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 | 1770 ++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 1,212 insertions(+), 558 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 67269ed..f87315d 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,31 +5,35 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
-import com.zy.common.utils.News;
-import com.zy.core.RgvThread2;
+import com.zy.asrs.service.DeviceErrorService;
+import com.zy.asrs.utils.RouteUtils;
+import com.zy.asrs.utils.TrackRangeUtils;
+import com.zy.core.DevpThread;
import com.zy.core.ThreadHandler;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.*;
+import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
-import com.zy.core.enums.RgvTaskStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
-import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.core.model.protocol.*;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
import java.text.MessageFormat;
import java.util.Date;
+import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
/**
* RGV绾跨▼
@@ -37,11 +41,20 @@
*/
@Data
@Slf4j
-public class RgvThread implements Runnable, RgvThread2 {
+public class RgvThread implements Runnable, ThreadHandler {
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 = 240000L;
+ //# 杞ㄩ亾鍩哄噯鐐�
+ private Long trackBenchmark = 1L;
+ // # 閬胯璺濈
+ private Long avoidDistance = 11200L;
+ private String errorRgv = "-";
+
/**
* 宸ヤ綅1澶嶄綅淇″彿
*/
@@ -51,12 +64,11 @@
*/
private boolean resetFlag2 = false;
- //閿佸畾鏍囪
- private boolean PakMk = true;
- //鍏ュ簱鏍囪
- private boolean PakIn = true;
- //鍑哄簱鏍囪
- private boolean PakOut = true;
+ private boolean connectRgv = false;
+ public Long currentTimeMilliConnectRgv= 0L;
+
+ private boolean delRgvTask = false;
+ private short wrkSign = 0;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -65,122 +77,932 @@
@Override
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
- this.connect();
+ initRgv();
+
+ // 鍚姩绾跨▼鑷姩閲嶈繛
+ new Thread(this::rgvConnect).start();
+
+ // 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 {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
- if (task != null) {
- step = task.getStep();
+ Thread.sleep(1000);
+ if(!connectRgv){
+ try {
+ connectRgv = this.connect();
+ Thread.sleep(100);
+ } catch (Exception e){
+
+ }
}
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- readStatus();
- break;
-// // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
-// case 2:
-// write((RgvCommand) task.getData());
-// break;
- //宸ヤ綅1鍐欏叆鏁版嵁
- case 4:
- write1((RgvCommand) task.getData());
- break;
-// //宸ヤ綅2鍐欏叆鏁版嵁
- case 5:
- write2((RgvCommand) task.getData());
- break;
- // 澶嶄綅
- case 3:
- RgvCommand command = (RgvCommand) task.getData();
- if (null == command) {
- command = new RgvCommand();
- }
- command.setRgvNo(slave.getId()); // RGV缂栧彿
- command.setTaskNo1(0); // 宸ヤ綔鍙�
- command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command.setTargetPosition1( 0); // 婧愮珯
- command.setEndStaNo1(0); // 鐩爣绔�
- command.setCommand(false);
- write1(command);
- break;
- case 6:
- RgvCommand command2 = (RgvCommand) task.getData();
- if (null == command2) {
- command2 = new RgvCommand();
- }
- command2.setRgvNo(slave.getId()); // RGV缂栧彿
- command2.setTaskNo2(0); // 宸ヤ綔鍙�
- command2.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
- command2.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command2.setTargetPosition2( 0); // 婧愮珯
- command2.setEndStaNo2(0); // 鐩爣绔�
- command2.setCommand(false);
- write2(command2);
- break;
- // 鍥炲師鐐� 閬胯
- case 9:
-// RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
-// if (null == commandAvoidanceXY) {
-// commandAvoidanceXY = new RgvCommand();
-// }
-// commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
-// commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
-// commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
-// commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
-// commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
-// commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
-//// commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
-//// commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
-//// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
-//// commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
-//// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
-// commandAvoidanceXY.setCommand((short)0);
-// write(commandAvoidanceXY);
- break;
- default:
- break;
- }
- Thread.sleep(500);
} catch (Exception e) {
+ log.error("rgv杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "rgv杩炴帴澶辫触"+e.getMessage());
