package com.zy.core.thread;
|
|
import HslCommunication.Core.Types.OperateResult;
|
import HslCommunication.Core.Types.OperateResultExOne;
|
import HslCommunication.Profinet.Siemens.SiemensPLCS;
|
import HslCommunication.Profinet.Siemens.SiemensS7Net;
|
import com.alibaba.fastjson.JSON;
|
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.core.ThreadHandler;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.OutputQueue;
|
import com.zy.core.enums.RgvStatusType;
|
import com.zy.core.enums.RgvTaskModeType;
|
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 lombok.Data;
|
import lombok.extern.slf4j.Slf4j;
|
|
import java.text.MessageFormat;
|
import java.util.Date;
|
|
/**
|
* RGV线程
|
* Created by vincent on 2022/11/29
|
*/
|
@Data
|
@Slf4j
|
public class RgvThread implements Runnable, RgvThread2 {
|
|
private SiemensS7Net siemensNet;
|
private RgvSlave slave;
|
private RgvProtocol rgvProtocol;
|
/**
|
* 工位1复位信号
|
*/
|
private boolean resetFlag1 = false;
|
/**
|
* 工位2复位信号
|
*/
|
private boolean resetFlag2 = false;
|
|
//锁定标记
|
private boolean PakMk = true;
|
|
public RgvThread(RgvSlave slave) {
|
this.slave = slave;
|
}
|
|
@Override
|
@SuppressWarnings("InfiniteLoopStatement")
|
public void run() {
|
this.connect();
|
while (true) {
|
try {
|
int step = 1;
|
Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
|
if (task != null) {
|
step = task.getStep();
|
}
|
switch (step) {
|
// 读数据
|
case 1:
|
readStatus();
|
break;
|
// // 工位1、2写入数据
|
// case 2:
|
// write((RgvCommand) task.getData());
|
// break;
|
//工位1写入数据
|
case 4:
|
write1((RgvCommand) task.getData());
|
break;
|
// //工位2写入数据
|
// case 5:
|
// write2((RgvCommand) task.getData());
|
// break;
|
// 复位
|
case 3:
|
RgvCommand command = (RgvCommand) task.getData();
|
if (null == command) {
|
command = new RgvCommand();
|
}
|
command.setRgvNo(slave.getId()); // RGV编号
|
command.setTaskNo1((short) 0); // 工作号
|
command.setAckFinish1((short) 1); // 任务完成确认位
|
command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
|
command.setSourceStaNo1((short)0); // 源站
|
command.setDestinationStaNo1((short)0); // 目标站
|
command.setCommand((short)0);
|
write1(command);
|
break;
|
// 回原点 避让
|
case 9:
|
RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
|
if (null == commandAvoidanceXY) {
|
commandAvoidanceXY = new RgvCommand();
|
}
|
commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
|
commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
|
commandAvoidanceXY.setAckFinish1((short) 1); // 任务完成确认位
|
commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
|
commandAvoidanceXY.setSourceStaNo1((short)0); // 源站
|
commandAvoidanceXY.setDestinationStaNo1((short)0); // 目标站
|
// commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
|
// commandAvoidanceXY.setAckFinish2((short) 1); // 任务完成确认位
|
// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
|
// commandAvoidanceXY.setSourceStaNo2((short)0); // 源站
|
// commandAvoidanceXY.setDestinationStaNo2((short)0); // 目标站
|
commandAvoidanceXY.setCommand((short)0);
|
write(commandAvoidanceXY);
|
break;
|
default:
|
break;
|
}
|
Thread.sleep(500);
|
} catch (Exception e) {
|
// e.printStackTrace();
|
}
|
|
}
|
}
|
|
/**
|
* 初始化RGV状态
|
*/
|
private void initRgv() {
|
if (null == rgvProtocol) {
|
rgvProtocol = new RgvProtocol();
|
}
|
rgvProtocol.setMode((short) -1);
|
rgvProtocol.setStatus((short)-1);
|
rgvProtocol.setTaskNo1((short)0);
|
rgvProtocol.setStatus1((short)-1);
|
rgvProtocol.setLoaded1((short)0);
|
rgvProtocol.setWalkPos((short)0);
|
rgvProtocol.setRgvPos((short)0);
|
// rgvProtocol.setTaskNo2((short)0);
|
// rgvProtocol.setStatus2((short)-1);
|
// rgvProtocol.setLoaded2((short)0);
|
rgvProtocol.setAlarm((short)0);
|
rgvProtocol.setxSpeed((short) 0);
|
rgvProtocol.setxDistance((short) 0);
|
rgvProtocol.setxDuration((short) 0);
|
}
|
|
@Override
|
public boolean connect() {
|
boolean result = false;
|
siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
|
siemensNet.setRack(slave.getRack().byteValue());
|
siemensNet.setSlot(slave.getSlot().byteValue());
|
OperateResult connect = siemensNet.ConnectServer();
|
if(connect.IsSuccess){
|
result = true;
|
OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [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连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [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连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
initRgv();
|
}
|
// siemensNet.ConnectClose();
|
return result;
|
}
|
|
/**
|
* 读取状态
|
*/
|
private void readStatus(){
|
try {
|
OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
|
if (result.IsSuccess) {
|
if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
|
rgvProtocol = new RgvProtocol();
|
rgvProtocol.setRgvNo(slave.getId());
|
}
|
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
|
rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
|
rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
|
rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
|
rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
|
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
|
rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
|
rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
|
// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
|
rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
|
// 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));
|
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
|
|
// 工位1复位信号
|
if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
|
|| rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
|
if (resetFlag1) {
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setAckFinish1((short)1);
|
