From de480b42a379d1cf23e1703977c0169e837fa786 Mon Sep 17 00:00:00 2001
From: zzgtfwq <zzgtfwq>
Date: 星期三, 10 十二月 2025 13:17:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 208 ++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 155 insertions(+), 53 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index caea4ec..f87315d 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 = 224000L;
+ private Long trackEntireLength = 240000L;
//# 杞ㄩ亾鍩哄噯鐐�
private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 5000L;
+ private Long avoidDistance = 11200L;
private String errorRgv = "-";
/**
@@ -134,7 +134,7 @@
initRgv();
continue;
}
- Thread.sleep(20);
+ Thread.sleep(100L);
// System.out.println("璇荤嚎绋�,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
readStatus();
@@ -176,11 +176,43 @@
}
Thread.sleep(50L);
- OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);
- boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);
- if (status[0]){
- Thread.sleep(500L);
- OperateResult result4 = siemensNet.Write("DB100.12.0", false);
+ // 鏋勫缓璁惧鐘舵�佸璞�
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ if (rgvProtocol == null) {
+ rgvProtocol = new RgvProtocol();
+ }
+ if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING) || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)){
+ boolean sign = true;
+ int i = 1;
+ while (sign && i<5){
+ i++;
+ sign = false;
+ OperateResult result2 = siemensNet.Write("DB100.2",(int) 0);
+ OperateResult result14 = siemensNet.Write("DB100.14", (int) 0);
+ OperateResult result6 = siemensNet.Write("DB100.6", (short) 0);
+ OperateResult result8 = siemensNet.Write("DB100.8", (short) 0);
+ OperateResult result10 = siemensNet.Write("DB100.10", (short) 0);
+ OperateResult result12 = siemensNet.Write("DB100.12", (short) 0);
+ Thread.sleep(10L);
+
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);
+ short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);
+ short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);
+ short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);
+ Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);
+ if (i2!=0 || i6 != (short) 0
+ || i8!=(short)0 || i10 != (short) 0
+ || i14!=0){
+ sign = true;
+ }
+ }
+
+ OperateResult result0 = siemensNet.Write("DB100.0", (short) 1);
+
+ Thread.sleep(20L);
+
+ OperateResult result00 = siemensNet.Write("DB100.0", (short) 0);
}
} 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());
@@ -213,7 +245,7 @@
continue;
}
// 浼戠湢 1 绉�
- Thread.sleep(100);
+ Thread.sleep(200L);
if (!deviceDetection()) {
continue;
@@ -281,6 +313,8 @@
}
continue;
}
+
+ Thread.sleep(50L);
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
@@ -666,7 +700,7 @@
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
return false;
}
- } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
+ } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
> avoidDistance - 50) {//鏃犻渶閬胯
@@ -874,7 +908,7 @@
return false;
}
- } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
+ } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
> avoidDistance-50) {//鏃犻渶閬胯
@@ -1010,7 +1044,8 @@
*/
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);
+ OperateResultExOne<byte[]> result100 = siemensNet.Read("DB100.0", (short) 18);
if (result.IsSuccess) {
// 鏋勫缓璁惧鐘舵�佸璞�
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -1021,14 +1056,16 @@
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));
+ rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
+// rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
+ rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
+ rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ rgvProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 32));
+ rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result100.Content, 14));
if (rgvProtocol.getRgvPosDestination()==0L){
rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos());
}
-
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));
-// rgvProtocol.setStatus((short)1);
//浣滀笟鍚姩涓� 瑙ｅ喅浠诲姟涓嬪彂鍚庡皬杞︾姸鎬佹湭鏇存柊锛屽皬杞︾姸鎬佷笉鍙婃椂
if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){
@@ -1038,26 +1075,22 @@
rgvProtocol.setStatus((short)110);
}
- 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));
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 16));
// 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]);
- rgvProtocol.setErr7(status[14]);
- rgvProtocol.setErr8(status[15]);
+// 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]);
+// rgvProtocol.setErr7(status[14]);
+// rgvProtocol.setErr8(status[15]);
// System.out.println("璇荤嚎绋�"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));
// System.out.println("璇荤嚎绋�,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis()+"灏忚溅鏁版嵁锛�"+JSON.toJSONString(rgvProtocol));
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()));
@@ -1072,9 +1105,9 @@
// }
// }
// }
- if (rgvProtocol.getAlarm$()!=0){
- RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());
- }
+// if (rgvProtocol.getAlarm$()!=0){
+// RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());
+// }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -1138,6 +1171,7 @@
* 鍐欏叆鏁版嵁
*/
private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
+ Thread.sleep(50L);
if (null == taskProtocol) {
