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.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.core.exception.CoolException;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasRgvMap;
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import com.zy.asrs.entity.BasRgvOpt;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.BasRgvMapService;
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import com.zy.asrs.service.BasRgvOptService;
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import com.zy.asrs.service.BasRgvService;
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import com.zy.common.utils.News;
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import com.zy.core.RgvThread2;
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import com.zy.core.ThreadHandler;
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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.RgvStatusType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.RgvTaskStatusType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.sql.Wrapper;
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import java.text.MessageFormat;
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import java.util.*;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* RGV线程
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* Created by vincent on 2022/11/29
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*/
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@Data
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@Slf4j
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public class RgvThread implements Runnable, RgvThread2 {
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private SiemensS7Net siemensNet;
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private RgvSlave slave;
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private RgvProtocol rgvProtocol;
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private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
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/**
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* 工位1复位信号
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*/
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private boolean resetFlag1 = false;
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/**
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* 工位2复位信号
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*/
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private boolean resetFlag2 = false;
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//锁定标记
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private boolean PakMk = true;
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//入库标记
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// private boolean PakIn = true;
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// //出库标记
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// private boolean PakOut = true;
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// //根据距离跳过取货
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// private boolean PakRgv = true;
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// //接驳标记
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// private boolean PakToCrn = true;
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// 任务锁定
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private boolean Paking = true;
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// //连续任务下发
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// private boolean PakAll = true;
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public RgvThread(RgvSlave 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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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.Rgv, 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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// 小车工位写入数据
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case 2:
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write((RgvCommand) task.getData());
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break;
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// 复位
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case 3:
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RgvCommand command = (RgvCommand) task.getData();
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if (null == command) {
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command = new RgvCommand();
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}
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command.setRgvNo(slave.getId()); // RGV编号
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command.setTaskNo(0); // 工作号
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command.setTaskStatus(RgvTaskStatusType.NONE); // 任务模式
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command.setTargetPosition(0); // 源站
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command.setWrkTaskPri(0); // 目标站
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command.setCommand(false);
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write2(command);
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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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private static final Set<Integer> specialSites = new HashSet<>(
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Arrays.asList(1004,1014,1018,1028,1035));
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public static final Map<Integer, Integer> StaPosition = new HashMap<Integer, Integer>() {{
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put(1004, 1001);put(1014, 1011);put(1018, 1015);put(1028, 1025);put(1035, 1032);
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}};
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public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
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add(1);add(2);
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}};
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public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
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add(3);add(4);
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}};
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/**
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* 初始化站点状态
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*/
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private void initSite() {
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ArrayList<Integer> staNos = getStaNo();
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// 站点编号
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for (Integer siteId : staNos) {
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StaProtocol staProtocol = station.get(siteId);
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if (null == staProtocol) {
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staProtocol = new StaProtocol();
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staProtocol.setSiteId(siteId);
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station.put(siteId, staProtocol);
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}
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staProtocol.setWorkNo(0); // ID
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staProtocol.setAutoing(false); // 自动
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staProtocol.setLoading(false); // 有物
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staProtocol.setInEnable(false); // 可入
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staProtocol.setOutEnable(false); // 可出
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staProtocol.setEmptyMk(false); // 空板信号
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staProtocol.setStaNo((short) 0); // 目标站
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}
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}
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/**
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* 初始化RGV状态
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*/
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private void initRgv() {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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}
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//小车状态
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rgvProtocol.setStatus((short)-1);
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rgvProtocol.setRgvPosDestination(0);
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rgvProtocol.setMode((short) -1);
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rgvProtocol.setRgvPos(0);
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rgvProtocol.setErr1(false);
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rgvProtocol.setErr2(false);
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rgvProtocol.setErr3(false);
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rgvProtocol.setErr4(false);
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rgvProtocol.setErr5(false);
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rgvProtocol.setErr6(false);
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rgvProtocol.setErr7(false);
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rgvProtocol.setWrkTaskPri((short)0);
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//工位1状态
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rgvProtocol.setTaskNo1(0);
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rgvProtocol.setStatus1((short)-1);
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rgvProtocol.setLoaded1(false);
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rgvProtocol.setWrkTaskMove1((short)0);
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//工位2状态
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rgvProtocol.setTaskNo2(0);
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rgvProtocol.setStatus2((short)-1);
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rgvProtocol.setLoaded2(false);
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rgvProtocol.setWrkTaskMove2((short)0);
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// rgvProtocol.setAlarm((short)0);
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// rgvProtocol.setxSpeed((short) 0);
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// rgvProtocol.setxDistance((short) 0);
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// rgvProtocol.setxDuration((short) 0);
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}
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private ArrayList<Integer> getStaNo() {
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switch (slave.getId()) {
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case 1:
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return staNos1;
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case 2:
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return staNos2;
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default:
