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.Cools;
|
import com.core.common.DateUtils;
|
import com.core.common.SpringUtils;
|
import com.zy.asrs.entity.BasCrnOpt;
|
import com.zy.asrs.entity.BasCrnp;
|
import com.zy.asrs.entity.BasErrLog;
|
import com.zy.asrs.service.BasCrnOptService;
|
import com.zy.asrs.service.BasCrnpService;
|
import com.zy.asrs.service.BasErrLogService;
|
import com.zy.asrs.service.DeviceErrorService;
|
import com.zy.core.CrnThread;
|
import com.zy.core.cache.CrnErrCache;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.OutputQueue;
|
import com.zy.core.enums.CrnStatusType;
|
import com.zy.core.enums.CrnTaskModeType;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.model.CrnSlave;
|
import com.zy.core.model.Task;
|
import com.zy.core.model.command.CrnCommand;
|
import com.zy.core.model.protocol.CrnProtocol;
|
import lombok.Data;
|
import lombok.extern.slf4j.Slf4j;
|
|
import java.text.MessageFormat;
|
import java.util.Date;
|
|
/**
|
* 堆垛机线程
|
* Created by vincent on 2020/8/4
|
*/
|
@Data
|
@Slf4j
|
public class SiemensCrnThread implements Runnable, CrnThread {
|
|
private SiemensS7Net siemensNet;
|
private CrnSlave slave;
|
private CrnProtocol crnProtocol;
|
private boolean resetFlag = false;
|
|
public Long sign = System.currentTimeMillis();
|
|
public boolean isRunning = true;
|
|
/**
|
* 堆垛机是否在回原点运动中标记
|
*/
|
private boolean backHpFlag = false;
|
public Long currentTimeMilliConnectCrn= 0L;
|
|
public SiemensCrnThread(CrnSlave slave) {
|
this.slave = slave;
|
}
|
|
@Override
|
@SuppressWarnings("InfiniteLoopStatement")
|
public void run() {
|
this.connect();
|
while (isRunning) {
|
try {
|
int step = 1;
|
Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
|
if (task != null) {
|
step = task.getStep();
|
}
|
switch (step) {
|
// 读数据
|
case 1:
|
readStatus();
|
break;
|
// 写入数据
|
case 2:
|
write((CrnCommand) task.getData());
|
break;
|
// 复位
|
case 3:
|
CrnCommand command = (CrnCommand) task.getData();
|
if (null == command) {
|
command = new CrnCommand();
|
}
|
command.setCrnNo(slave.getId()); // 堆垛机编号
|
command.setTaskNo((short) 0); // 工作号
|
command.setAckFinish((short) 1); // 任务完成确认位
|
command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
|
command.setSourcePosX((short)0); // 源库位排
|
command.setSourcePosY((short)0); // 源库位列
|
command.setSourcePosZ((short)0); // 源库位层
|
command.setDestinationPosX((short)0); // 目标库位排
|
command.setDestinationPosY((short)0); // 目标库位列
|
command.setDestinationPosZ((short)0); // 目标库位层
|
write(command);
|
break;
|
// 复位
|
case 4:
|
CrnCommand command4 = (CrnCommand) task.getData();
|
write(command4);
|
break;
|
default:
|
break;
|
}
|
Thread.sleep(500);
|
} catch (Exception e) {
|
// e.printStackTrace();
|
}
|
// System.out.println("第"+slave.getId()+"个堆垛机线程运行一轮："+(System.currentTimeMillis()-sign));
|
sign = System.currentTimeMillis();
|
}
|
}
|
|
/**
|
* 初始化堆垛机状态
|
*/
|
private void initCrn() {
|
if (null == crnProtocol) {
|
crnProtocol = new CrnProtocol();
|
}
|
crnProtocol.setMode((short) -1);
|
// crnProtocol.setTaskNo((short)0);
|
crnProtocol.setStatus((short)-1);
|
crnProtocol.setBay((short)0);
|
crnProtocol.setLevel((short)0);
|
crnProtocol.setForkPos((short) -1);
|
crnProtocol.setLiftPos((short) -1);
|
crnProtocol.setWalkPos((short)0);
|
crnProtocol.setLoaded((short)0);
|
crnProtocol.setAlarm((short)0);
|
crnProtocol.setxSpeed((short) 0);
|
crnProtocol.setySpeed((short) 0);
|
crnProtocol.setzSpeed((short) 0);
|
crnProtocol.setxDistance((short) 0);
|
crnProtocol.setyDistance((short) 0);
|
crnProtocol.setxDuration((short) 0);
|
crnProtocol.setyDuration((short) 0);
|
try{
|
CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "离线");
|
} catch (Exception e1){
|
|
}
|
|
}
|
|
@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.CRN.offer(MessageFormat.format( "【{0}】堆垛机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("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
initCrn();
|
}
|
// siemensNet.ConnectClose();
|
