自动化立体仓库 - WCS系统
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#
zjj
2024-01-20 05f1c60ff38516bae256e0a02d9678aee0c71724 
 src/main/java/com/zy/core/thread/RgvThread.java


@@ -67,18 +67,18 @@


                    case 1:


                        readStatus();


                        break;


                    // 工位1、2写入数据


                    case 2:


                        write((RgvCommand) task.getData());


                        break;


//                    // 工位1、2写入数据


//                    case 2:


//                        write((RgvCommand) task.getData());


//                        break;


                    //工位1写入数据


                    case 4:


                        write1((RgvCommand) task.getData());


                        break;


                    //工位2写入数据


                    case 5:


                        write2((RgvCommand) task.getData());


                        break;


//                    //工位2写入数据


//                    case 5:


//                        write2((RgvCommand) task.getData());


//                        break;


                    // 复位


                    case 3:


                        RgvCommand command = (RgvCommand) task.getData();


@@ -91,13 +91,8 @@


                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式


                        command.setSourceStaNo1((short)0);     // 源站


                        command.setDestinationStaNo1((short)0);     // 目标站


                        command.setTaskNo2((short) 0); // 工作号


                        command.setAckFinish2((short) 1);  // 任务完成确认位


                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式


                        command.setSourceStaNo2((short)0);     // 源站


                        command.setDestinationStaNo2((short)0);     // 目标站


                        command.setCommand((short)0);


                        write(command);


                        write1(command);


                        break;


                    // 回原点  避让


                    case 9:


@@ -111,11 +106,11 @@


                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式


                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站


                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站


                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号


                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位


                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式


                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站


                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站


//                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号


//                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位


//                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式


//                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站


//                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站


                        commandAvoidanceXY.setCommand((short)0);


                        write(commandAvoidanceXY);


                        break;


@@ -144,9 +139,9 @@


        rgvProtocol.setLoaded1((short)0);


        rgvProtocol.setWalkPos((short)0);


        rgvProtocol.setRgvPos((short)0);


        rgvProtocol.setTaskNo2((short)0);


        rgvProtocol.setStatus2((short)-1);


        rgvProtocol.setLoaded2((short)0);


//        rgvProtocol.setTaskNo2((short)0);


//        rgvProtocol.setStatus2((short)-1);


//        rgvProtocol.setLoaded2((short)0);


        rgvProtocol.setAlarm((short)0);


        rgvProtocol.setxSpeed((short) 0);


        rgvProtocol.setxDistance((short) 0);


@@ -178,7 +173,7 @@


     */


    private void readStatus(){


        try {


            OperateResultExOne<byte[]> result = siemensNet.Read("DB1.0", (short) 34);


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);


            if (result.IsSuccess) {


                if (null == rgvProtocol) {


                    rgvProtocol = new RgvProtocol();


@@ -191,16 +186,16 @@


                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));


                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));


                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));


//                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));


                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));


//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));


//                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));


                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));


                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));


                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));


                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));


//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));


                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));


//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));


                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));


                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));


                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));


                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));


//                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));


//                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));


//                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));


//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));


//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));


//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));


@@ -220,16 +215,16 @@


                }




                // 工位2复位信号


                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)


                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {


                    if (resetFlag2) {


                        RgvCommand rgvCommand = new RgvCommand();


                        rgvCommand.setAckFinish2((short)1);


                        if (write(rgvCommand)) {


                            resetFlag2 = false;


                        }


                    }


                }


//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)


//                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {


//                    if (resetFlag2) {


//                        RgvCommand rgvCommand = new RgvCommand();


//                        rgvCommand.setAckFinish2((short)1);


//                        if (write(rgvCommand)) {


//                            resetFlag2 = false;


//                        }


//                    }


//                }




                try {


                    // 根据实时信息更新数据库


@@ -273,19 +268,24 @@


        array[2] = command.getTaskMode1();


        array[3] = command.getSourceStaNo1();


        array[4] = command.getDestinationStaNo1();


        array[5] = command.getAckFinish2();


        array[6] = command.getTaskNo2();


        array[7] = command.getTaskMode2();


        array[8] = command.getSourceStaNo2();


        array[9] = command.getDestinationStaNo2();


        array[10] = command.getCommand();


//        array[0] = command.getAckFinish1();


//        array[1] = command.getTaskNo1();


//        array[2] = command.getTaskMode1();


//        array[3] = command.getSourceStaNo1();


//        array[4] = command.getDestinationStaNo1();


//        array[5] = command.getAckFinish2();


//        array[6] = command.getTaskNo2();


//        array[7] = command.getTaskMode2();


//        array[8] = command.getSourceStaNo2();


//        array[9] = command.getDestinationStaNo2();


//        array[10] = command.getCommand();


        OperateResult result = siemensNet.Write("DB100.0", array);




        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {


            short commandFinish = 3;  //工位1、2任务同时写入


            Thread.sleep(100L);


            result = siemensNet.Write("DB100.20", commandFinish);


        }


//        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {


//            short commandFinish = 3;  //工位1、2任务同时写入


//            Thread.sleep(100L);


//            result = siemensNet.Write("DB100.20", commandFinish);


//        }




        try {


            // 日志记录


@@ -329,7 +329,7 @@


            return false;


        }




        siemensNet.Write("DB100.20", command.getCommand());


//        siemensNet.Write("DB100.20", command.getCommand());




        command.setRgvNo(slave.getId());


        short[] array = new short[5];


@@ -338,14 +338,14 @@


        array[2] = command.getTaskMode1();


        array[3] = command.getSourceStaNo1();


        array[4] = command.getDestinationStaNo1();


        siemensNet.Write("DB100.20", command.getCommand());


        siemensNet.Write("DB100.10", command.getCommand());




        OperateResult result = siemensNet.Write("DB100.0", array);




        if (command.getAckFinish1() == 0) {


            short commandFinish = 1;  //工位1任务写入


            Thread.sleep(100L);


            result = siemensNet.Write("DB100.20", commandFinish);


            Thread.sleep(200);


            result = siemensNet.Write("DB100.10", commandFinish);


        }




        try {


@@ -366,7 +366,9 @@


                    null


            );


            bean.insert(basRgvOpt);


        } catch (Exception ignore) {}


        } catch (Exception ignore) {


            log.error(ignore.getMessage());


        }




        if (result != null && result.IsSuccess) {


            Thread.sleep(200);