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 | 461 +++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 317 insertions(+), 144 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 15214fe..d0e09bd 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -13,6 +13,7 @@
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.RouteUtils;
+import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.*;
import com.zy.core.enums.RgvModeType;
@@ -44,14 +45,14 @@
private SiemensS7Net siemensNet;
private RgvSlave slave;
-// private RgvProtocol rgvProtocol;
+ // 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
@@ -62,6 +63,8 @@
*/
private boolean resetFlag2 = false;
+ private boolean connectRgv = false;
+
public RgvThread(RgvSlave slave) {
this.slave = slave;
}
@@ -69,21 +72,52 @@
@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::readStatusRgv).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();
+ }
}
}
- private void readStatusRgv(){
+ private void readStatusRgv() {
while (true) {
try {
Thread.sleep(100);
@@ -91,13 +125,93 @@
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�" + e.getMessage());
initRgv();
// e.printStackTrace();
}
}
+ }
+
+ /**
+ * 瀹屾垚
+ */
+ private void taskComplete() {
+ while (true) {
+ try {
+ Thread.sleep(100);
+ 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鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛�" + e.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 {
+ Thread.sleep(100);
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ 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());
+// e.printStackTrace();
+ }
+ }
}
/**
@@ -109,7 +223,7 @@
// 浼戠湢 1 绉�
Thread.sleep(100);
- if (!deviceDetection()){
+ if (!deviceDetection()) {
continue;
}
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
@@ -123,6 +237,8 @@
TaskProtocol issued = new TaskProtocol();
issued.setTaskNo(32222L);
issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+ issued.setTaskStatus(1);
+ issued.setDirection(true);
write(issued);
rgvTaskProtocol.setAvoid(0);
@@ -130,7 +246,7 @@
RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
} catch (Exception e) {
- log.error("RGV琛岃蛋浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�"+e.getMessage());
+ log.error("RGV琛岃蛋浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
// e.printStackTrace();
}
}
@@ -144,7 +260,7 @@
try {
// 浼戠湢 1 绉�
Thread.sleep(100);
- if (!deviceDetection()){
+ if (!deviceDetection()) {
continue;
}
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -157,38 +273,51 @@
if (rgvTaskProtocol.getAvoid() != 0) {
continue;
}
+ if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)){
+ continue;
+ }
+ if (rgvProtocol.getLoaded() == -1){
+ 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());
+ for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
+ if (taskProtocol.getIsRunning() == 1) {//鍑嗗涓嬪彂
+// RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
//鍙岃溅
- if (rgvOtherStatusEnable()){
+ if (rgvOtherStatusEnable()) {
//鍙︿竴鍙拌溅鏄惁鍏佽姝ゅ彴杞︽墽琛�
- if (!otherRgvAvoid(taskProtocol.getTargetPosition())){
+ if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
continue;
}
}
- Thread.sleep(200);
- TaskProtocol issued = new TaskProtocol(taskProtocol);
- write(issued);
- taskProtocol.setIsRunning(taskProtocol.getIsRunning() +1);
- taskProtocolCache.updateTaskProtocol(taskProtocol);
- break;
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+// Thread.sleep(100);
+ TaskProtocol issued = new TaskProtocol(taskProtocol);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ Thread.sleep(100);
+ 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鍙栬揣浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛�" + e.getMessage());
// e.printStackTrace();
}
}
}
- public boolean deviceDetection(){
+ public boolean deviceDetection() {
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
- if (rgvProtocol == null || rgvTaskProtocol ==null) {
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
@@ -201,20 +330,20 @@
if (rgvProtocolOther == null) {
return false;
}
- if (rgvProtocolOther.statusEnable){
- if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ if (rgvProtocolOther.statusEnable) {
+ if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
return false;
}
}
return true;
}
- public boolean rgvOtherStatusEnable(){
+ public boolean rgvOtherStatusEnable() {
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
if (rgvProtocolOther == null) {
return true;
}
- if (rgvProtocolOther.statusEnable){
+ if (rgvProtocolOther.statusEnable) {
// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
return true;
// }
@@ -222,136 +351,156 @@
return false;
}
- public boolean otherRgvAvoid(Long targetPosition){
