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Administrator

1 天以前 1c8455e647bfb059d52788afaa845c52e7d6213f

 src/main/java/com/zy/core/network/real/ZyDualCrnRealConnect.java

@@ -7,17 +7,10 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.BasDualCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.service.BasDualCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.DualCrnTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.model.CommandResponse;
@@ -104,125 +97,105 @@
                if (taskResult.IsSuccess) {
                    byte[] taskContent = taskResult.Content;

                    // 工位1命令区：DB100.0 ~ DB100.17
                    short taskNo = siemensNet.getByteTransform().TransInt16(taskContent, 0);
                    short taskMode = siemensNet.getByteTransform().TransInt16(taskContent, 2);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskContent, 4);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskContent, 6);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskContent, 8);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskContent, 10);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskContent, 12);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskContent, 14);
                    short confirm = siemensNet.getByteTransform().TransInt16(taskContent, 16);
                    RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
                    short[] taskBlock = new short[18];
                    for (int i = 0; i < taskBlock.length; i++) {
                        taskBlock[i] = siemensNet.getByteTransform().TransInt16(taskContent, i * 2);
                    }

                    // 工位1命令区：DB100.0 ~ DB100.17
                    short taskNo = taskBlock[0];
                    short taskMode = taskBlock[1];
                    short sourcePosX = taskBlock[2];
                    short sourcePosY = taskBlock[3];
                    short sourcePosZ = taskBlock[4];
                    short destinationPosX = taskBlock[5];
                    short destinationPosY = taskBlock[6];
                    short destinationPosZ = taskBlock[7];
                    short confirm = taskBlock[8];

                    HashMap<String, Object> stationOneMap = null;
                    boolean stationOneNeedClear = false;
                    int hasData = 0;
                    if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {
                        hasData = 1;
                        if (crnStatus.getTaskReceive() == 1) {
                            HashMap<String, Object> map = new HashMap<>();
                            map.put("taskNo", taskNo);
                            map.put("taskMode", taskMode);
                            map.put("sourcePosX", sourcePosX);
                            map.put("sourcePosY", sourcePosY);
                            map.put("sourcePosZ", sourcePosZ);
                            map.put("destinationPosX", destinationPosX);
                            map.put("destinationPosY", destinationPosY);
                            map.put("destinationPosZ", destinationPosZ);
                            map.put("confirm", confirm);
                            stationOneMap = new HashMap<>();
                            stationOneMap.put("taskNo", taskNo);
                            stationOneMap.put("taskMode", taskMode);
                            stationOneMap.put("sourcePosX", sourcePosX);
                            stationOneMap.put("sourcePosY", sourcePosY);
                            stationOneMap.put("sourcePosZ", sourcePosZ);
                            stationOneMap.put("destinationPosX", destinationPosX);
                            stationOneMap.put("destinationPosY", destinationPosY);
                            stationOneMap.put("destinationPosZ", destinationPosZ);
                            stationOneMap.put("confirm", confirm);

                            short[] array = new short[9];
                            array[0] = (short) 0;
                            array[1] = (short) 0;
                            array[2] = (short) 0;
                            array[3] = (short) 0;
                            array[4] = (short) 0;
                            array[5] = (short) 0;
                            array[6] = (short) 0;
                            array[7] = (short) 0;
                            array[8] = (short) 0;

                            boolean clear = false;
                            if (taskMode == DualCrnTaskModeType.CONFIRM.id) {
//                                if (crnStatus.getStatus() == 0) {
//                                    clear = true;
//                                }
                                clear = true;
                            } else {
                                clear = true;
                            }

                            if (clear) {
                                RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
                                Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());
                                if (lock == null) {
                                    OperateResult taskClearResult = siemensNet.Write("DB100.0", array);
                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 1);
                                    News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 1, JSON.toJSONString(map));
                                }
                            }
                            Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + 1);
                            stationOneNeedClear = lock == null;
                        }
                    }
                    crnStatus.setTaskSend(hasData);

                    // 工位2命令区：DB100.18 ~ DB100.35
                    short taskNoTwo = siemensNet.getByteTransform().TransInt16(taskContent, 18);
                    short taskModeTwo = siemensNet.getByteTransform().TransInt16(taskContent, 20);
                    short sourcePosXTwo = siemensNet.getByteTransform().TransInt16(taskContent, 22);
                    short sourcePosYTwo = siemensNet.getByteTransform().TransInt16(taskContent, 24);
                    short sourcePosZTwo = siemensNet.getByteTransform().TransInt16(taskContent, 26);
                    short destinationPosXTwo = siemensNet.getByteTransform().TransInt16(taskContent, 28);
                    short destinationPosYTwo = siemensNet.getByteTransform().TransInt16(taskContent, 30);
                    short destinationPosZTwo = siemensNet.getByteTransform().TransInt16(taskContent, 32);
                    short confirmTwo = siemensNet.getByteTransform().TransInt16(taskContent, 34);
                    short taskNoTwo = taskBlock[9];
                    short taskModeTwo = taskBlock[10];
                    short sourcePosXTwo = taskBlock[11];
                    short sourcePosYTwo = taskBlock[12];
                    short sourcePosZTwo = taskBlock[13];
                    short destinationPosXTwo = taskBlock[14];
                    short destinationPosYTwo = taskBlock[15];
                    short destinationPosZTwo = taskBlock[16];
                    short confirmTwo = taskBlock[17];