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ initRgv();
+// e.printStackTrace();
+ }
+ }
+ }
+
+ private void readStatusRgv() {
+ while (true) {
+ try {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ initRgv();
+ continue;
+ }
+ 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();
+
+ } catch (Exception e) {
+ log.error("RGV鏁版嵁璇诲彇绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV鏁版嵁璇诲彇绾跨▼寮傚父"+e.getMessage());
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ initRgv();
// e.printStackTrace();
}
}
+
+ }
+
+ /**
+ * 瀹屾垚
+ */
+ private void taskComplete() {
+ while (true) {
+ try {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ continue;
+ }
+ if (delRgvTask){
+ writeDelRgvTask();
+ delRgvTask = false;
+ continue;
+ }
+ Thread.sleep(50L);
+
+ // 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父"+e.getMessage());
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ initRgv();
+// e.printStackTrace();
+ }
+
+ }
+
+ }
+
+ /**
+ * 婕父
+ */
+ private void taskWalkIssued() {
+ while (true) {
+ try {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ continue;
+ }
+ // 浼戠湢 1 绉�
+ Thread.sleep(200L);
+
+ if (!deviceDetection()) {
+ continue;
+ }
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ initRgv();
+ rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ }
+ if (rgvTaskProtocol.getAvoid() != 1) {
+ continue;
+ }
+ TaskProtocol issued = new TaskProtocol();
+ issued.setTaskNo(32222L);
+ issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+ issued.setTaskStatus(1);
+ issued.setDirection(true);
+ write(issued);
+ rgvTaskProtocol.setAvoid(0);
+
+// Thread.sleep(200);
+ 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());
+// e.printStackTrace();
+ }
+ }
+ }
+
+ /**
+ * 浠诲姟涓嬪彂
+ */
+ private void taskIssued() {
+ while (true) {
+ if(!connectRgv){
+ try {
+ Thread.sleep(1000L);
+ } catch (Exception e){
+
+ }
+ continue;
+ }
+ RgvRunProtocol rgvRun = RgvRunCache.getRgvRun();
+ if (!rgvRun.getRgvNo().equals(slave.getId())){
+ continue;
+ }
+ try {
+ Thread.sleep(100);
+ rgvRun = RgvRunCache.getRgvRun();
+// System.out.println(JSON.toJSON(rgvRun));
+
+ // 浼戠湢 1 绉�
+ if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500L) {
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ } else {
+ continue;
+ }
+ if (!deviceDetection()) {
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ if (!errorRgv.equals("鏃�")){
+ RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
+ }
+ continue;
+ }
+
+ Thread.sleep(50L);
+
+ 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 (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ continue;
+ }
+ if (rgvProtocol.getLoaded() == -1){
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅鎺㈢墿鐗╃姸鎬佸紓甯�");
+ continue;
+ }
+ if (rgvTaskProtocol.getAvoid() != 0) {
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ continue;
+ }
+
+ List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
+ if (allTakeTaskProtocol.isEmpty()){
+ 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())) {
+ RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
+ break;
+ }
+ }
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ RgvErrCache.updateRgvErr(slave.getId());
+ break;
+ } else {
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ }
+ }
+ }
+ RgvErrCache.updateRgvErr(slave.getId());
+ } else {
+ 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())) {
+ RgvErrCache.updateRgvErr(slave.getId(),errorRgv);
+ break;
+ }
+ }
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+ if (taskProtocol.getTaskStatus()==3){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ RgvErrCache.updateRgvErr(slave.getId(),"鏈煡鍒板皬杞︿綔涓氱珯"+staProtocol.getStaNo()+"绔欑偣");
+ break;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ ){
+ RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅绛夊緟"+staProtocol.getStaNo()+"绔欑偣灏辩华");
+ break;
+ }
+ } else if (taskProtocol.getTaskStatus()==2){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ RgvErrCache.updateRgvErr(slave.getId(),"鏈煡鍒板皬杞︿綔涓氱珯"+staProtocol.getStaNo()+"绔欑偣");
+ break;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo()==0
+ ){
+ RgvErrCache.updateRgvErr(slave.getId(),"灏忚溅绛夊緟"+staProtocol.getStaNo()+"绔欑偣灏辩华");
+ break;
+ }
+ }
+ TaskProtocol issued = new TaskProtocol(taskProtocol);
+ write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ RgvErrCache.updateRgvErr(slave.getId());
+ break;
+ }
+ }
+ }
+ }
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ } catch (Exception e) {
+ log.error("RGV浠诲姟涓嬪彂绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ rgvRun = RgvRunCache.getRgvRun();
+ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50;
+ rgvRun.setRgvNo(slave.getOtherId());
+ RgvRunCache.updateRgvStatus(rgvRun);
+ continue;
+// e.printStackTrace();
+ }
+ }
+ }
+ public boolean isSignRgvTaskProtocol() {
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ if (rgvTaskProtocolOther == null) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+
+ public boolean deviceDetection() {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹁繛鎺ュけ璐�";
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹂潪鑷姩";
+ return false;
+ }
+ if (rgvProtocol.getRgvPos().equals(0L)
+ || rgvTaskProtocol.getAvoid() == -1
+ || rgvProtocol.getRgvPosDestination() == 0L) {
+ errorRgv = slave.getId()+"鍙峰皬杞︾姸鎬佸紓甯�";
+ return false;
+ }
+ if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
+ errorRgv = "鏃�";
+ return false;
+ }
+ if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) {
+ errorRgv = slave.getId()+"鍙峰皬杞﹀瓨鍦ㄨ繍琛岀洰鏍囧�硷紝闇�瑕佸浣嶏紒锛侊紒";
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+// System.out.println("rgvTaskProtocol:"+slave.getId()+"sign:"+rgvTaskProtocol.isSignRun()+"/n"+
+// "rgvTaskProtocolOther:"+slave.getOtherId()+"sign:"+rgvTaskProtocolOther.isSignRun()+"/n");
+
+ if (rgvProtocolOther == null) {
+ errorRgv = slave.getOtherId()+"鍙峰皬杞﹁繛鎺ュけ璐�";
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ errorRgv = slave.getOtherId()+"鍙峰皬杞︾姸鎬佸紓甯�";
+ return false;
+ }
+ }
+ return true;
+ }
+
+ public boolean rgvOtherStatusEnable() {
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable) {
+// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
+ return true;
+// }
+ }
+ return false;
+ }
+
+ public boolean otherRgvAvoid(Long targetPosition) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ long onePos = Math.abs(targetPosition - rgvProtocol.getRgvPos());
+ if (onePos<50){
+ return true;
+ }
+ 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 (new TrackRangeUtils().IsItSmall(slave)) {
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) {
+ if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ } else {
+
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
+ TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
+ if (!Cools.isEmpty(nowPosRunTask)){
+ boolean signNowPosRun = true;
+ if (nowPosRunTask.getTaskStatus()==3){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ ){
+ if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
+ if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) {
+ long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ 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;
+ }
+ signNowPosRun =false;
+ }
+ }
+ }
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
+ if (!Cools.isEmpty(nowPosRunTask2)){
+ boolean signNowPosRun = true;
+ boolean signNowPosA = true;
+ if (targetPosition - rgvProtocol.getRgvPos()>0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
+ if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ } else if (targetPosition - rgvProtocol.getRgvPos()<0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
+ if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ }
+
+ if (signNowPosA){
+ if (nowPosRunTask2.getTaskStatus()==3){
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && !staProtocol.isLoading()
+ ){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ signNowPosRun =false;
+ }
+ }
+ } else {
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (twoPos<100){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ signNowPosRun =false;
+ }
+ }
+ }
+ }
+
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return false;
+ }
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
+ if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ } else {
+ long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return false;
+ }
+ } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ } 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("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ 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;
+ }
+ errorRgv = slave.getOtherId()+"鍙稲GV褰卞搷锛岀瓑寰呬腑...";
+
+ return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ }
+ }
+ } else {
+ if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ } else {
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache();
+ TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos());
+ if (!Cools.isEmpty(nowPosRunTask)){
+ boolean signNowPosRun = true;
+ if (nowPosRunTask.getTaskStatus()==3){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ ){
+ if (targetPosition.equals(nowPosRunTask.getTargetPosition())){
+ if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) {
