package com.zy.core.thread;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.Profinet.Siemens.SiemensPLCS;
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import HslCommunication.Profinet.Siemens.SiemensS7Net;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.param.TaskOverToWms;
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import com.zy.asrs.service.*;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.CrnThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.*;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CommandPackage;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import java.text.MessageFormat;
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import java.util.*;
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/**
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* 堆垛机线程
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* Created by vincent on 2020/8/4
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*/
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@Data
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@Slf4j
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public class SiemensCrnThread implements Runnable, CrnThread {
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private SiemensS7Net siemensNet;
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private CrnSlave slave;
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private CrnProtocol crnProtocol;
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private boolean resetFlag = false;
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@Value("${wms.url}")
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private String wmsUrl;
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public static final List<Short> rowOne = new ArrayList<Short>() {{
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add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
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}};
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public static final List<Short> rowTwo = new ArrayList<Short>() {{
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add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
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}};
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public static final List<Short> rowThree = new ArrayList<Short>() {{
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add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
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}};
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public static final List<Short> rowFour = new ArrayList<Short>() {{
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add((short) 4);add((short) 10);add((short) 14);add((short) 18);
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}};
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public SiemensCrnThread(CrnSlave slave) {
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this.slave = slave;
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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initCrnProtocol();
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this.connect();
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while (true) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
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if (task != null) {
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step = task.getStep();
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}
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switch (step) {
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// 读数据
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case 1:
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readStatus();
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break;
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// 写入数据
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case 2:
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write5((CrnCommand) task.getData());
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break;
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// 复位
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case 3:
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CrnCommand command = (CrnCommand) task.getData();
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if (null == command) {
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command = new CrnCommand();
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}
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command.setCrnNo(slave.getId()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 1); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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command.setSourcePosX((short)0); // 源库位排
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command.setSourcePosY((short)0); // 源库位列
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command.setSourcePosZ((short)0); // 源库位层
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command.setDestinationPosX((short)0); // 目标库位排
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command.setDestinationPosY((short)0); // 目标库位列
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command.setDestinationPosZ((short)0); // 目标库位层
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write(command);
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break;
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case 4:
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writeAuto((CrnCommand) task.getData());
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break;
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case 5:
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write((CrnCommand) task.getData());
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break;
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default:
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break;
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}
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Thread.sleep(500);
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} catch (Exception e) {
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// e.printStackTrace();
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}
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}
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}
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/**
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* 初始化堆垛机
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*/
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private void initCrnProtocol(){
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crnProtocol = new CrnProtocol();
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crnProtocol.setMode((short) 0);
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crnProtocol.setStatus((short) 0);
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crnProtocol.setTaskNo((short) 0);
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crnProtocol.setTaskFinish((short) 0);
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crnProtocol.setValid((short) 0);
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crnProtocol.setBay((short) 0);
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crnProtocol.setLevel((short) 0);
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crnProtocol.setRow((short) 0);
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crnProtocol.setLane((short) 0);
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}
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@Override
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public boolean connect() {
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boolean result = false;
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siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensNet.setRack(slave.getRack().byteValue());
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siemensNet.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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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()));
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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());
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} else {
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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()));
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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());
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// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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// deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败");
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initCrnProtocol();
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}
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// siemensNet.ConnectClose();
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return result;
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}
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/**
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* 读取状态
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*/
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private void readStatus(){
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OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
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if (result.IsSuccess) {
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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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}
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crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
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crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
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crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
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crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
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crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
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// crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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// crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
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// crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
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// crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
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crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
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crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
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crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
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crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
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crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
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crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
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crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// 复位信号