log.error("RGV鍐欏叆鍛戒护涓虹┖ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
@@ -1149,25 +1183,67 @@
}
return false;
}
+
+
+ this.wrkSign = 1;
// convertRow(command);
// taskProtocol.setRgvNo(slave.getId());
// Long[] array = new Long[11];
- OperateResult result41 = siemensNet.Write("DB100.12.0", false);
+ OperateResult result0 = siemensNet.Write("DB100.0", (short) 0);
// array[0] = taskProtocol.getAckFinish1();
// array[1] = taskProtocol.getTaskNo();
// array[2] = taskProtocol.getTaskMode();
// array[4] = command.getDestinationStaNo();
// array[10] = taskProtocol.getCommand();
- int taskStatus = taskProtocol.getTaskStatus();
+ int taskStatus = taskProtocol.getTaskStatus$();
+ int targetPositionStaNo = taskProtocol.getTargetPositionStaNo();
+ int targetPositionStaNoEnd = taskProtocol.getTargetPositionStaNoEnd();
+ boolean sign = true;
+ int i = 1;
+ while (sign && i<5){
+ i++;
+ sign = false;
+ OperateResult result2 = siemensNet.Write("DB100.2", taskProtocol.getTaskNo().intValue());
+ OperateResult result6 = siemensNet.Write("DB100.6", (short) taskStatus);
+ OperateResult result8 = siemensNet.Write("DB100.8", (short) targetPositionStaNo);
+ OperateResult result10 = siemensNet.Write("DB100.10", (short) targetPositionStaNo);
+ OperateResult result14 = siemensNet.Write("DB100.14", taskProtocol.getTargetPosition().intValue());
+ OperateResult result18 = siemensNet.Write("DB100.18", (short) targetPositionStaNoEnd);
+// 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�
+ Thread.sleep(10L);
- 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�
- Thread.sleep(20L);
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ short i0 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 0);
+ Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);
+ short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);
+ short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);
+ short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);
+ Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);
+ short i18 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 18);
+ if (i0 !=(short) 0 || i2!=taskProtocol.getTaskNo().intValue() || i6 != (short) taskStatus
+ || i8!=(short)targetPositionStaNo || i10 != (short) targetPositionStaNo
+ || i14!=taskProtocol.getTargetPosition().intValue() || i18 != (short) targetPositionStaNoEnd){
+ sign = true;
+ }
+ }
+ sign = true;
+ OperateResult result12 = siemensNet.Write("DB100.12", (short) 1);
+//
+ i = 1;
+ sign = true;
+ while (sign && i<5){
+ i++;
+ sign = false;
+// 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�
+ Thread.sleep(10L);
- OperateResult result4 = siemensNet.Write("DB100.12.0", true);
- this.wrkSign = 1;
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ short i12 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 12);
+ if (i12 != (short) 1 ){
+ sign = true;
+ }
+ result12 = siemensNet.Write("DB100.12", (short) 1);
+ }
// log.info("浠诲姟涓嬪彂绾跨▼,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
@@ -1189,7 +1265,7 @@
null,
null,
null,
- result.IsSuccess ? 1 : 0,
+ result12.IsSuccess ? 1 : 0,
null,
new Date(),
null
@@ -1199,7 +1275,7 @@
}
readStatus();
- if (result != null && result.IsSuccess) {
+ if (result12 != null && result0.IsSuccess) {
// Thread.sleep(50);
// this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
@@ -1222,11 +1298,37 @@
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�
+ int i = 1;
+ boolean sign = true;
+ while (sign && i<5){
+ i++;
+ sign = false;
+ OperateResult result0 = siemensNet.Write("DB100.0", (short) 0);
+ OperateResult result2 = siemensNet.Write("DB100.2", 0);
+ OperateResult result6 = siemensNet.Write("DB100.6", (short) 0);
+ OperateResult result8 = siemensNet.Write("DB100.8", (short) 0);
+ OperateResult result10 = siemensNet.Write("DB100.10", (short) 0);
+ OperateResult result12 = siemensNet.Write("DB100.12",(short)0);
+ OperateResult result14 = siemensNet.Write("DB100.14",0);
+ OperateResult result18 = siemensNet.Write("DB100.18", (short) 0);
+// 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�
+ Thread.sleep(10L);
+
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ short i0 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 0);
+ Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);
+ short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);
+ short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);
+ short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);
+ short i12 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 12);
+ Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);
+ short i18 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 18);
+ if (i0 !=(short) 0 || i2!=0 || i6 != (short) 0
+ || i8!=(short)0 || i10 != (short) 0 || i12 != (short) 0
+ || i14!=0 || i18 != (short) 0){
+ sign = true;
+ }
+ }
log.info("浠诲姟瀹屾垚涓嬪彂绾跨▼,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
try {
@@ -1241,7 +1343,7 @@
null,
null,
null,
- result.IsSuccess ? 1 : 0,
+ sign ? 1 : 0,
null,
new Date(),
null
@@ -1250,7 +1352,7 @@
} catch (Exception ignore) {
}
- if (result != null && result.IsSuccess) {
+ if (sign) {
// Thread.sleep(200);
// this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
--
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