+ long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ 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;
+ }
+ signNowPosRun =false;
+ }
+ }
+ }
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+
+ TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2();
+ if (!Cools.isEmpty(nowPosRunTask2)){
+ boolean signNowPosRun = true;
+ boolean signNowPosA = true;
+ if (targetPosition - rgvProtocol.getRgvPos()>0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){
+ if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ } else if (targetPosition - rgvProtocol.getRgvPos()<0){
+ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){
+ if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){
+ signNowPosA = false;
+ signNowPosRun = false;
+ }
+ }
+ }
+
+ if (signNowPosA){
+ if (nowPosRunTask2.getTaskStatus()==3){
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo());
+ if (staProtocol == null ) {
+ signNowPosRun =false;
+ }
+ if (signNowPosRun){
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && !staProtocol.isLoading()
+ ){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ signNowPosRun =false;
+ }
+ }
+ } else {
+ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos());
+ if (twoPos<100){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ if (Math.abs(onePos - twoPos)>100){
+ if (onePos-50>twoPos+50){
+ signNowPosRun =false;
+ }
+ }
+ }
+ }
+
+ if (signNowPosRun){
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟浣滀笟...";
+ return false;
+ }
+ }
+ long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return false;
+ }
+ } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ } else {
+ long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
+ if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
+ log.error("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ return false;
+ }
+ long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos());
+ if (avoidAbs<51){
+ return true;
+ }
+ rgvTaskProtocolOther.setAvoid(1);
+ rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
+ return false;
+ }
+
+ } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
+ if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
+ - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
+ > avoidDistance-50) {//鏃犻渶閬胯
+ return true;
+ } 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("RGV琛岃蛋瓒呭嚭鑼冨洿锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ errorRgv = "RGV琛岃蛋鐩爣瓒呭嚭鑼冨洿";
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV琛岃蛋瓒呭嚭鑼冨洿");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ 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;
+ }
+ errorRgv = slave.getOtherId()+"鍙稲GV绛夊緟涓�...";
+ return false;
+ }
+ } else {
+ if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
+ - (targetPosition + rgvProtocol.getCarBodyKunPeng())
+ > avoidDistance - 50) {//鏃犻渶閬胯
+ return true;
+ }
+ }
+ }
+
+ errorRgv = slave.getOtherId()+"鍙稲GV褰卞搷锛岀瓑寰呬腑...";
+ return false;
}
/**
* 鍒濆鍖朢GV鐘舵��
*/
private void initRgv() {
- if (null == rgvProtocol) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
+ rgvProtocol.setRgvNo(slave.getId());
}
- //灏忚溅鐘舵��
- rgvProtocol.setStatus((short)-1);
- rgvProtocol.setRgvPosDestination(0);
rgvProtocol.setMode((short) -1);
- rgvProtocol.setRgvPos(0);
- rgvProtocol.setErr1(false);
- rgvProtocol.setErr2(false);
- rgvProtocol.setErr3(false);
- rgvProtocol.setErr4(false);
- rgvProtocol.setErr5(false);
- rgvProtocol.setErr6(false);
- rgvProtocol.setErr7(false);
- //宸ヤ綅1鐘舵��
- rgvProtocol.setTaskNo1(0);
- rgvProtocol.setStatus1((short)-1);
- rgvProtocol.setLoaded1(false);
- //宸ヤ綅2鐘舵��
- rgvProtocol.setTaskNo2(0);
- rgvProtocol.setStatus2((short)-1);
- rgvProtocol.setLoaded2(false);
-// rgvProtocol.setAlarm((short)0);
-// rgvProtocol.setxSpeed((short) 0);
-// rgvProtocol.setxDistance((short) 0);
-// rgvProtocol.setxDuration((short) 0);
+ rgvProtocol.setStatus((short) -1);
+ rgvProtocol.setWalkPos((short) 0);
+ rgvProtocol.setRgvPos(0L);
+ rgvProtocol.setAlarm((short) 0);
+ rgvProtocol.setxSpeed((short) 0);
+ rgvProtocol.setxDistance((short) 0);
+ rgvProtocol.setxDuration((short) 0);
+ rgvProtocol.setCarBodyJiaoMing(0L);
+ rgvProtocol.setCarBodyKunPeng(0L);
+ try {
+ BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+ BasRgv rgv = basRgvService.selectById(slave.getId());
+ 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� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV寮傚父"+e.getMessage());
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ rgvProtocol.setStatusEnable(true);
+ }
+
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+ if (rgvTaskProtocol == null) {