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if (crnProtocol.getTaskFinish() == 0) {
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if (resetFlag) {
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setAckFinish((short)1);
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if (write(crnCommand)) {
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resetFlag = false;
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//堆垛机任务完成后访问wms请求任务完成 locationDone 货位处理完成
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TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
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TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()));
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String tasktype = null;
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switch (taskWrk.getIoType()){
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case 1:
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tasktype= "RK";
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break;
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case 2:
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tasktype= "CK";
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break;
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case 3:
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tasktype= "YK";
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break;
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default:
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tasktype= "未知";
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}
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Map<String, Object> map = new HashMap<>();
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map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
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TaskOverToWms taskOverToWms = new TaskOverToWms();
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taskOverToWms.setFeedbackFrom("WCS"); //来源
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taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
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taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
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taskOverToWms.setTaskType(tasktype); // 任务类型
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taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
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if (taskWrk.getIoType() ==1){
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taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
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taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
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}else if (taskWrk.getIoType() ==2){
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Map<Integer,String> map1 = new HashMap<>();
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map1.put(102,"J-1101");
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map1.put(106,"J-1103");
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map1.put(110,"J-1105");
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map1.put(114,"J-1107");
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map1.put(118,"J-1109");
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map1.put(122,"J-1111");
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map1.put(305,"H-1101");
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map1.put(405,"G-1101");
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taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
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taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
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} else if (taskWrk.getIoType() == 3) {
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taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
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taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint());
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taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
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}
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taskOverToWms.setTaskStatus("location_done"); //任务状态
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String response = null;
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try {
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response = new HttpHandler.Builder()
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.setHeaders(map)
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.setUri("10.32.53.195:8080")
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.setPath("wcsManager/wcsInterface/taskStatusFeedback")
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.setJson(JSON.toJSONString(taskOverToWms))
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.build()
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.doPost();
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}catch (Exception e){
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log.error("堆垛机任务完成，请求wms任务完成接口失败");
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}
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ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
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apiLogService.save("Wms任务完成接口"
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,"10.32.53.195:8080"+"/wcsManager/wcsInterface/taskStatusFeedback"
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,null
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,"127.0.0.1"
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,JSON.toJSONString(taskOverToWms)
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,response
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,true
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);
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)){
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if (taskWrk.getIoType() == 3){
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taskWrk.setWrkSts(4);
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}
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taskWrk.setStatus(5);
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if (!taskWrkService.update(taskWrk,new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()))){
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log.error("堆垛机任务完成，改变任务状态失败");
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}
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log.info("堆垛机任务完成，请求wms任务完成接口成功");
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}else {
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log.error("堆垛机任务完成，请求wms任务完成接口完成，但返回失败");
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}
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}
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}
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}
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try {
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// 根据实时信息更新数据库
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BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
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BasCrnp basCrnp = new BasCrnp();
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basCrnp.setCrnNo(slave.getId());
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basCrnp.setCrnSts((int)crnProtocol.getMode());
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if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
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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());
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}
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} catch (Exception ignore){}
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.deleteDeviceError("crn", slave.getId());
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} else {
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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()));
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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());
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.addDeviceError("crn", slave.getId(), "读取堆垛机plc状态信息失败");
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}
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}
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/**
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* 写入数据
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*/
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private boolean write(CrnCommand command){
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if (null == command) {
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log.error("堆垛机写入命令为空");
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return false;
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}
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//转换前克隆一份
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(command.getCrnNo());
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crnCommand.setAckFinish(command.getAckFinish());
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crnCommand.setTaskNo(command.getTaskNo());
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crnCommand.setTaskMode(command.getTaskMode());
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crnCommand.setSourcePosX(command.getSourcePosX());
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crnCommand.setSourcePosY(command.getSourcePosY());
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crnCommand.setSourcePosZ(command.getSourcePosZ());
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crnCommand.setDestinationPosX(command.getDestinationPosX());
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crnCommand.setDestinationPosY(command.getDestinationPosY());
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crnCommand.setDestinationPosZ(command.getDestinationPosZ());
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// crnCommand.setSourceStaNo(command.getSourceStaNo());
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// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
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crnCommand.setCommand(command.getCommand());
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if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
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command.setTaskNo((short) 999);
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}
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command.setCrnNo(slave.getId());
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short[] array = new short[10];
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array[0] = command.getAckFinish();
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array[1] = command.getTaskNo();
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array[2] = command.getTaskMode();
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array[3] = command.getSourcePosX();
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array[4] = command.getSourcePosY();
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array[5] = command.getSourcePosZ();
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array[6] = command.getDestinationPosX();