return result;
|
}
|
|
/**
|
* 读取状态
|
*/
|
private void readStatus(){
|
try {
|
OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 58);
|
if (result.IsSuccess) {
|
if (null == crnProtocol) {
|
crnProtocol = new CrnProtocol();
|
}
|
crnProtocol.setCrnNo(slave.getId());
|
crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
|
crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
|
crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
|
crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
|
crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
|
crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
|
crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
|
crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
|
crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
|
crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
|
crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
|
crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
|
crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
|
crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
|
crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
|
crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
|
crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
|
crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
|
crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
|
crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
|
crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
|
crnProtocol.setLaneNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 56));//巷道号
|
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
|
|
// 复位信号
|
if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
|
log.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为10，等待确认！！",
|
slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");
|
if (resetFlag) {
|
if(crnProtocol.getTaskNo()==9999){
|
backHpFlag = false;
|
}
|
|
if (!Cools.isEmpty(crnProtocol.getLaneNo()) && crnProtocol.getLaneNo()!=0){
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setAckFinish((short)1);
|
// crnCommand.setTaskNo(crnProtocol.getTaskNo());
|
crnCommand.setLaneNo(crnProtocol.getLaneNo());
|
crnCommand.setTaskMode(CrnTaskModeType.NONE); // 任务模式
|
if (write(crnCommand)) {
|
resetFlag = false;
|
}
|
} else {
|
CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "巷道号为0");
|
}
|
}
|
}
|
|
try {
|
// 根据实时信息更新数据库
|
BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
|
BasCrnp basCrnp = new BasCrnp();
|
basCrnp.setCrnNo(slave.getId());
|
basCrnp.setCrnSts((int)crnProtocol.getMode());
|
if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
|
log.error("堆垛机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){}
|
|
} else {
|
initCrn();
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
if (System.currentTimeMillis()-currentTimeMilliConnectCrn>1000*60*10){
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("CrnErr", slave.getId(), "读取堆垛机plc状态信息失败");
|
} catch (Exception e2){
|
Thread.sleep(1000);
|
// log.error("e2:"+e2.getMessage());
|
}
|
if (currentTimeMilliConnectCrn == 0){
|
currentTimeMilliConnectCrn = System.currentTimeMillis()-1000*60*10-1;
|
} else {
|
currentTimeMilliConnectCrn = System.currentTimeMillis();
|
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
initCrn();
|
}
|
}
|
|
private void convertRow(CrnCommand crnCommand) {
|
if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) {
|
crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4)));
|
}
|
if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) {
|
crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4)));
|
}
|
}
|
|
/**
|
* 写入数据
|
*/
|
private boolean write(CrnCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("堆垛机写入命令为空");
|
return false;
|
}
|
CrnErrCache.updateCrnErr(slave.getId(), "-");
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("crnWrite", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机指令下发:"+JSON.toJSONString(command.getNowTask()));
|
} catch (Exception e2){