+ rgvTaskProtocol = new RgvTaskProtocol();
+ rgvTaskProtocol.setRgvNo(slave.getId());
+ }
+ rgvTaskProtocol.setAvoid(0);
+ rgvTaskProtocol.setAvoidingTheDestination(0L);
+
+ RgvStatusCache.updateRgvStatus(rgvProtocol);
+
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+
}
@Override
@@ -190,543 +1012,375 @@
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()));
+// 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());
} else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慠GV plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慠GV plc杩炴帴澶辫触锛侊紒锛� ===>> [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("RGV plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
- initRgv();
+
+ if (System.currentTimeMillis()-currentTimeMilliConnectRgv>1000*60*10){
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGVplc杩炴帴澶辫触");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ if (currentTimeMilliConnectRgv == 0){
+ currentTimeMilliConnectRgv = System.currentTimeMillis()-1000*60*10-1;
+ } else {
+ currentTimeMilliConnectRgv = System.currentTimeMillis();
+ }
+ }
}
+ initRgv();
// siemensNet.ConnectClose();
return result;
- }
-
- private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
- if (value) {
- buffer[byteIndex] |= (1 << bitIndex); // 缃綅
- } else {
- buffer[byteIndex] &= ~(1 << bitIndex); // 娓呴浂
- }
}
/**
* 璇诲彇鐘舵��
*/
- private void readStatus(){
+ private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);
+ OperateResultExOne<byte[]> result100 = siemensNet.Read("DB100.0", (short) 18);
if (result.IsSuccess) {
- if (null == rgvProtocol) {
+ // 鏋勫缓璁惧鐘舵�佸璞�
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ if (rgvProtocol == null) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0));
-
}
- rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
- rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
- rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
- rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
+ rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
+ rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
- boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
- rgvProtocol.setLoaded1(status1[0]);
- rgvProtocol.setLoaded2(status1[1]);
- boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 26, 1);
- rgvProtocol.setErr1(status2[0]);
- rgvProtocol.setErr2(status2[1]);
- rgvProtocol.setErr3(status2[2]);
- rgvProtocol.setErr4(status2[3]);
- rgvProtocol.setErr5(status2[4]);
- rgvProtocol.setErr6(status2[5]);
- rgvProtocol.setErr7(status2[6]);
- boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
- rgvProtocol.setErr1(status3[0]);
- rgvProtocol.setErr2(status3[1]);
- rgvProtocol.setErr3(status3[2]);
- rgvProtocol.setErr4(status3[3]);
- rgvProtocol.setErr5(status3[4]);
- rgvProtocol.setErr6(status3[5]);
- rgvProtocol.setErr7(status3[6]);
+ 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.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
-// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
-// rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
-// rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
-// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
-// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+ //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){
+ this.wrkSign = 0;
+ }
+ if (this.wrkSign == 1){
+ rgvProtocol.setStatus((short)110);
+ }
+
// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
-// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
-// rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
-// rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
-// rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
-// rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
-// rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
// 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]);
+// 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()));
-
- // 宸ヤ綅1澶嶄綅淇″彿
- if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag1) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish1(true);
- if (write1(rgvCommand)) {
- resetFlag1 = false;
- }
- }
- }
-
-// 宸ヤ綅2澶嶄綅淇″彿
- if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag2) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish2(true);
- if (write2(rgvCommand)) {
- resetFlag2 = false;
- }
- }
- }
+// // 宸ヤ綅1澶嶄綅淇″彿
+// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
+// || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
+// if (resetFlag1) {
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setAckFinish1((short)1);
+// if (write(rgvCommand)) {