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throw new CoolException("服务器异常");
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}
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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.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()));
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log.info("RGV 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.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()));
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log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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initRgv();
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}
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// siemensNet.ConnectClose();
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return result;
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}
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private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
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if (value) {
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buffer[byteIndex] |= (1 << bitIndex); // 置位
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} else {
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buffer[byteIndex] &= ~(1 << bitIndex); // 清零
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}
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}
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private void updateFlagInDb(String field, boolean value) {
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try {
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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EntityWrapper<BasRgv> wrapper = new EntityWrapper<>();
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wrapper.eq("rgv_no", slave.getId());
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BasRgv entity = new BasRgv();
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switch (field) {
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case "pak_mk": entity.setPakMk(value ? "1" : "0"); break;
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case "pak_in": entity.setPakIn(value ? "1" : "0"); break;
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case "pak_out": entity.setPakOut(value ? "1" : "0"); break;
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case "pak_rgv": entity.setPakRgv(value ? "1" : "0"); break;
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case "pak_to_crn":entity.setPakToCrn(value ? "1" : "0"); break;
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case "paking":entity.setPaking(value ? "1" : "0"); break;
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case "pak_all":entity.setPakAll(value ? "1" : "0"); break;
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default:
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log.warn("未知标志位字段: {}", field);
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return;
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}
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basRgvService.update(entity, wrapper);
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// log.info("RGV标志位更新成功 [rgv_no:{}] {}={}", slave.getId(), field, value ? "1" : "0");
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} catch (Exception e) {
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log.error("更新RGV标志位异常 [rgv_no:{}] {}={} 错误：{}", slave.getId(), field, value, e.getMessage());
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}
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}
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public void setPakMk(boolean pakMk) {
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this.PakMk = pakMk;
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updateFlagInDb("pak_mk", pakMk);
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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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try {
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ArrayList<Integer> staNos = getStaNo();
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OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
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if (result.IsSuccess) {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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}
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rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
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rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
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rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
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rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
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rgvProtocol.setStaNo1(siemensNet.getByteTransform().TransInt32(result.Content, 28));
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rgvProtocol.setStaNo2(siemensNet.getByteTransform().TransInt32(result.Content, 32));
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boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 1);
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rgvProtocol.setLoaded1(status1[0]);
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rgvProtocol.setLoaded2(status1[1]);
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boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 36,1);
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rgvProtocol.setErr1(status2[0]);
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rgvProtocol.setErr2(status2[1]);
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rgvProtocol.setErr3(status2[2]);
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rgvProtocol.setErr4(status2[3]);
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rgvProtocol.setErr5(status2[4]);
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rgvProtocol.setErr6(status2[5]);
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rgvProtocol.setErr7(status2[6]);
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rgvProtocol.setErr8(status2[7]);
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boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);
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rgvProtocol.setErr9(status3[0]);
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rgvProtocol.setErr10(status3[1]);
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rgvProtocol.setErr11(status3[2]);
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rgvProtocol.setErr12(status3[3]);
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// BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
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try {
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// 根据实时信息更新数据库
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv basRgv = new BasRgv();
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basRgv.setRgvNo(slave.getId());
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basRgv.setRgvSts((int)rgvProtocol.getMode());
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if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
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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());
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}
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} catch (Exception ignore){
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System.out.println(ignore);
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}
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} else {
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initRgv();
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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()));
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// 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());
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}
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} catch (Exception e) {
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e.printStackTrace();
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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()));
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// log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initRgv();
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}
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}
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/**
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* 小车工位写入写入数据
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*/
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private boolean write(RgvCommand command) throws InterruptedException {
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if (null == command) {
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log.error("RGV写入命令为空");
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return false;
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}
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OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
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if (result1.IsSuccess){
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RgvCommand one = new RgvCommand();
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one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位
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one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站
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one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态
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one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号
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News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
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}
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byte[] writeBytes = new byte[14];
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command.setRgvNo(slave.getId());
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if(specialSites.contains(command.getTargetPosition())){
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command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
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}
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writeInt32(writeBytes, 0, command.getWrkTaskPri());
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writeInt32(writeBytes, 4, command.getTargetPosition());
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writeInt16(writeBytes, 8, (short)command.getTaskStatus());
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writeInt32(writeBytes, 10, command.getTaskNo());
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OperateResult result = siemensNet.Write("DB100.0", writeBytes);
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if (!result.IsSuccess){