|
}
|
try{
|
BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
|
BasErrLog basErrLog = new BasErrLog(command,"","任务下发记录");
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "任务下发记录失败");
|
}
|
} catch (Exception e3){
|
}
|
// convertRow(command);
|
command.setCrnNo(slave.getId());
|
short[] array = new short[10];
|
array[0] = command.getAckFinish();
|
array[1] = command.getTaskNo();
|
array[2] = command.getTaskMode();
|
array[3] = command.getSourcePosX();
|
array[4] = command.getSourcePosY();
|
array[5] = command.getSourcePosZ();
|
array[6] = command.getDestinationPosX();
|
array[7] = command.getDestinationPosY();
|
array[8] = command.getDestinationPosZ();
|
array[9] = command.getCommand();
|
OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
|
try{
|
Thread.sleep(50L);
|
} catch (Exception e){}
|
|
OperateResult result = siemensNet.Write("DB100.0", array);
|
|
int i=0;
|
do{
|
//堆垛机任务写入后，回读一次，看是否成功
|
try{
|
Thread.sleep(100L);
|
} catch (Exception e){}
|
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB101.0", (short) 4);
|
if (resultRead.IsSuccess) {
|
CrnCommand one = new CrnCommand();
|
one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
|
if (!command.getTaskNo().equals(one.getTaskNo())
|
){
|
i++;
|
CrnErrCache.updateCrnErr(slave.getId(), "堆垛机命令地址写入后回读失败");
|
|
log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("crnErr", slave.getId(), "巷道号"+command.getLaneNo()+";写入次数"+i+";堆垛机命令地址写入后回读失败:"+JSON.toJSONString(command.getNowTask()));
|
} catch (Exception e2){
|
}
|
try{
|
BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
|
BasErrLog basErrLog = new BasErrLog(command,"堆垛机命令地址写入后回读失败","");
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "堆垛机命令地址写入后回读失败记录失败");
|
}
|
} catch (Exception e3){
|
}
|
result = siemensNet.Write("DB100.0", array);
|
}else{
|
break;
|
}
|
}
|
}while(i<5);
|
|
if (command.getAckFinish() == 0) {
|
short commandFinish = 1;
|
try{
|
Thread.sleep(100L);
|
} catch (Exception e){}
|
result = siemensNet.Write("DB100.18", commandFinish);
|
int signFinish = 1;
|
while (signFinish<5){
|
OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
|
short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
|
if (transInt16 != commandFinish){
|
log.info("下发DB100.18 回读失败" + "commandFinish:"+commandFinish);
|
log.info("下发DB100.18 回读失败" + "array:"+ JSON.toJSONString(array));
|
CrnErrCache.updateCrnErr(slave.getId(), "下发DB100.18 回读失败");
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("crnErr", slave.getId(), "巷道号"+command.getLaneNo()+";写入次数"+signFinish+";下发DB100.18 回读失败:"+JSON.toJSONString(command.getNowTask()));
|
} catch (Exception e2){
|
}
|
try{
|
BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
|
BasErrLog basErrLog = new BasErrLog(command,"下发DB100.18 回读失败","");
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "下发DB100.18 回读失败记录失败");
|
}
|
} catch (Exception e3){
|
}
|
result = siemensNet.Write("DB100.18", commandFinish);
|
signFinish++;
|
}else {
|
log.info("下发DB100.18" + "commandFinish:"+commandFinish);
|
log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
|
break;
|
}
|
}
|
}
|
|
try {
|
// 日志记录
|
BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
|
BasCrnOpt basCrnOpt = new BasCrnOpt(
|
command.getTaskNo().intValue(), // 任务号
|
command.getCrnNo(), // 堆垛机[非空]
|
new Date(), // 下发时间
|
command.getTaskModeType().toString(), // 模式
|
command.getSourcePosX().intValue(), // 源排
|
command.getSourcePosY().intValue(), // 源列
|
command.getSourcePosZ().intValue(), // 源层
|
null, // 源站
|
command.getDestinationPosX().intValue(), // 目标排
|
command.getDestinationPosY().intValue(), // 目标列
|
command.getDestinationPosZ().intValue(), // 目标层
|
null, // 目标站
|
null, // 响应结果
|
null, // 修改时间
|
null // 修改人员
|
);
|
bean.insert(basCrnOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
CrnErrCache.updateCrnErr(slave.getId(), "写入堆垛机plc数据失败");
|
|
return false;
|
}
|
}
|
|
|
@Override
|
public void close() {
|
siemensNet.ConnectClose();
|
}
|
|