+// resetFlag1 = false;
+// }
+// }
+// }
+// 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�
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
- BasRgv basRgv = new BasRgv();
- basRgv.setRgvNo(slave.getId());
- 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());
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (!Cools.isEmpty(basRgv)) {
+ rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
+ } else {
+ rgvProtocol.setStatusEnable(false);
}
- } catch (Exception ignore){
- System.out.println(ignore);
+// BasRgv basRgv = new BasRgv();
+ basRgv.setRgvNo(slave.getId());
+ 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());
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV plc鏁版嵁搴撴洿鏂板け璐�");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ }
+ } catch (Exception ignore) {
+
}
+
+
+ // 鏇存柊缂撳瓨
+ RgvStatusCache.updateRgvStatus(rgvProtocol);
} else {
initRgv();
- 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());
+ 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());
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
}
} catch (Exception e) {
- e.printStackTrace();
- 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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-// log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+// e.printStackTrace();
+// 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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
initRgv();
}
}
-// /**
-// * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
-// */
-// private boolean write(RgvCommand command) throws InterruptedException {
-// if (null == command) {
-// log.error("RGV鍐欏叆鍛戒护涓虹┖");
-// return false;
-// }
-//// convertRow(command);
-// command.setRgvNo(slave.getId());
-// short[] array = new short[11];
-// array[0] = command.getAckFinish1();
-// array[1] = command.getTaskNo1();
-// array[2] = command.getTaskMode1();
-// array[3] = command.getSourceStaNo1();
-// array[4] = command.getDestinationStaNo1();
-//// array[0] = command.getAckFinish1();
-//// array[1] = command.getTaskNo1();
-//// array[2] = command.getTaskMode1();
-//// array[3] = command.getSourceStaNo1();
-//// array[4] = command.getDestinationStaNo1();
-//// array[5] = command.getAckFinish2();
-//// array[6] = command.getTaskNo2();
-//// array[7] = command.getTaskMode2();
-//// array[8] = command.getSourceStaNo2();
-//// array[9] = command.getDestinationStaNo2();
-//// array[10] = command.getCommand();
-// OperateResult result = siemensNet.Write("DB100.0", array);
-//
-//// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
-//// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
-//// Thread.sleep(100L);
-//// result = siemensNet.Write("DB100.20", commandFinish);
-//// }
-//
-// try {
-// // 鏃ュ織璁板綍
-// BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
-// BasRgvOpt basRgvOpt = new BasRgvOpt(
-// command.getTaskNo1().intValue(),
-// command.getTaskNo2().intValue(),
-// command.getRgvNo(),
-// new Date(),
-// command.getTaskModeType1().toString(),
-// command.getSourceStaNo1().intValue(),
-// command.getDestinationStaNo1().intValue(),
-// command.getSourceStaNo2().intValue(),
-// command.getDestinationStaNo2().intValue(),
-// null,
-// new Date(),
-// null
-// );
-// bean.insert(basRgvOpt);
-// } catch (Exception ignore) {}
-//
-// if (result != null && result.IsSuccess) {
-// Thread.sleep(200);
-// this.readStatus();
-// log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
-// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
-// return true;
-// } else {
-// OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-// log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
-// return false;
-// }
-// }
-
/**
- * 宸ヤ綅1鍐欏叆鏁版嵁
+ * 鍐欏叆鏁版嵁
*/
- private boolean write1(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ 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());
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV鍐欏叆鍛戒护涓虹┖");
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
return false;
}
- OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
-// OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
- if (result1.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
- one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
-// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
-// one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
-// one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
-// one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
-// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
-// one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));