if (write(rgvCommand)) {
|
resetFlag1 = false;
|
}
|
}
|
}
|
|
// 工位2复位信号
|
// if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
|
// || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
|
// if (resetFlag2) {
|
// RgvCommand rgvCommand = new RgvCommand();
|
// rgvCommand.setAckFinish2((short)1);
|
// if (write(rgvCommand)) {
|
// resetFlag2 = false;
|
// }
|
// }
|
// }
|
|
try {
|
// 根据实时信息更新数据库
|
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数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
}
|
} catch (Exception ignore){
|
System.out.println(ignore);
|
}
|
|
} else {
|
initRgv();
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [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("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
// log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
initRgv();
|
}
|
}
|
|
/**
|
* 工位1、2同时写入数据
|
*/
|
private boolean write(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
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; //工位1、2任务同时写入
|
// Thread.sleep(100L);
|
// result = siemensNet.Write("DB100.20", commandFinish);
|
// }
|
|
try {
|
// 日志记录
|
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 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 工位1写入数据
|
*/
|
private boolean write1(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
|
OperateResultExOne<byte[]> result3 = siemensNet.Read("DB100.0", (short) 12);
|
OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
|
if (result3.IsSuccess){
|
RgvCommand one = new RgvCommand();
|
// 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命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
|
}
|
|
|
OperateResult result8 = siemensNet.Write("DB100.10", (short) 0);
|
if (result8.IsSuccess){
|
News.error("下发前把车子确认位置为0");
|
}
|
|
// siemensNet.Write("DB100.20", command.getCommand());
|
|
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", array);
|
|
if (!result.IsSuccess){
|
News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
|
MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
|
Thread.sleep(100);
|
readStatus();
|
return false;
|
}
|
|
//RGV任务写入后，回读一次，看是否成功
|
Thread.sleep(400);
|
try {
|
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 12);
|
if (resultRead.IsSuccess){
|
RgvCommand one = new RgvCommand();
|
// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
|
one.setTaskNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
|
one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
|
one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
|
one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
|
if (
|
!command.getTaskNo1().equals(one.getTaskNo1()) ||
|
!command.getTaskMode1().equals(one.getTaskMode1()) ||
|
!command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
|
!command.getDestinationStaNo1().equals(one.getDestinationStaNo1())
|
){
|
try{
|
News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
|
}catch (Exception e){
|
try{
|
News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
|
}catch (Exception e1){
|
News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
|
}
|
}
|
News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [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命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
|
}
|
}
|
}catch (Exception e){
|
News.error("RGV命令地址写入后回读出错");
|
}
|
|
if (command.getAckFinish1() == 0) {
|
if (result.IsSuccess) {
|
Thread.sleep(300);
|
//任务下发次数
|
int writeCount2 = 0;
|
|
do {
|
writeCount2++;
|
short commandFinish = (short) 1;
|
result = siemensNet.Write("DB100.10", commandFinish);
|
if(result.IsSuccess){
|
//RGV任务写入后，回读一次，看是否成功
|
Thread.sleep(200);
|
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.10", (short) 2);
|
if (resultRead.IsSuccess) {
|
commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
|
if (commandFinish != 1){
|
News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
|
}else{
|
//任务命令写入成功
|
News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
|
break;
|
}
|
}else {
|
News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
|
}
|
} else {
|
News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
|
}
|
}while (writeCount2<5);
|
}
|
}
|
|
// if (command.getAckFinish1() == 0) {
|
// short commandFinish = 1; //工位1任务写入
|
// Thread.sleep(200);
|
// result = siemensNet.Write("DB100.10", commandFinish);
|
// }
|
|
try {
|
// 日志记录
|
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) {
|
log.error(ignore.getMessage());
|
}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 工位2写入数据
|
*/
|
private boolean write2(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
|
command.setRgvNo(slave.getId());
|
short[] array = new short[6];
|
array[0] = command.getAckFinish2();
|
array[1] = command.getTaskNo2();
|
array[2] = command.getTaskMode2();
|
array[3] = command.getSourceStaNo2();
|
array[4] = command.getDestinationStaNo2();
|
array[5] = command.getCommand();
|
|
OperateResult result = siemensNet.Write("DB100.10", array);
|
|
if (command.getAckFinish2() == 0) {
|
short commandFinish = 2; //工位2任务写入
|
Thread.sleep(100L);
|
result = siemensNet.Write("DB100.20", commandFinish);
|
}
|
|
try {
|
// 日志记录
|
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 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
@Override
|
public void close() {
|
siemensNet.ConnectClose();
|
}
|
|
/******************************************************************************************/
|
/**************************************** 测试专用 *****************************************/
|
/*****************************************************************************************/
|
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);
|
|
}
|
|
}
|