/******************************************************************************************/
|
/**************************************** 测试专用 *****************************************/
|
/*****************************************************************************************/
|
public static void main(String[] args) throws InterruptedException {
|
CrnSlave slave = new CrnSlave();
|
slave.setId(1);
|
slave.setIp("192.168.6.9");
|
slave.setRack(0);
|
slave.setSlot(0);
|
SiemensCrnThread crnThread = new SiemensCrnThread(slave);
|
crnThread.connect();
|
crnThread.readStatus();
|
System.out.println(JSON.toJSONString(crnThread.crnProtocol));
|
Thread.sleep(3000L);
|
|
// 1.入库 源和目标都发
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
|
// command.setSourcePosX((short) 1); // 源库位排
|
// command.setSourcePosY((short) 0); // 源库位列
|
// command.setSourcePosZ((short) 1); // 源库位层
|
// command.setDestinationPosX((short) 2); // 目标库位排
|
// command.setDestinationPosY((short) 3); // 目标库位列
|
// command.setDestinationPosZ((short) 1); // 目标库位层
|
// crnThread.write(command);
|
|
// 2.出库 源和目标都发
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
|
// command.setSourcePosX((short) 2); // 源库位排
|
// command.setSourcePosY((short) 4); // 源库位列
|
// command.setSourcePosZ((short) 3); // 源库位层
|
// command.setDestinationPosX((short) 1); // 目标库位排
|
// command.setDestinationPosY((short) 0); // 目标库位列
|
// command.setDestinationPosZ((short) 1); // 目标库位层
|
// crnThread.write(command);
|
|
|
// // 3.库位移转 源和目标都发 pass
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(slave.getId()); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
// command.setSourcePosX((short)2); // 源库位排
|
// command.setSourcePosY((short)2); // 源库位列
|
// command.setSourcePosZ((short)3); // 源库位层
|
// command.setDestinationPosX((short)2); // 目标库位排
|
// command.setDestinationPosY((short)4); // 目标库位列
|
// command.setDestinationPosZ((short)4); // 目标库位层
|
// crnThread.write(command);
|
|
// 4.站位移转 源和目标都发
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(slave.getId()); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转
|
// command.setSourcePosX((short)1); // 源库位排
|
// command.setSourcePosY((short)0); // 源库位列
|
// command.setSourcePosZ((short)1); // 源库位层
|
// command.setDestinationPosX((short)2); // 目标库位排
|
// command.setDestinationPosY((short)0); // 目标库位列
|
// command.setDestinationPosZ((short)1); // 目标库位层
|
// crnThread.write(command);
|
|
// // 5.回原点 不用发 pass
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
|
// command.setSourcePosX((short) 0); // 源库位排
|
// command.setSourcePosY((short) 0); // 源库位列
|
// command.setSourcePosZ((short) 0); // 源库位层
|
// command.setDestinationPosX((short) 0); // 目标库位排
|
// command.setDestinationPosY((short) 0); // 目标库位列
|
// command.setDestinationPosZ((short) 0); // 目标库位层
|
// crnThread.write(command);
|
|
// // 7.坐标移行 目标发 pass
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
|
// command.setSourcePosX((short) 0); // 源库位排
|
// command.setSourcePosY((short) 0); // 源库位列
|
// command.setSourcePosZ((short) 0); // 源库位层
|
// command.setDestinationPosX((short) 2); // 目标库位排
|
// command.setDestinationPosY((short) 1); // 目标库位列
|
// command.setDestinationPosZ((short) 1); // 目标库位层
|
// crnThread.write(command);
|
|
// 只有出现指定异常才进行复位
|
// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
|
// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
|
// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
|
// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setAckFinish((short) 1); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
|
// Thread.sleep(3000L);
|
// crnThread.write(command);
|
// }
|
|
}
|
|
// 提供一个方法来停止线程
|
public void requestStop() {
|
isRunning = false;
|
}
|
|
|
/**
|
* 清除作业启动中
|
*/
|
@Override
|
public void setWrkSign() {
|
}
|
|
|
/**
|
* 清除作业启动中
|
*/
|
@Override
|
public void setResetFlag(boolean flag) {
|
this.resetFlag = flag;
|
}
|
|
|
/**
|
* 清除作业启动中
|
*/
|
@Override
|
public boolean getResetFlag() {
|
return resetFlag;
|
}
|
|
}
|