- News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
+ this.wrkSign = 1;
+// convertRow(command);
+// taskProtocol.setRgvNo(slave.getId());
+// Long[] array = new Long[11];
+ 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 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 result2 = siemensNet.Write("DB100.34", false);
- if (result2.IsSuccess){
- News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
- }
- byte[] writeBytes = new byte[34];
- command.setRgvNo(slave.getId());
- siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
- siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
- siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
- setBool(writeBytes, 32, 0, command.getAckFinish1());
-
-// command.setRgvNo(slave.getId());
-// short[] array = new short[5];
-// array[0] = command.getAckFinish1();
-// array[1] = command.getTaskNo1();
-// array[2] = command.getTaskMode1();
-// array[3] = command.getSourceStaNo1();
-// array[4] = command.getDestinationStaNo1();
-// siemensNet.Write("DB100.10", command.getCommand());
-
- OperateResult result = siemensNet.Write("DB100.0", writeBytes);
-
- if (!result.IsSuccess){
- News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
- Thread.sleep(100);
- readStatus();
- return false;
- }
-
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(400);
- try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
- if (resultRead.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
- if (
- !command.getDirection1().equals(one.getDirection1()) ||
- !command.getTaskNo1().equals(one.getTaskNo1()) ||
- !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
- !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
- !command.getTargetPosition1().equals(one.getTargetPosition1())
- ) {
- try{
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }catch (Exception e){
- try{
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
- }catch (Exception e1){
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- }
- }
- News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
- Thread.sleep(100);
- readStatus();
- return false;
- }else {
- News.info("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
- }
- }catch (Exception e){
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
- }
-
- if (command.getAckFinish1()) {
- if (result.IsSuccess) {
- Thread.sleep(300);
- //浠诲姟涓嬪彂娆℃暟
- int writeCount2 = 0;
-
- do {
- writeCount2++;
- boolean commandFinish = false;
- result = siemensNet.Write("DB100.32.0", commandFinish);
- if(result.IsSuccess){
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
- if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
- if (!commandFinish){
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }else{
- //浠诲姟鍛戒护鍐欏叆鎴愬姛
- News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- break;
- }
- }else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- } else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- }while (writeCount2<5);
+ 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);
-// if (command.getAckFinish1() == 0) {
-// short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
-// Thread.sleep(200);
-// result = siemensNet.Write("DB100.10", commandFinish);
+ 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());
+
+// 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);
+// result = siemensNet.Write("DB100.20", commandFinish);
// }
try {
// 鏃ュ織璁板綍
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1(),
- command.getRgvNo(),
+ taskProtocol.getTaskNo().intValue(),
+ taskProtocol.getTaskNo().intValue(),
+ slave.getId(),
new Date(),
- command.getTaskStatus1().toString(),
- command.getTargetPosition1(),
- command.getEndStaNo1(),
+ String.valueOf(taskProtocol.getTaskStatus()),
+ null,
+ null,
+ null,
+ result12.IsSuccess ? 1 : 0,
null,
new Date(),
null
);
bean.insert(basRgvOpt);
} catch (Exception ignore) {
- log.error(ignore.getMessage());
}
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅1鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ readStatus();
+ 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));
+ log.error("RGV 鍛戒护涓嬪彂 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvWrite", slave.getId(), "RGV 鍛戒护涓嬪彂"+JSON.toJSON(taskProtocol));
+ } catch (Exception e2){
+// log.error("e2:"+e2.getMessage());
+ }
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
return true;
} else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
}
- /**
- * 宸ヤ綅2鍐欏叆鏁版嵁
- */
- private boolean write2(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
+ private boolean writeDelRgvTask() throws InterruptedException {
