } } @@ -246,45 +468,75 @@ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) { if ((rgvProtocolOther.getRgvPos() - 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$悊鍛橈紒锛侊紒"); + log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); + try{ + DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); + deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿"); + } catch (Exception e2){ + log.error("e2:"+e2.getMessage()); + } return false; + } + long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos()); + if (avoidAbs<51){ + return true; } rgvTaskProtocolOther.setAvoid(1); rgvTaskProtocolOther.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther); - return true; + return false; } } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) { if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing()) - (targetPosition + rgvProtocol.getCarBodyKunPeng()) - > avoidDistance) {//鏃犻渶閬胯 + > avoidDistance - 50) {//鏃犻渶閬胯 return true; } else { long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) { - log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠$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()); + if (avoidAbs<51){ + return true; } 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()) { + 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$悊鍛橈紒锛侊紒"); + log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); + try{ + DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); + deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿"); + } catch (Exception e2){ + log.error("e2:"+e2.getMessage()); + } + return false; + } + long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos()); + if (avoidAbs<51){ return false; } rgvTaskProtocol.setAvoid(1); @@ -293,52 +545,88 @@ return false; } return false; + } + } else { + if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing()) + - (targetPosition + rgvProtocol.getCarBodyKunPeng()) + > avoidDistance - 50) {//鏃犻渶閬胯 + return true; } } } else { if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) { if ((targetPosition - rgvProtocol.getCarBodyJiaoMing()) - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng()) - > avoidDistance) {//鏃犻渶閬胯 + > avoidDistance - 50) {//鏃犻渶閬胯 return true; } else { long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) { - log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠$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()); + if (avoidAbs<51){ + return true; } 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$悊鍛橈紒锛侊紒"); + log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); + try{ + DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); + deviceErrorService.addDeviceError("rgv", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿"); + } catch (Exception e2){ + log.error("e2:"+e2.getMessage()); + } return false; + } + long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos()); + if (avoidAbs<51){ + return true; } rgvTaskProtocolOther.setAvoid(1); rgvTaskProtocolOther.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther); - return true; + return false; } } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) { if ((targetPosition - rgvProtocol.getCarBodyJiaoMing()) - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng()) - > avoidDistance) {//鏃犻渶閬胯 + > avoidDistance-50) {//鏃犻渶閬胯 return true; } else { - if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) { + if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) { long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) { - log.error("琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛佷换鍔″紓甯� 鑱旂郴绠$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()); + if (avoidAbs<51){ return false; } rgvTaskProtocol.setAvoid(1); @@ -347,6 +635,12 @@ return false; } return false; + } + } else { + if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing()) + - (targetPosition + rgvProtocol.getCarBodyKunPeng()) + > avoidDistance - 50) {//鏃犻渶閬胯 + return true; } } } @@ -381,7 +675,13 @@ 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); } @@ -390,7 +690,7 @@ rgvTaskProtocol = new RgvTaskProtocol(); rgvTaskProtocol.setRgvNo(slave.getId()); } - rgvTaskProtocol.setAvoid(-1); + rgvTaskProtocol.setAvoid(0); rgvTaskProtocol.setAvoidingTheDestination(0L); RgvStatusCache.updateRgvStatus(rgvProtocol); @@ -414,6 +714,12 @@ // 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(); @@ -425,21 +731,41 @@ */ private void readStatus() { try { - OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34); + 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()); if (rgvProtocol == null) { rgvProtocol = new RgvProtocol(); - rgvProtocol.setRgvNo(slave.getId()); } - rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); - rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); - rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 10)); - rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20)); + rgvProtocol.setRgvNo(slave.getId()); + rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing()); + rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng()); + + rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0)); + rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4)); + if (rgvProtocol.getRgvPosDestination()==0L){ + rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos()); + } + rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8)); + rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10)); + + rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14)); + rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 16)); +// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20)); // rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28)); // rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40)); // 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, 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]); 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 @@ -468,6 +794,13 @@ 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) { @@ -479,13 +812,28 @@ } 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()); + + 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(); } } @@ -495,20 +843,34 @@ */ 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); // taskProtocol.setRgvNo(slave.getId()); Long[] array = new Long[11]; + OperateResult result41 = siemensNet.Write("DB100.12.0", false); + // array[0] = taskProtocol.getAckFinish1(); // array[1] = taskProtocol.getTaskNo(); // array[2] = taskProtocol.getTaskMode(); // array[4] = command.getDestinationStaNo(); // array[10] = taskProtocol.getCommand(); - OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo()); - OperateResult result1 = siemensNet.Write("DB100.1", taskProtocol.isDirection()); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙� + int taskStatus = taskProtocol.getTaskStatus(); + OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue()); + OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus); + OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue()); + OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙� + + OperateResult result4 = siemensNet.Write("DB100.12.0", true); // if (taskProtocol.getAckFinish1() == 0) { // short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆 // Thread.sleep(100L); @@ -540,6 +902,14 @@ Thread.sleep(200); 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 { @@ -549,6 +919,53 @@ } } + private boolean writeDelRgvTask() throws InterruptedException { +// + OperateResult result = siemensNet.Write("DB100.12.0", false); + OperateResult result0 = siemensNet.Write("DB100.0", (int) 0); + OperateResult result1 = siemensNet.Write("DB100.4", (short) 0); + OperateResult result2 = siemensNet.Write("DB100.6", (int) 0); + OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙� + + try { + // 鏃ュ織璁板綍 + BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class); + BasRgvOpt basRgvOpt = new BasRgvOpt( + 0, + 0, + slave.getId(), + new Date(), + String.valueOf(0), + null, + null, + null, + result.IsSuccess ? 1 : 0, + null, + new Date(), + null + ); + bean.insert(basRgvOpt); + } catch (Exception ignore) { + } + + if (result != null && result.IsSuccess) { + 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; + } else { + OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc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鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); + return false; + } + } + + + public void setDelRgvTask() { + delRgvTask = true; + } + @Override public void close() { siemensNet.ConnectClose(); -- Gitblit v1.9.1