From ff28b7ce248f4f4b36e0cd1c6db71dc25d308189 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期日, 25 五月 2025 15:09:13 +0800
Subject: [PATCH] 初始化
---
src/main/java/com/zy/core/thread/RgvThread.java | 397 ++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 327 insertions(+), 70 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 5379142..2abca84 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -12,6 +12,7 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.service.DeviceErrorService;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.core.DevpThread;
@@ -66,6 +67,7 @@
private boolean resetFlag2 = false;
private boolean connectRgv = false;
+ private boolean delRgvTask = false;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -84,17 +86,18 @@
}
}
- // 鍚姩璇绘暟鎹嚎绋�
+ // 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();
+// 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();
@@ -112,7 +115,13 @@
}
}
} 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("rgv", slave.getId(), "rgv杩炴帴澶辫触"+e.getMessage());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
initRgv();
// e.printStackTrace();
}
@@ -122,12 +131,18 @@
private void readStatusRgv() {
while (true) {
try {
- Thread.sleep(100);
+ Thread.sleep(20);
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� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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();
}
@@ -142,14 +157,25 @@
private void taskComplete() {
while (true) {
try {
- Thread.sleep(100);
+ if (delRgvTask){
+ writeDelRgvTask();
+ delRgvTask = false;
+ continue;
+ }
+ Thread.sleep(40);
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());
+ 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("rgv", 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();
}
@@ -201,7 +227,6 @@
taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
break;
} else {
- Thread.sleep(100);
TaskProtocol issued = new TaskProtocol(taskProtocol,true);
write(issued);
taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
@@ -210,7 +235,13 @@
}
}
} 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("rgv", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
// e.printStackTrace();
}
}
@@ -261,7 +292,7 @@
while (true) {
try {
// 浼戠湢 1 绉�
- Thread.sleep(100);
+ Thread.sleep(50);
if (!deviceDetection()) {
continue;
}
@@ -272,58 +303,98 @@
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;
}
+ if (rgvTaskProtocol.getAvoid() != 0) {
+ if (rgvTaskProtocol.getAvoid() == 1) {
+ TaskProtocol issued = new TaskProtocol();
+ issued.setTaskNo(32222L);
+ issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
+ issued.setTaskStatus(1);
+ issued.setDirection(true);
+ write(issued);
+ rgvTaskProtocol.setAvoid(0);
+
+ try{Thread.sleep(50L);} catch (Exception e){}
+
+ RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
+ }
+ 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());
- //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 (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())) {
+ continue;
+ }
+ }
+ if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
+ && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ TaskProtocol issued = new TaskProtocol(taskProtocol,true);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
}
}
- if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50
- && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){
- Thread.sleep(100);
- if (taskProtocol.getTaskStatus()==3){
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo());
- if (staProtocol == null ) {
- continue;
- }
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (!staProtocol.isAutoing() || staProtocol.isLoading()
- || staProtocol.getWorkNo() != 0
- ){
- System.out.println("<鏀捐揣鐩爣绔�>" + taskProtocol.getTargetPositionStaNo() + "<闈炶嚜鍔ㄦ垨鑰呮湁鐗╂垨鑰呭瓨鍦ㄥ伐浣滃彿锛侊紒锛�>");
+ }
+ } 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())) {
continue;
}
}
- 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;
+ 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 ) {
+ continue;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isAutoing() || staProtocol.isLoading()
+ || staProtocol.getWorkNo() != 0
+ ){
+ continue;
+ }
+ }
+ TaskProtocol issued = new TaskProtocol(taskProtocol);
+ write(issued);
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ break;
+ } else {
+ 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("rgv", slave.getId(), "RGV浠诲姟涓嬪彂绾跨▼寮傚父"+e.getMessage());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
// e.printStackTrace();
}
}
@@ -380,12 +451,43 @@
if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > 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()
+ || staProtocol.getWorkNo() != 0
+ ){
+ signNowPosRun =false;
+ }
+ }
+ }
+ if (signNowPosRun){
+ return false;
+ }
+ }
long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.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");
+ 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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());
@@ -395,17 +497,23 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > 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("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");
+ 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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());
@@ -415,18 +523,24 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > 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("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");
+ 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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());
@@ -443,7 +557,7 @@
} else {
if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//鏃犻渶閬胯
return true;
}
}
@@ -451,12 +565,42 @@
if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > 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()
+ || staProtocol.getWorkNo() != 0
+ ){
+ signNowPosRun =false;
+ }
+ }
+ }
+ if (signNowPosRun){
+ return false;
+ }
+ }
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");
+ 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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());
@@ -466,17 +610,23 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > 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("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");
+ 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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());
@@ -486,19 +636,25 @@
rgvTaskProtocolOther.setAvoid(1);
rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
- return true;
+ return false;
}
} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > 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("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");
+ 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", 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());
@@ -515,7 +671,7 @@
} else {
if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing())
- (targetPosition + rgvProtocol.getCarBodyKunPeng())
- > avoidDistance) {//鏃犻渶閬胯
+ > avoidDistance - 50) {//鏃犻渶閬胯
return true;
}
}
@@ -551,7 +707,13 @@
rgvProtocol.setStatusEnable(false);
}
} catch (Exception e) {
- log.error("RGV寮傚父锛侊紒锛�" + e.getMessage());
+ 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("rgv", slave.getId(), "RGV寮傚父"+e.getMessage());
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
rgvProtocol.setStatusEnable(true);
}
@@ -584,6 +746,12 @@
// 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());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", slave.getId(), "RGVplc杩炴帴澶辫触");
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
}
initRgv();
// siemensNet.ConnectClose();
@@ -595,7 +763,7 @@
*/
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 19);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);
if (result.IsSuccess) {
// 鏋勫缓璁惧鐘舵�佸璞�
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -622,8 +790,14 @@
// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
// OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);
- boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 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]);
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
@@ -652,6 +826,13 @@
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("rgv", 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) {
@@ -666,11 +847,25 @@
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("rgv", 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());
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgv", slave.getId(), "璇诲彇RGV plc鐘舵�佷俊鎭け璐�");
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
initRgv();
}
}
@@ -680,7 +875,14 @@
*/
private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
if (null == taskProtocol) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ 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("rgv", slave.getId(), "RGV鍐欏叆鍛戒护涓虹┖");
+ } catch (Exception e2){
+ log.error("e2:"+e2.getMessage());
+ }
return false;
}
// convertRow(command);
@@ -729,9 +931,17 @@
}
if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
+// 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("rgv", 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 {
@@ -741,6 +951,53 @@
}
}
+ 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�
+
+ try {
+ // 鏃ュ織璁板綍
+ BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(
+ 0,
+ 0,
+ slave.getId(),
+ new Date(),
+ String.valueOf(0),
+ null,
+ null,
+ null,
+ result.IsSuccess ? 1 : 0,
+ 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("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;
+ }
+ }
+
+
+ public void setDelRgvTask() {
+ delRgvTask = true;
+ }
+
@Override
public void close() {
siemensNet.ConnectClose();
--
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