                    HashMap<String, Object> stationTwoMap = null;
                    boolean stationTwoNeedClear = false;
                    int hasDataTwo = 0;
                    if(taskNoTwo != 0 || taskModeTwo != 0 || sourcePosXTwo != 0 || sourcePosYTwo != 0 || sourcePosZTwo != 0 || destinationPosXTwo != 0 || destinationPosYTwo != 0 || destinationPosZTwo != 0 || confirmTwo != 0) {
                        hasDataTwo = 1;
                        if (crnStatus.getTaskReceiveTwo() == 1) {
                            HashMap<String, Object> map = new HashMap<>();
                            map.put("taskNo", taskNoTwo);
                            map.put("taskMode", taskModeTwo);
                            map.put("sourcePosX", sourcePosXTwo);
                            map.put("sourcePosY", sourcePosYTwo);
                            map.put("sourcePosZ", sourcePosZTwo);
                            map.put("destinationPosX", destinationPosXTwo);
                            map.put("destinationPosY", destinationPosYTwo);
                            map.put("destinationPosZ", destinationPosZTwo);
                            map.put("confirm", confirmTwo);
                            stationTwoMap = new HashMap<>();
                            stationTwoMap.put("taskNo", taskNoTwo);
                            stationTwoMap.put("taskMode", taskModeTwo);
                            stationTwoMap.put("sourcePosX", sourcePosXTwo);
                            stationTwoMap.put("sourcePosY", sourcePosYTwo);
                            stationTwoMap.put("sourcePosZ", sourcePosZTwo);
                            stationTwoMap.put("destinationPosX", destinationPosXTwo);
                            stationTwoMap.put("destinationPosY", destinationPosYTwo);
                            stationTwoMap.put("destinationPosZ", destinationPosZTwo);
                            stationTwoMap.put("confirm", confirmTwo);

                            short[] array = new short[9];
                            array[0] = (short) 0;
                            array[1] = (short) 0;
                            array[2] = (short) 0;
                            array[3] = (short) 0;
                            array[4] = (short) 0;
                            array[5] = (short) 0;
                            array[6] = (short) 0;
                            array[7] = (short) 0;
                            array[8] = (short) 0;

                            boolean clear = false;
                            if (taskModeTwo == DualCrnTaskModeType.CONFIRM.id) {
//                                if (crnStatus.getStatusTwo() == 0) {
//                                    clear = true;
//                                }
                                clear = true;
                            } else {
                                clear = true;
                            }

                            if (clear) {
                                RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
                                Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());
                                if (lock == null) {
                                    OperateResult taskClearResult = siemensNet.Write("DB100.18", array);
                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 1);
                                    News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 2, JSON.toJSONString(map));
                                }
                            }
                            Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + 2);
                            stationTwoNeedClear = lock == null;
                        }
                    }
                    crnStatus.setTaskSendTwo(hasDataTwo);

                    if (stationOneNeedClear && stationTwoNeedClear) {
                        for (int i = 0; i < taskBlock.length; i++) {
                            taskBlock[i] = (short) 0;
                        }

                        OperateResult taskClearResult = siemensNet.Write("DB100.0", taskBlock);
                        if (taskClearResult != null && taskClearResult.IsSuccess) {
                            redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + 1, "lock", 1);
                            redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + 2, "lock", 1);
                            News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 1, JSON.toJSONString(stationOneMap));
                            News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 2, JSON.toJSONString(stationTwoMap));
                        }
                    } else if (stationOneNeedClear) {
                        OperateResult taskClearResult = siemensNet.Write("DB100.0", new short[9]);
                        if (taskClearResult != null && taskClearResult.IsSuccess) {
                            redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + 1, "lock", 1);
                            News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 1, JSON.toJSONString(stationOneMap));
                        }
                    } else if (stationTwoNeedClear) {
                        OperateResult taskClearResult = siemensNet.Write("DB100.18", new short[9]);
                        if (taskClearResult != null && taskClearResult.IsSuccess) {
                            redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + 2, "lock", 1);
                            News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 2, JSON.toJSONString(stationTwoMap));
                        }
                    }
                }

                return crnStatus;
@@ -241,8 +214,9 @@
    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 3);
        redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + command.getStation(), "lock", 1);
        CommandResponse response = new CommandResponse(false);
        boolean confirmCommand = command != null && DualCrnTaskModeType.CONFIRM.id.equals(command.getTaskMode());
         try {
             if (null == command) {
                 News.error("双工位堆垛机写入命令为空");
@@ -298,7 +272,22 @@
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                    if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
                    boolean payloadReady;
                    if (confirmCommand) {
                        // CONFIRM 命令本身不携带库位坐标，零坐标是合法值。
                        payloadReady = taskNo == command.getTaskNo().shortValue()
                                && taskMode == command.getTaskMode().shortValue();
                    } else {
                        payloadReady = taskNo != 0
                                && taskMode != 0
                                && sourcePosX != 0
                                && sourcePosY != 0
                                && sourcePosZ != 0
                                && destinationPosX != 0
                                && destinationPosY != 0
                                && destinationPosZ != 0;
                    }
                    if (!payloadReady) {
                        result = siemensNet.Write(address, array);
                    } else {
                        break;
@@ -320,7 +309,7 @@
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
                 response.setResult(true);
                 response.setMessage("命令下发成功");
                 redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 3);
                 redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo() + "_" + command.getStation(), "lock", 1);
             } else {
                 News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));