+ public boolean otherRgvAvoid(Long targetPosition) {
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+ Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);
- if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
- if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)){
- if ((rgvProtocolOther.getRgvPos()-rgvProtocolOther.getCarBodyJiaoMing())
- - (targetPosition+rgvProtocol.getCarBodyKunPeng())
- > avoidDistance){//鏃犻渶閬胯
+ if (new TrackRangeUtils().IsItSmall(slave)) {
+
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
return true;
} else {
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
- if (avoid > trackEntireLength-rgvProtocolOther.getCarBodyKunPeng()){
- log.error("閬胯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");
+ 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;
}
- rgvTaskProtocol.setAvoid(1);
- rgvTaskProtocol.setAvoidingTheDestination(avoid);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
return true;
}
- } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)){
- if ((rgvProtocolOther.getRgvPosDestination()-rgvProtocolOther.getCarBodyJiaoMing())
- - (targetPosition+rgvProtocol.getCarBodyKunPeng())
- > avoidDistance){//鏃犻渶閬胯
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
+ if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
return true;
} else {
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
- if (avoid > trackEntireLength-rgvProtocolOther.getCarBodyKunPeng()){
- log.error("閬胯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");
+ 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;
}
- rgvTaskProtocol.setAvoid(1);
- rgvTaskProtocol.setAvoidingTheDestination(avoid);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
return true;
}
- } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)){
- if ((rgvProtocolOther.getRgvPosDestination()-rgvProtocolOther.getCarBodyJiaoMing())
- - (targetPosition+rgvProtocol.getCarBodyKunPeng())
- > avoidDistance){//鏃犻渶閬胯
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
+ if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
return true;
} else {
- RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvProtocolOther.getRgvNo());
- TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
- List<TaskProtocol> allPutTaskProtocol = taskProtocolCacheOther.getAllPutTaskProtocol();
- if (allPutTaskProtocol.size() > 1){
- return false;
- }
- for (TaskProtocol taskProtocol : allPutTaskProtocol){
- if (taskProtocol.getTargetPosition()>=rgvProtocolOther.getRgvPos()){
- long avoid = rgvProtocolOther.getRgvPos()-rgvProtocolOther.getCarBodyJiaoMing()-avoidDistance-rgvProtocol.getCarBodyKunPeng();
- if (avoid > trackEntireLength-rgvProtocolOther.getCarBodyKunPeng()){
- 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;
- }
- rgvTaskProtocol.setAvoid(1);
- rgvTaskProtocol.setAvoidingTheDestination(avoid);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
- return false;
- } else {
+ 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);
+ rgvTaskProtocol.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ return false;
}
return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//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
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
return true;
} else {
- long avoid = targetPosition -rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
- if (avoid < trackBenchmark + rgvProtocolOther.getCarBodyJiaoMing()){
- log.error("閬胯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");
+ 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");
return false;
}
- rgvTaskProtocol.setAvoid(1);
- rgvTaskProtocol.setAvoidingTheDestination(avoid);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
return true;
}
- } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)){
- if ((targetPosition-rgvProtocol.getCarBodyJiaoMing())
- - (rgvProtocolOther.getRgvPosDestination()+rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance){//鏃犻渶閬胯
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
return true;
} else {
- long avoid = targetPosition -rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
- if (avoid < trackBenchmark + rgvProtocolOther.getCarBodyJiaoMing()){
- log.error("閬胯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");
+ 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");
return false;
}
- rgvTaskProtocol.setAvoid(1);
- rgvTaskProtocol.setAvoidingTheDestination(avoid);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
return true;
}
- } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)){
- if ((targetPosition-rgvProtocol.getCarBodyJiaoMing())
- - (rgvProtocolOther.getRgvPosDestination()+rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance){//鏃犻渶閬胯
