#

Junjie

2025-01-08 0bd50999a23853adefa7a8ad72a3f777ea189097

 src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java

@@ -1,6 +1,8 @@
package com.zy.core.thread.impl;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -14,9 +16,12 @@
import com.zy.common.ExecuteSupport;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.action.ForkLiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.ForkLiftCommand;
@@ -56,7 +61,21 @@

    @Override
    public boolean connect() {
        return false;
        boolean result = false;
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500, slave.getIp());
        siemensS7Net.setRack(slave.getRack().byteValue());
        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】货叉提升机连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            News.info("货叉提升机连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】货叉提升机连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]  [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            News.error("货叉提升机连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
        // siemensS7Net.ConnectClose();
        return result;
    }

    @Override
@@ -72,9 +91,28 @@
            try {
                read();
                Thread.sleep(200);
                execute();
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    private void execute() {
        ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
        if (forkLiftAction == null) {
            return;
        }

        Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
        if (object == null) {
            return;
        }

        Integer taskNo = Integer.valueOf(String.valueOf(object));
        if (taskNo != 0) {
            //存在任务需要执行
            boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
        }
    }

@@ -109,8 +147,8 @@
                //----------读取提升机状态-----------
                //模式
                forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
                //任务号
                forkLiftProtocol.setTaskNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //PLC任务号
                forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //任务状态
                forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
                //任务模式
@@ -194,22 +232,63 @@

    @Override
    public CommandResponse pickAndPut(ForkLiftCommand command) {
        return null;
        CommandResponse response = new CommandResponse(false);

        short[] array = new short[4];
        array[0] = command.getTaskNo();//任务号
        array[1] = command.getMode();//任务模式
        array[2] = command.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = siemensS7Net.Write("DB103.0", array);
        if (result.IsSuccess) {
            OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse shuttleSwitch(ForkLiftCommand command) {
        return null;
        CommandResponse response = new CommandResponse(false);

        short[] array = new short[4];
        array[0] = command.getTaskNo();//任务号
        array[1] = command.getMode();//任务模式
        array[2] = command.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = siemensS7Net.Write("DB103.0", array);
        if (result.IsSuccess) {
            OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse reset(ForkLiftCommand command) {
        return null;
    public CommandResponse reset() {
        CommandResponse response = new CommandResponse(false);
        OperateResult result = siemensS7Net.Write("DB103.20", (short) 1);
        if (result.IsSuccess) {
            response.setResult(true);
        }
        return response;
    }

    @Override
    public boolean isIdle() {
        return false;
        if (this.forkLiftProtocol.getTaskNo() == null
                || this.forkLiftProtocol.getProtocolStatus() == null
        ) {
            return false;
        }

        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                && this.forkLiftProtocol.getTaskNo() == 0;
        return res;
    }

    @Override
@@ -229,12 +308,13 @@

    @Override
    public boolean setSyncTaskNo(Integer taskNo) {
        return false;
        this.forkLiftProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
        return 0;
        return taskNo;
    }

    @Override