自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
vincent
2020-08-18 00d72b2165634e2d695c0fd9e7e4b5190dfce574 
 src/main/java/com/zy/core/thread/CrnThread.java


@@ -9,6 +9,7 @@


import com.zy.core.ThreadHandler;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


import com.zy.core.enums.CrnStatusType;


import com.zy.core.enums.CrnTaskModeType;


import com.zy.core.enums.SlaveType;


import com.zy.core.model.CrnSlave;


@@ -138,6 +139,16 @@


            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));


            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));


            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));




            /**


             *   当读到status == 90.任务完成等待WCS确认 时


             *   下发任务完成指令


             */


            if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {


                CrnCommand crnCommand = new CrnCommand();


                crnCommand.setAckFinish((short)1);


                write(crnCommand);


            }


        } else {


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));


            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


@@ -167,7 +178,7 @@


        if (result.IsSuccess) {


            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));


            readStatus();


//            readStatus();


        } else {


            System.out.println(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()));


            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()));


@@ -191,7 +202,7 @@


    /******************************************************************************************/


    /**************************************** 测试专用 *****************************************/


    /*****************************************************************************************/


    public static void main(String[] args) {


    public static void main(String[] args) throws InterruptedException {


        CrnSlave slave = new CrnSlave();


        slave.setId(1);


        slave.setIp("192.168.6.9");


@@ -201,22 +212,80 @@


        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);






        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) 1);     // 目标库位排


        command.setDestinationPosY((short) 5);     // 目标库位列


        command.setDestinationPosZ((short) 3);     // 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)1);     // 源库位排


//        command.setSourcePosY((short)4);     // 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)3);     // 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


@@ -225,26 +294,10 @@


//        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) 5);     // 目标库位列


//        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);






//        // 写


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 堆垛机编号


//        command.setTaskNo((short) 0); // 工作号


//        command.setAckFinish((short) 1);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式:  库位移转


//        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);




    }




}