+
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
return true;
} else {
- RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvProtocolOther.getRgvNo());
- TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
- List<TaskProtocol> allPutTaskProtocol = taskProtocolCacheOther.getAllPutTaskProtocol();
- if (allPutTaskProtocol.size() > 1){
- return false;
- }
- for (TaskProtocol taskProtocol : allPutTaskProtocol){
- if (taskProtocol.getTargetPosition()<=rgvProtocolOther.getRgvPos()){
- long avoid = rgvProtocolOther.getRgvPos()+rgvProtocolOther.getCarBodyKunPeng()+avoidDistance+rgvProtocol.getCarBodyJiaoMing();
- if (avoid < trackBenchmark + rgvProtocolOther.getCarBodyJiaoMing()){
- 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;
- }
- rgvTaskProtocol.setAvoid(1);
- rgvTaskProtocol.setAvoidingTheDestination(avoid);
- RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
- return false;
- } else {
+ 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);
+ rgvTaskProtocol.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ return false;
}
return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance) {//鏃犻渶閬胯
+ return true;
}
}
}
@@ -368,25 +517,25 @@
rgvProtocol.setRgvNo(slave.getId());
}
rgvProtocol.setMode((short) -1);
- rgvProtocol.setStatus((short)-1);
- rgvProtocol.setWalkPos((short)0);
+ rgvProtocol.setStatus((short) -1);
+ rgvProtocol.setWalkPos((short) 0);
rgvProtocol.setRgvPos(0L);
- rgvProtocol.setAlarm((short)0);
+ rgvProtocol.setAlarm((short) 0);
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
rgvProtocol.setxDuration((short) 0);
rgvProtocol.setCarBodyJiaoMing(0L);
rgvProtocol.setCarBodyKunPeng(0L);
- try{
+ try {
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
BasRgv rgv = basRgvService.selectById(slave.getId());
- if (!Cools.isEmpty(rgv)){
+ if (!Cools.isEmpty(rgv)) {
rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
} else {
rgvProtocol.setStatusEnable(false);
}
- } catch (Exception e){
- log.error("RGV寮傚父锛侊紒锛�"+e.getMessage());
+ } catch (Exception e) {
+ log.error("RGV寮傚父锛侊紒锛�" + e.getMessage());
rgvProtocol.setStatusEnable(true);
}
@@ -395,7 +544,7 @@
rgvTaskProtocol = new RgvTaskProtocol();
rgvTaskProtocol.setRgvNo(slave.getId());
}
- rgvTaskProtocol.setAvoid(-1);
+ rgvTaskProtocol.setAvoid(0);
rgvTaskProtocol.setAvoidingTheDestination(0L);
RgvStatusCache.updateRgvStatus(rgvProtocol);
@@ -411,7 +560,7 @@
siemensNet.setRack(slave.getRack().byteValue());
siemensNet.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensNet.ConnectServer();
- if(connect.IsSuccess){
+ if (connect.IsSuccess) {
result = true;
// OutputQueue.RGV.offer(MessageFormat.format( "銆恵0}銆慠GV plc杩炴帴鎴愬姛 ===>> [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.info("RGV plc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
@@ -428,25 +577,39 @@
/**
* 璇诲彇鐘舵��
*/
- private void readStatus(){
+ private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 19);
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));
- 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()));
+// OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
+ boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 1);
+ rgvProtocol.setLoaded(status[0]? (short)1:(short)0);
+
+ 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
// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
// || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
@@ -463,18 +626,18 @@
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
BasRgv basRgv = basRgvService.selectById(slave.getId());
- if (!Cools.isEmpty(basRgv)){
+ if (!Cools.isEmpty(basRgv)) {
rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
} else {
rgvProtocol.setStatusEnable(false);
}
// BasRgv basRgv = new BasRgv();
basRgv.setRgvNo(slave.getId());
- basRgv.setRgvSts((int)rgvProtocol.getMode());
- if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
+ 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());
}
- } catch (Exception ignore){
+ } catch (Exception ignore) {
}
@@ -484,6 +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());
}
@@ -506,13 +670,21 @@
// 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[1] = taskProtocol.getTaskNo();
// array[2] = taskProtocol.getTaskMode();
// array[4] = command.getDestinationStaNo();
// array[10] = taskProtocol.getCommand();
- OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
+ 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);
@@ -531,13 +703,14 @@
null,
null,
null,
- result.IsSuccess? 1 : 0,
+ result.IsSuccess ? 1 : 0,
null,
new Date(),
null
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
--
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