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array[7] = command.getDestinationPosY();
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array[8] = command.getDestinationPosZ();
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array[9] = command.getCommand();
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// 作业信息
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OperateResult result = siemensNet.Write("DB100.0", array);
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if (result.IsSuccess) {
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log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return true;
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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return false;
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}
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}
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/**
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* 写入数据
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*/
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private synchronized boolean write5(CrnCommand command) throws InterruptedException {
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String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
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if (null == command) {
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log.error("堆垛机写入命令为空");
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return false;
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}
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// convertRow(command);
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command.setCrnNo(slave.getId());
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short[] array = new short[10];
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array[0] = command.getAckFinish();
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array[1] = command.getTaskNo();
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array[2] = command.getTaskMode();
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array[3] = command.getSourcePosX();
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array[4] = command.getSourcePosY();
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array[5] = command.getSourcePosZ();
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array[6] = command.getDestinationPosX();
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array[7] = command.getDestinationPosY();
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array[8] = command.getDestinationPosZ();
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// array[9] = command.getSourceStaNo();
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// array[10] = command.getDestinationStaNo();
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array[9] = command.getCommand();
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OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
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Thread.sleep(100L);
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OperateResult result = siemensNet.Write("DB100.0", array);
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int i=0;
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do{
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//堆垛机任务写入后，回读一次，看是否成功
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Thread.sleep(100);
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
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if (resultRead.IsSuccess) {
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CrnCommand one = new CrnCommand();
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one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
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one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
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one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
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one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
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one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
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one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
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one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
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one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
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if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
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|| !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
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|| !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
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|| !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
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){
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i++;
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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));
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result = siemensNet.Write("DB100.0", array);
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}else{
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break;
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}
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}
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}while(i<5);
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if (command.getAckFinish() == 0) {
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short commandFinish = 1;
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Thread.sleep(100L);
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result = siemensNet.Write("DB100.18", commandFinish);
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int signFinish = 1;
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while (signFinish<5){
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OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
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short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
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if (transInt16 != commandFinish){
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log.info("下发DB100.18 回读失败" + "commandFinish:"+commandFinish);
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log.info("下发DB100.18 回读失败" + "array:"+ JSON.toJSONString(array));
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result = siemensNet.Write("DB100.18", commandFinish);
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signFinish++;
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}else {
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log.info("下发DB100.18" + "commandFinish:"+commandFinish);
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log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
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break;
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}
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}
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}
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try {
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// 日志记录
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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(300);
|
this.readStatus();
|
log.info(methodName + ":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(methodName + ":写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 写入数据
|
*/
|
private boolean write2(CrnCommand command){
|
if (null == command) {
|
log.error("堆垛机写入命令为空");
|
return false;
|
}
|
//转换前克隆一份
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(command.getCrnNo());
|
crnCommand.setAckFinish(command.getAckFinish());
|
crnCommand.setTaskNo(command.getTaskNo());
|
crnCommand.setTaskMode(command.getTaskMode());
|
crnCommand.setSourcePosX(command.getSourcePosX());
|
crnCommand.setSourcePosY(command.getSourcePosY());
|
crnCommand.setSourcePosZ(command.getSourcePosZ());
|
crnCommand.setDestinationPosX(command.getDestinationPosX());
|
crnCommand.setDestinationPosY(command.getDestinationPosY());
|
crnCommand.setDestinationPosZ(command.getDestinationPosZ());
|
// crnCommand.setSourceStaNo(command.getSourceStaNo());
|
// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
|
crnCommand.setCommand(command.getCommand());
|
if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
|
command.setTaskNo((short) 999);
|
}
|
|
command.setCrnNo(slave.getId());
|
short[] array = new short[10];
|
if (Cools.isEmpty(command.getAckFinish())) {
|
array[0] = 5;
|
} else {
|
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();
|
// 作业信息
|
OperateResult result = siemensNet.Write("DB100.0", array);
|
// 日志记录
|
if (command.getAckFinish() != 1) {
|
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() == null ? null : 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) {}
|
|
//更新命令日志
|
CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
|
CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
|
CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
|
if (Cools.isEmpty(commandInfo)){
|
commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
|
.eq("wrk_no",crnProtocol.getTaskNo())
|
.eq("device","Crn"));
|
}
|
CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
|
commandInfoLog.setId(null);
|
if (result.IsSuccess) {
|
Date now = new Date();
|
//更新指令日志
|
commandInfoLog.setDeviceLog("指令下发成功");
|
commandInfoLogService.insert(commandInfoLog);
|
|
//线程暂存指令ID
|
crnProtocol.setCommandId(command.getCommandId());
|
|
//更新指令状态
|
commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//执行中
|
commandInfo.setExecuteTime(now);
|
commandInfoService.updateById(commandInfo);
|
|
//更新任务步序
|
TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
|
TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
|
if (taskWrk != null) {
|
taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
|
taskWrkService.updateById(taskWrk);
|
}
|
|
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [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("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
}
|
return true;
|
}
|
|
private boolean writeAuto(CrnCommand command){
|
if (null == command) {
|
log.error("堆垛机写入命令为空");
|
return false;
|
}
|
OperateResult result = new OperateResult();
|
short[] array = new short[1];
|
array[0] = command.getAuto();
|
if(command.getAuto() !=0){
|
array[0] = command.getAuto();
|
result = siemensNet.Write("DB103.0", array);
|
}else if (command.getOnlineWrk1() != 0){
|
array[0] = command.getOnlineWrk1();
|
result = siemensNet.Write("DB103.2", array);
|
}else if (command.getOnlineWrk2() !=0){
|
array[0] = command.getOnlineWrk2();
|
result = siemensNet.Write("DB103.4", array);
|
}else if (command.getOnlineWrk3() != 0){
|
array[0] = command.getOnlineWrk3();
|
result = siemensNet.Write("DB103.6", array);
|
}else if (command.getOnlineWrk4() != 0){
|
array[0] = command.getOnlineWrk4();
|
result = siemensNet.Write("DB103.8", array);
|
} else if (command.getReset() != 0) {
|
array[0] = command.getReset();
|
result = siemensNet.Write("DB103.10", array);
|
}
|
|
|
if (result.IsSuccess) {
|
log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
|
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);
|
// }
|
|
}
|
|
}
|