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News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
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MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
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Thread.sleep(100);
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readStatus();
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return false;
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}
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//RGV任务写入后，回读一次，看是否成功
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Thread.sleep(400);
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try {
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
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if (resultRead.IsSuccess){
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RgvCommand one = new RgvCommand();
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one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位
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one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站
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one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态
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one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号
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if (
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!command.getTaskNo().equals(one.getTaskNo()) ||
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!command.getTaskStatus().equals(one.getTaskStatus()) ||
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!command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
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!command.getTargetPosition().equals(one.getTargetPosition())
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) {
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try{
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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));
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}catch (Exception e){
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try{
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News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
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}catch (Exception e1){
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News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
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}
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}
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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));
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MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
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Thread.sleep(100);
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readStatus();
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return false;
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}else {
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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));
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}
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}
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}catch (Exception e){
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News.error("RGV命令地址写入后回读出错");
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}
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if (result.IsSuccess) { //任务下发确认
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Thread.sleep(300);
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//任务下发次数
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int writeCount2 = 0;
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do {
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writeCount2++;
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Short commandFinish = 1;
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result = siemensNet.Write("DB100.34.0", commandFinish);
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if(result.IsSuccess){
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//RGV任务写入后，回读一次，看是否成功
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Thread.sleep(200);
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
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if (resultRead.IsSuccess) {
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commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
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if (commandFinish !=1){
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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");
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}else{
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//任务命令写入成功
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News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
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break;
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}
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}else {
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News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
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}
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} else {
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News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
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}
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}while (writeCount2<5);
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}
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try {
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// 日志记录
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BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(
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command.getTaskNo(),
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command.getRgvNo(),
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new Date(),
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command.getTaskStatus().toString(),
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command.getTargetPosition(),
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command.getWrkTaskPri(),
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new Date()
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);
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bean.insert(basRgvOpt);
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} catch (Exception ignore) {
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log.error(ignore.getMessage());
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}
|
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if (result != null && result.IsSuccess) {
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Thread.sleep(200);
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this.readStatus();
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log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {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.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
private boolean write2(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
|
if (result1.IsSuccess){
|
RgvCommand one = new RgvCommand();
|
one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位
|
one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站
|
one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态
|
one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号
|
News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
|
}
|
byte[] writeBytes = new byte[36];
|
command.setRgvNo(slave.getId());
|
if(specialSites.contains(command.getTargetPosition())){
|
command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
|
}
|
writeInt32(writeBytes, 0, command.getWrkTaskPri());
|
writeInt32(writeBytes, 4, command.getTargetPosition());
|
writeInt16(writeBytes, 8, (short)command.getTaskStatus());
|
writeInt32(writeBytes, 10, command.getTaskNo());
|
writeBool(writeBytes, 34, 0, command.getCommand());
|
OperateResult result = siemensNet.Write("DB100.0", writeBytes);
|
|
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(2,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) 14);
|
if (resultRead.IsSuccess){
|
RgvCommand one = new RgvCommand();
|
one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位
|
one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站
|
one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态
|
one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号
|
if (
|
!command.getTaskNo().equals(one.getTaskNo()) ||
|
!command.getTaskStatus().equals(one.getTaskStatus()) ||
|
!command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
|
!command.getTargetPosition().equals(one.getTargetPosition())
|
) {
|
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(2, 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 (result.IsSuccess) { //任务下发确认
|
Thread.sleep(300);
|
//任务下发次数
|
int writeCount2 = 0;
|
do {
|
writeCount2++;
|
Short commandFinish = 1;
|
result = siemensNet.Write("DB100.34.0", 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("DB100.34", (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);
|
}
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
command.getTaskNo(),
|
command.getRgvNo(),
|
new Date(),
|
command.getTaskStatus().toString(),
|
command.getTargetPosition(),
|
command.getWrkTaskPri(),
|
new Date()
|
);
|
bean.insert(basRgvOpt);
|
} catch (Exception ignore) {
|
log.error(ignore.getMessage());
|
}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {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工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
public static void writeInt32(byte[] buffer, int index, int value) {
|
buffer[index] = (byte)((value >> 24) & 0xFF);
|
buffer[index + 1] = (byte)((value >> 16) & 0xFF);
|
buffer[index + 2] = (byte)((value >> 8) & 0xFF);
|
buffer[index + 3] = (byte)(value & 0xFF);
|
}
|
|
|
public static void writeInt16(byte[] buffer, int index, short value) {
|
buffer[index] = (byte)((value >> 8) & 0xFF); // 高字节
|
buffer[index + 1] = (byte)(value & 0xFF); // 低字节
|
}
|
|
public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
|
if (value) {
|
buffer[byteIndex] |= (1 << bitIndex);
|
} else {
|
buffer[byteIndex] &= ~(1 << bitIndex);
|
}
|
}
|
|
public Integer getRgvPosI(Integer pos) {
|
if (pos == null) return 0;
|
|
// key: 站点号 value: 基准物理位置
|
Map<Integer, Integer> posMap = new HashMap<>();
|
posMap.put(1004, 6534);
|
posMap.put(1007, 33634);
|
posMap.put(1010, 75174);
|
posMap.put(1014, 102124);
|
posMap.put(1018, 138224);
|
posMap.put(1021, 178034);
|
posMap.put(1024, 219684);
|
posMap.put(1028, 246724);
|
posMap.put(1031, 288194);
|
posMap.put(1035, 315204);
|
int tolerance = 50; // 允许误差范围
|
|
for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
|
int site = entry.getKey();
|
int basePos = entry.getValue();
|
if (Math.abs(pos - basePos) <= tolerance) {
|
return site;
|
}
|
}
|
|
return 0; // 没匹配到站点
|
}
|
|
@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);
|
|
}
|
|
}
|
