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 |   60 +++++++++++++++++++++++++++++++++++++++++++++---------------
 1 files changed, 45 insertions(+), 15 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 386207f..d0e09bd 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,7 +48,7 @@
     //    private RgvProtocol rgvProtocol;
     private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
     // # 杞ㄩ亾鎬婚暱
-    private Long trackEntireLength = 215000L;
+    private Long trackEntireLength = 224000L;
     //# 杞ㄩ亾鍩哄噯鐐�
     private Long trackBenchmark = 1L;
     //  # 閬胯璺濈
@@ -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());
@@ -378,7 +407,7 @@
                         > avoidDistance) {//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");
@@ -450,7 +479,7 @@
                         > avoidDistance) {//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");
@@ -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());
             }

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