#

Junjie

1 天以前 de13ff96cb19aa0fd2e63ea2d7188734215a2107

 src/main/java/com/zy/core/network/real/ZyStationV4RealConnect.java

@@ -6,7 +6,7 @@
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
@@ -18,11 +18,13 @@
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.Date;
@@ -33,6 +35,10 @@
 */
@Slf4j
public class ZyStationV4RealConnect implements ZyStationConnectApi {

    private static final int TASK_AREA_LENGTH = 48;
    private static final int TASK_AREA_SLOT_SIZE = 12;
    private static final int TASK_AREA_SLOT_COUNT = 3;

    private List<ZyStationStatusEntity> statusList;
    private List<StationObjModel> barcodeOriginList;
@@ -83,7 +89,7 @@
            }

            BasDevp basDevp = basDevpService
                    .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
                    .getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
            if (basDevp == null) {
                return Collections.emptyList();
            }
@@ -101,6 +107,7 @@

        OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 10));
        if (result.IsSuccess) {
            byte[] taskBufferRaw = readTaskBufferRaw();
            for (int i = 0; i < statusList.size(); i++) {
                ZyStationStatusEntity statusEntity = statusList.get(i); // 站点编号
                statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 10)); // 工作号
@@ -116,6 +123,7 @@

                boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 10 + 7, 1);
                statusEntity.setEnableIn(status2[1]);//启动入库
                statusEntity.setRunBlock(status2[2]);//重新规划路线

                Integer palletHeight = null;
                if (status[7]) {
@@ -132,6 +140,7 @@
                statusEntity.setError(0);//默认无报警

                statusEntity.setTaskWriteIdx((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 10 + 8));//任务可写区
                fillTaskBufferStatus(taskBufferRaw, i, statusEntity);
            }
        }

@@ -220,19 +229,56 @@
            return commandResponse;
        }

        int taskWriteIdx = getTaskWriteIdx(command.getStationId());
        if (taskWriteIdx == -1) {
        getStatus(deviceNo);

        int stationIdx = findIndex(command.getStationId());
        if (stationIdx == -1) {
            commandResponse.setMessage("命令下发失败，未找到站点状态");
            return commandResponse;
        }

        ZyStationStatusEntity statusEntity = statusList.get(stationIdx);
        Integer taskWriteIdx = statusEntity == null ? null : statusEntity.getTaskWriteIdx();
        if (taskWriteIdx == null || taskWriteIdx <= 0) {
            commandResponse.setMessage("命令下发失败，当前无可用任务写入区");
            return commandResponse;
        }

        if (isDuplicateStationCommand(statusEntity, command)) {
            log.info("输送线命令重复，已跳过当前站点命令。任务号={}，站点号={}，目标站={}，taskWriteIdx={}，currentTaskNo={}，currentTargetStaNo={}",
                    command.getTaskNo(),
                    command.getStationId(),
                    command.getTargetStaNo(),
                    taskWriteIdx,
                    statusEntity == null ? null : statusEntity.getTaskNo(),
                    statusEntity == null ? null : statusEntity.getTargetStaNo());
            commandResponse.setResult(true);
            commandResponse.setMessage("命令重复，已跳过下发");
            return commandResponse;
        }

        Integer duplicateSlotIdx = findDuplicateTaskAreaSlot(stationIdx, command);
        if (duplicateSlotIdx != null) {
            log.info("输送线命令重复，已跳过任务写入区重复命令。任务号={}，站点号={}，目标站={}，taskWriteIdx={}，duplicateSlotIdx={}",
                    command.getTaskNo(),
                    command.getStationId(),
                    command.getTargetStaNo(),
                    taskWriteIdx,
                    duplicateSlotIdx);
            commandResponse.setResult(true);
            commandResponse.setMessage("任务区已有相同命令，已跳过下发");
            return commandResponse;
        }

        int useTaskWriteIdx = getTaskWriteIdx(stationIdx, taskWriteIdx);
        if (useTaskWriteIdx == -1) {
            commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
            return commandResponse;
        }

        int stationIdx = findIndex(command.getStationId());
        int taskBaseOffset = stationIdx * TASK_AREA_LENGTH + (useTaskWriteIdx * TASK_AREA_SLOT_SIZE);

        short[] data = new short[2];
        data[0] = (short) 0;
        data[1] = command.getTargetStaNo().shortValue();

        OperateResult writeTaskNo = siemensNet.Write("DB13." + (stationIdx * 48 + (taskWriteIdx * 12)), command.getTaskNo());
        OperateResult writeTaskNo = siemensNet.Write("DB13." + taskBaseOffset, command.getTaskNo());
        if (!writeTaskNo.IsSuccess) {
            log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
            commandResponse.setResult(false);
@@ -240,11 +286,11 @@
            return commandResponse;
        }