+//
+ 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[]> result1 = siemensNet.Read("DB100.0", (short) 34);
- if (result1.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
- one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
- one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
- one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
- one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
- News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
-
-
- OperateResult result2 = siemensNet.Write("DB100.34", false);
- if (result2.IsSuccess){
- News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
- }
- byte[] writeBytes = new byte[34];
- command.setRgvNo(slave.getId());
- siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
- siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
- siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
- setBool(writeBytes, 32, 1, command.getAckFinish2());
-
- OperateResult result = siemensNet.Write("DB100.0", writeBytes);
-
- if (!result.IsSuccess){
- News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(5,command));
- Thread.sleep(100);
- readStatus();
- return false;
- }
-
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(400);
- try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
- if (resultRead.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
- if (
- !command.getDirection2().equals(one.getDirection2()) ||
- !command.getTaskNo2().equals(one.getTaskNo2()) ||
- !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
- !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
- !command.getTargetPosition2().equals(one.getTargetPosition2())
- ) {
- try{
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }catch (Exception e){
- try{
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
- }catch (Exception e1){
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- }
- }
- News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(5, command));
- Thread.sleep(100);
- readStatus();
- return false;
- }else {
- News.info("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
- }
- }catch (Exception e){
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
- }
-
- if (command.getAckFinish1()) {
- if (result.IsSuccess) {
- Thread.sleep(300);
- //浠诲姟涓嬪彂娆℃暟
- int writeCount2 = 0;
-
- do {
- writeCount2++;
- boolean commandFinish = false;
- result = siemensNet.Write("DB100.32.1", commandFinish);
- if(result.IsSuccess){
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
- if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
- if (!commandFinish){
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }else{
- //浠诲姟鍛戒护鍐欏叆鎴愬姛
- News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- break;
- }
- }else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- } else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- }while (writeCount2<5);
+ 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 {
// 鏃ュ織璁板綍
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo2(),
- command.getRgvNo(),
+ 0,
+ 0,
+ slave.getId(),
new Date(),
- command.getTaskStatus2().toString(),
- command.getTargetPosition2(),
- command.getEndStaNo2(),
+ String.valueOf(0),
+ null,
+ null,
+ null,
+ sign ? 1 : 0,
null,
new Date(),
null
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ }
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("RGV 宸ヤ綅2鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅2鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ if (sign) {
+// Thread.sleep(200);
+// this.readStatus();
+ log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null")));
return true;
} else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
+ }
+
+
+ /**
+ * 娓呴櫎浣滀笟鍚姩涓�
+ */
+ @Override
+ public void setWrkSign() {
+ this.wrkSign = 0;
+ }
+
+ public void setDelRgvTask() {
+ delRgvTask = true;
}
@Override
public void close() {
siemensNet.ConnectClose();
- }
-
- /******************************************************************************************/
- /**************************************** 娴嬭瘯涓撶敤 *****************************************/
- /*****************************************************************************************/
- public static void main(String[] args) throws InterruptedException {
- RgvSlave slave = new RgvSlave();
- slave.setId(1);
- slave.setIp("192.168.6.9");
- slave.setRack(0);
- slave.setSlot(0);
- RgvThread rgvThread = new RgvThread(slave);
- rgvThread.connect();
- rgvThread.readStatus();
- System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
- Thread.sleep(3000L);
-
}
}
--
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