From dcdfc93b50febf61301832d91dfcddcfa1ca5403 Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期三, 14 五月 2025 14:06:36 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/RgvThread.java             |   54 +++++++++++++++++++++------
 src/main/webapp/views/taskWrk/taskWrk.html                  |    4 +-
 src/main/java/com/zy/asrs/controller/TaskWrkController.java |   16 ++++++++
 src/main/java/com/zy/core/model/protocol/TaskProtocol.java  |    1 
 4 files changed, 61 insertions(+), 14 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/TaskWrkController.java b/src/main/java/com/zy/asrs/controller/TaskWrkController.java
index 4c5eb58..ec82562 100644
--- a/src/main/java/com/zy/asrs/controller/TaskWrkController.java
+++ b/src/main/java/com/zy/asrs/controller/TaskWrkController.java
@@ -394,6 +394,22 @@
         }
 
     }
+    @PostMapping(value = "/taskWrk/assign/auth")
+    @ManagerAuth(memo = "杈撻�佺嚎涓嬪彂瀹屾垚")
+    public R returnAssign(@RequestParam String taskNo) {
+        TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskNo);
+        if (!Cools.isEmpty(taskWrk) && taskWrk.getWrkSts()==1){
+            taskWrk.setStatus(TaskStatusType.RECEIVE.id);//娲惧彂鐘舵��
+            taskWrk.setWrkSts(2);
+            if(!taskWrkService.updateById(taskWrk)){
+                return R.error("鏇存柊浠诲姟鐘舵�佸け璐�");
+            }
+            return R.ok();
+        }else{
+            return R.error("浠诲姟鐘舵�佷笉瀵规棤娉曡烦杞�");
+        }
+
+    }
 
 
 }
diff --git a/src/main/java/com/zy/core/model/protocol/TaskProtocol.java b/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
index 4d1aff0..5e8c732 100644
--- a/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/TaskProtocol.java
@@ -10,6 +10,7 @@
     private volatile String taskNoDirection; // 浠诲姟鍙凤紙涓诲睘鎬э級
     private volatile Long taskNo; // 浠诲姟鍙凤紙涓诲睘鎬э級
     private volatile Long targetPosition = 0L; // 鐩爣浣嶇疆
+    private volatile Integer targetPositionStaNo = 0; // 鐩爣浣嶇疆
 
     private volatile int isRunning = 0; // 杩愯鐘舵��  0锛氬垵濮�  1锛氱瓑寰呮墽琛�  2锛氭墽琛屼腑 3锛氭墽琛屼腑鏂� 4锛氬畬缁�
 
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 8c2ceeb..d0e09bd 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -63,6 +63,8 @@
      */
     private boolean resetFlag2 = false;
 
+    private boolean connectRgv = false;
+
     public RgvThread(RgvSlave slave) {
         this.slave = slave;
     }
@@ -70,21 +72,48 @@
     @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();
+            }
         }
     }
 
@@ -264,7 +293,7 @@
                         }
                         if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
                                 && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
-                            Thread.sleep(100);
+//                            Thread.sleep(100);
                             TaskProtocol issued = new TaskProtocol(taskProtocol);
                             write(issued);
                             taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
@@ -618,6 +647,7 @@
 
             } 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());
             }
diff --git a/src/main/webapp/views/taskWrk/taskWrk.html b/src/main/webapp/views/taskWrk/taskWrk.html
index d867a23..0dc3af6 100644
--- a/src/main/webapp/views/taskWrk/taskWrk.html
+++ b/src/main/webapp/views/taskWrk/taskWrk.html
@@ -55,7 +55,7 @@
                                 <!--										<el-dropdown-item command="showCommand">鏌ョ湅鎸囦护</el-dropdown-item>-->
                                 <el-dropdown-item command="returnWorkingCondition">閲嶆柊缁欏爢鍨涙満涓嬪彂浠诲姟</el-dropdown-item>
                                 <el-dropdown-item command="changeCommand">淇敼</el-dropdown-item>
-                                <el-dropdown-item command="assign">娲惧彂</el-dropdown-item>
+                                <el-dropdown-item command="assign">璺宠浆鍒拌緭閫佺嚎涓嬪彂瀹屾垚</el-dropdown-item>
                                 <el-dropdown-item command="complete">瀹岀粨</el-dropdown-item>
                                 <el-dropdown-item command="cancel">鍙栨秷</el-dropdown-item>
                                 <el-dropdown-item command="delete">鍒犻櫎鏃犻渶涓婃姤</el-dropdown-item>
@@ -262,7 +262,7 @@
                 //娲惧彂浠诲姟
                 let that = this
                 $.ajax({
-                    url: baseUrl + "/taskWrk/distribute/auth",
+                    url: baseUrl + "/taskWrk/assign/auth",
                     headers: {
                         'token': localStorage.getItem('token')
                     },

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