堆垛机移库任务下发坐标修改

zwl

2025-03-06 04a3dc92f15bbcaaadbca0f2e6b8fb1dcd31e338

 src/main/java/com/zy/core/thread/SiemensCrnThread.java

@@ -5,25 +5,32 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;

import java.text.MessageFormat;
import java.util.Date;
import java.util.*;

/**
 * 堆垛机线程
@@ -43,6 +50,22 @@
     */
    private boolean backHpFlag = false;

    @Value("${wms.url}")
    private String wmsUrl;
    public static final List<Short> rowOne = new ArrayList<Short>() {{
        add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
    }};
    public static final List<Short> rowTwo = new ArrayList<Short>() {{
        add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
    }};
    public static final List<Short> rowThree = new ArrayList<Short>() {{
        add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
    }};
    public static final List<Short> rowFour = new ArrayList<Short>() {{
        add((short) 4);add((short) 10);add((short) 14);add((short) 18);
    }};


    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
    }
@@ -50,6 +73,7 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        initCrnProtocol();
        this.connect();
        while (true) {
            try {
@@ -65,7 +89,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        write5((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -85,6 +109,12 @@
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    case 4:
                        writeAuto((CrnCommand) task.getData());
                        break;
                    case 5:
                        write((CrnCommand) task.getData());
                        break;
                    default:
                        break;
                }
@@ -97,9 +127,9 @@
    }

    /**
     * 初始化堆垛机状态
     * 初始化堆垛机
     */
    private void initCrn() {
    private void initCrnProtocol(){
        if (null == crnProtocol) {
            crnProtocol = new CrnProtocol();
        }
@@ -136,7 +166,9 @@
        } else {
            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()));
            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());
            initCrn();
//            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//            deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败");
            initCrnProtocol();
        }
//        siemensNet.ConnectClose();
        return result;
@@ -146,6 +178,8 @@
     * 读取状态
     */
    private void readStatus(){
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            if (result.IsSuccess) {
@@ -198,38 +232,86 @@
                    basCrnp.setCrnNo(slave.getId());
                    basCrnp.setCrnSts((int)crnProtocol.getMode());
                    if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                        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());
                        News.error(methodName + ":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());
                    }
                } catch (Exception ignore){}

            } else {
                initCrn();
                initCrnProtocol();
                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());
                News.error(methodName + ":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());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
    }

    private void convertRow(CrnCommand crnCommand) {
        if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) {
            crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4)));
        }
        if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) {
            crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4)));
            News.error(methodName + ":读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrnProtocol();
        }
    }

    /**
     * 写入数据
     */
    private boolean write(CrnCommand command) throws InterruptedException {
    private boolean write(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];
        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);


        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;
        }
    }

    /**
     * 写入数据
     */
    private boolean write5(CrnCommand command) throws InterruptedException {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        if (null == command) {
            News.error("堆垛机写入命令为空");
            return false;
        }
//        convertRow(command);
@@ -248,6 +330,28 @@
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
        if (resultRead.IsSuccess) {
            CrnCommand one = new CrnCommand();
            one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
            one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
            one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
            one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
            one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
            one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
            one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
            one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
            if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                    || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                    || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                    || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
            ){
                News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
            }
        }

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
@@ -281,16 +385,169 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            News.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("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.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() {