        OperateResult writeData = siemensNet.Write("DB13." + (stationIdx * 48 + (taskWriteIdx * 12 + 4)), data);
        if (!writeData.IsSuccess) {
        OperateResult writeTarget = siemensNet.Write("DB13." + (taskBaseOffset + 6), command.getTargetStaNo().shortValue());
        if (!writeTarget.IsSuccess) {
            log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
            commandResponse.setResult(false);
            commandResponse.setMessage("命令下发失败，写入数据区域失败");
            commandResponse.setMessage("命令下发失败，写入目标设备号失败");
            return commandResponse;
        }

@@ -298,30 +344,88 @@
        return null;
    }

    private int getTaskWriteIdx(int stationId) {
    private int getTaskWriteIdx(int stationIdx, Integer taskWriteIdx) {
        int useIdx = -1;

        int stationIdx = findIndex(stationId);
        if (stationIdx != -1) {
            ZyStationStatusEntity statusEntity = statusList.get(stationIdx);

            Integer taskWriteIdx = statusEntity.getTaskWriteIdx();
            if (taskWriteIdx > 0) {
                OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationId * 48), (short) 48);
                if (resultTask.IsSuccess) {
                    int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, taskWriteIdx * 12);
                    int startPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * 12 + 4);
                    int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * 12 + 6);
                    if (taskNo == 0 && startPoint == 0 && targetPoint == 0) {
                        useIdx = taskWriteIdx;
                    }
                }
        if (stationIdx < 0 || taskWriteIdx == null || taskWriteIdx <= 0) {
            return useIdx;
        }
        OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationIdx * TASK_AREA_LENGTH), (short) TASK_AREA_LENGTH);
        if (resultTask.IsSuccess) {
            int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE);
            int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE + 6);
            if (taskNo == 0 && targetPoint == 0) {
                useIdx = taskWriteIdx;
            }
        }

        return useIdx;
    }

    private boolean isDuplicateStationCommand(ZyStationStatusEntity statusEntity, StationCommand command) {
        if (statusEntity == null || command == null) {
            return false;
        }
        return command.getTaskNo() != null
                && command.getTargetStaNo() != null
                && command.getTaskNo().equals(statusEntity.getTaskNo())
                && command.getTargetStaNo().equals(statusEntity.getTargetStaNo());
    }

    private Integer findDuplicateTaskAreaSlot(int stationIdx, StationCommand command) {
        if (stationIdx < 0 || command == null || command.getTaskNo() == null || command.getTargetStaNo() == null) {
            return null;
        }
        OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationIdx * TASK_AREA_LENGTH), (short) TASK_AREA_LENGTH);
        if (!resultTask.IsSuccess || resultTask.Content == null) {
            return null;
        }
        for (int slotIdx = 1; slotIdx <= TASK_AREA_SLOT_COUNT; slotIdx++) {
            int offset = slotIdx * TASK_AREA_SLOT_SIZE;
            int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, offset);
            int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, offset + 6);
            if (command.getTaskNo().equals(taskNo)
                    && command.getTargetStaNo().equals(targetPoint)) {
                return slotIdx;
            }
        }
        return null;
    }

    private byte[] readTaskBufferRaw() {
        int totalLength = statusList == null ? 0 : statusList.size() * TASK_AREA_LENGTH;
        if (totalLength <= 0) {
            return null;
        }
        OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13.0", (short) totalLength);
        if (!resultTask.IsSuccess || resultTask.Content == null || resultTask.Content.length < totalLength) {
            return null;
        }
        return resultTask.Content;
    }

    private void fillTaskBufferStatus(byte[] taskBufferRaw, int stationIdx, ZyStationStatusEntity statusEntity) {
        if (statusEntity == null || stationIdx < 0 || taskBufferRaw == null) {
            statusEntity.setTaskBufferItems(new ArrayList<>());
            return;
        }
        List<StationTaskBufferItem> itemList = new ArrayList<>();
        int stationOffset = stationIdx * TASK_AREA_LENGTH;
        if (stationOffset + TASK_AREA_LENGTH > taskBufferRaw.length) {
            statusEntity.setTaskBufferItems(itemList);
            return;
        }
        for (int slotIdx = 1; slotIdx <= TASK_AREA_SLOT_COUNT; slotIdx++) {
            int offset = stationOffset + (slotIdx * TASK_AREA_SLOT_SIZE);
            int taskNo = siemensNet.getByteTransform().TransInt32(taskBufferRaw, offset);
            int targetPoint = siemensNet.getByteTransform().TransInt16(taskBufferRaw, offset + 6);
            StationTaskBufferItem item = new StationTaskBufferItem();
            item.setSlotIdx(slotIdx);
            item.setTaskNo(taskNo);
            item.setTargetStaNo(targetPoint);
            itemList.add(item);
        }
        statusEntity.setTaskBufferItems(itemList);
    }

    private int findIndex(Integer stationId) {
        for (int i = 0; i < statusList.size(); i++) {
            ZyStationStatusEntity statusEntity = statusList.get(i);