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 | 104 +++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 86 insertions(+), 18 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 38b1d23..d0e09bd 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,11 +48,11 @@
// 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 +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());
@@ -343,6 +372,10 @@
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");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -359,6 +392,10 @@
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");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -370,10 +407,14 @@
> 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");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
return false;
}
rgvTaskProtocol.setAvoid(1);
@@ -382,6 +423,12 @@
return false;
}
return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
}
}
} else {
@@ -395,6 +442,10 @@
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");
return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
}
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
@@ -412,6 +463,10 @@
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");
return false;
}
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
@@ -424,10 +479,14 @@
> 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");
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos());
+ if (avoidAbs<51){
return false;
}
rgvTaskProtocol.setAvoid(1);
@@ -436,6 +495,12 @@
return false;
}
return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
}
}
}
@@ -520,8 +585,10 @@
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
}
+ 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));
@@ -580,6 +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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