fix(ft546): serialize shuttle reader lifecycle

ruoyi-admin/src/main/java/com/ruoyi/schedule/ScheduleThread.java

@@ -30,6 +30,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.PostConstruct;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -66,8 +67,10 @@ public class ScheduleThread {
     @Autowired
     private Ft546SrgvRuntimeFactory srgvRuntimeFactory;
 
-    private boolean isRun = false;
-    private boolean isRun2 = false;
+    private volatile boolean isRun = false;
+    private volatile boolean isRun2 = false;
+
+    private static final long THREAD_STOP_TIMEOUT_MS = 5000L;
 
     /**
      * 项目初始化启动
@@ -171,16 +174,21 @@ public class ScheduleThread {
     /**
      * 开始线程
      */
-    public void startAllThread() {
-        plcSsjReadCustomThread.getThread().start();
-        for (CustomThread<PlcSrgvRead> reader
-                : plcSrgvReadCustomThreads.values()) {
-            reader.getThread().start();
+    public synchronized void startAllThread() {
+        if (isRun) {
+            return;
+        }
+        List<Thread> readerThreads = requireFactReaderThreads();
+        for (Thread readerThread : readerThreads) {
+            if (readerThread.getState() != Thread.State.NEW) {
+                throw new IllegalStateException(
+                        "PLC fact reader cannot be restarted: "
+                                + readerThread.getName());
+            }
+        }
+        for (Thread readerThread : readerThreads) {
+            readerThread.start();
         }
-        plcTsjReadCustomThread.getThread().start();
-        plcCdzReadCustomThread.getThread().start();
-
-
         isRun = true;
     }
 
@@ -200,14 +208,18 @@ public class ScheduleThread {
     /**
      * 停止线程
      */
-    public void stopAllThread() {
-        plcSsjReadCustomThread.runnable.isRun = false;
-        for (CustomThread<PlcSrgvRead> reader
-                : plcSrgvReadCustomThreads.values()) {
-            reader.runnable.isRun = false;
+    public synchronized void stopAllThread() {
+        if (!isRun) {
+            return;
         }
+        List<Thread> readerThreads = currentFactReaderThreads();
+        signalFactReadersToStop();
+        isRun = false;
+        awaitFactReadersStopped(readerThreads);
         plcSrgvReadCustomThreads.clear();
-        deviceRuntimeRegistry.clear();
+        if (deviceRuntimeRegistry != null) {
+            deviceRuntimeRegistry.clear();
+        }
 //        plcDdj1ReadCustomThread.runnable.isRun = false;
        /* plcDdj2ReadCustomThread.runnable.isRun = false;
         plcDdj3ReadCustomThread.runnable.isRun = false;
@@ -215,7 +227,95 @@ public class ScheduleThread {
         plcDdj5ReadCustomThread.runnable.isRun = false;
         plcDdj6ReadCustomThread.runnable.isRun = false;*/
         plcReadInit();
-        isRun = false;
+    }
+
+    private List<Thread> requireFactReaderThreads() {
+        List<Thread> threads = new ArrayList<Thread>();
+        threads.add(requireThread(plcSsjReadCustomThread,
+                "conveyor fact reader"));
+        for (Map.Entry<String, CustomThread<PlcSrgvRead>> entry
+                : plcSrgvReadCustomThreads.entrySet()) {
+            threads.add(requireThread(entry.getValue(),
+                    "shuttle fact reader " + entry.getKey()));
+        }
+        threads.add(requireThread(plcTsjReadCustomThread,
+                "lift fact reader"));
+        threads.add(requireThread(plcCdzReadCustomThread,
+                "charger fact reader"));
+        return threads;
+    }
+
+    private List<Thread> currentFactReaderThreads() {
+        List<Thread> threads = new ArrayList<Thread>();
+        addThreadIfPresent(threads, plcSsjReadCustomThread);
+        for (CustomThread<PlcSrgvRead> reader
+                : plcSrgvReadCustomThreads.values()) {
+            addThreadIfPresent(threads, reader);
+        }
+        addThreadIfPresent(threads, plcTsjReadCustomThread);
+        addThreadIfPresent(threads, plcCdzReadCustomThread);
+        return threads;
+    }
+
+    private void signalFactReadersToStop() {
+        if (plcSsjReadCustomThread != null
+                && plcSsjReadCustomThread.runnable != null) {
+            plcSsjReadCustomThread.runnable.isRun = false;
+        }
+        for (CustomThread<PlcSrgvRead> reader
+                : plcSrgvReadCustomThreads.values()) {
+            if (reader != null && reader.runnable != null) {
+                reader.runnable.isRun = false;
+            }
+        }
+        if (plcTsjReadCustomThread != null
+                && plcTsjReadCustomThread.runnable != null) {
+            plcTsjReadCustomThread.runnable.isRun = false;
+        }
+        if (plcCdzReadCustomThread != null
+                && plcCdzReadCustomThread.runnable != null) {
+            plcCdzReadCustomThread.runnable.isRun = false;
+        }
+    }
+
+    private void awaitFactReadersStopped(List<Thread> readerThreads) {
+        long deadline = System.currentTimeMillis() + THREAD_STOP_TIMEOUT_MS;
+        for (Thread readerThread : readerThreads) {
+            long remaining = deadline - System.currentTimeMillis();
+            if (remaining <= 0L) {
+                break;
+            }
+            try {
+                readerThread.join(remaining);
+            } catch (InterruptedException interrupted) {
+                Thread.currentThread().interrupt();
+                throw new IllegalStateException(
+                        "interrupted while stopping PLC fact readers",
+                        interrupted);
+            }
+        }
+        for (Thread readerThread : readerThreads) {
+            if (readerThread.isAlive()) {
+                throw new IllegalStateException(
+                        "PLC fact reader did not stop: "
+                                + readerThread.getName());
+            }
+        }
+    }
+
+    private static Thread requireThread(CustomThread<?> customThread,
+                                        String name) {
+        if (customThread == null || customThread.getThread() == null) {
+            throw new IllegalStateException(name + " is not initialized");
+        }
+        return customThread.getThread();
+    }
+
+    private static void addThreadIfPresent(List<Thread> threads,
+                                           CustomThread<?> customThread) {
+        if (customThread != null && customThread.getThread() != null) {
+            threads.add(customThread.getThread());
+        }
     }
 
     /**