#联机

zjj

2023-11-21 16441fe63adf04e0c434377f7da0fd05ba155eb6

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

@@ -5,6 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
@@ -22,6 +23,7 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

@@ -37,6 +39,19 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;
    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;
@@ -134,21 +149,33 @@
     * 读取状态
     */
    private void readStatus(){
        OperateResultExOne<byte[]> result = siemensNet.Read("DB11.2", (short) 104);

        OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
        if (result.IsSuccess) {
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }
            crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));   // 2
            crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); // 4
            crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 4)); // 6
            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 6)); // 8
            crnProtocol.setValid(siemensNet.getByteTransform().TransInt16(result.Content, 8));  // 10

            crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // 16
            crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 16));   // 18
            crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18));   // 20
            crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20));  // 22
            crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
            crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
            crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
            crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
            crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
            crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//            crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//            crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//            crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//            crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//            crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));

            // 异常
            crnProtocol.setAlarm1(0);
@@ -362,76 +389,59 @@
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        short[] array = new short[12];
        if (command.getAckFinish() == 0) {
            array[0] = 5;
        } else {
            array[0] = 0;
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();

        if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)1){
            array[1] = (short)0;
            array[2] = (short)0;
        }else if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)41){
            array[1] = (short)0;
            array[2] = (short)42;
        array[3] = command.getDestinationPosZ();
        if (rowOne.contains(command.getSourcePosX())){
            array[4] = (short)1;
        }else if (rowTwo.contains(command.getSourcePosX())){
            array[4] = (short)2;
        }else if (rowThree.contains(command.getSourcePosX())){
            array[4] = (short)3;
        }else if (rowFour.contains(command.getSourcePosX())){
            array[4] = (short)4;
        }else {
            array[1] = command.getSourcePosZ();
            array[2] = command.getSourcePosY();
            array[4] = command.getSourcePosX();
        }
        array[5] = command.getDestinationPosY();

        array[6] = command.getDestinationPosZ();
        if (rowOne.contains(command.getDestinationPosX())){
            array[7] = (short)1;
        }else if (rowTwo.contains(command.getDestinationPosX())){
            array[7] = (short)2;
        }else if (rowThree.contains(command.getDestinationPosX())){
            array[7] = (short)3;
        }else if (rowFour.contains(command.getDestinationPosX())){
            array[7] = (short)4;
        }else {
            array[7] = command.getDestinationPosX();
        }
        array[8] = command.getDestinationPosY();
        if (!Cools.isEmpty(command.getAuto())){
            array[10] = command.getAuto();
        }

        if (command.getSourcePosX()==(short)3){
            array[3] = (short)1;
        }else if (command.getSourcePosX()==(short)4){
            array[3] = (short)2;
        }else {
            array[3] = command.getSourcePosX();
        }

        if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)1){
            array[4] = (short)0;
            array[5] = (short)0;
        }else if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)41){
            array[4] = (short)0;
            array[5] = (short)42;
        }else {
            array[4] = command.getDestinationPosZ();
            array[5] = command.getDestinationPosY();
        }

        if (command.getDestinationPosX()==(short)3){
            array[6] = (short)1;
        }else if (command.getDestinationPosX()==(short)4){
            array[6] = (short)2;
        }else {
            array[6] = command.getDestinationPosX();
        }
        if ((array[1]==(short)0 && array[2] == (short)0) || (array[1]==(short)0 && array[2] == (short)42)){
            array[7]=(short)1;
        }else {
            array[7]=(short)0;
        }
//        array[7] = command.getSourceStaNo();

        if ((array[4]==(short)0 && array[5] == (short)0) || (array[4]==(short)0 && array[5] == (short)42)){
            array[8]=(short)1;
        }else {
            array[8]=(short)0;
        }
//        array[8] = command.getDestinationStaNo();

        // 作业信息
        OperateResult result = siemensNet.Write("DB10.0", array);
        // 任务号 + 完成位
        short[] array2 = new short[2];
        array2[0] = command.getTaskNo();
        array2[1] = command.getAckFinish();
        OperateResult result1 = siemensNet.Write("DB10.24", array2);

        // 结束位
        if (command.getAckFinish() == 0) {
            OperateResult result2 = siemensNet.Write("DB10.28.1", true);
        }
        OperateResult result = siemensNet.Write("DB100.0", array);
//        // 任务号 + 完成位
//        short[] array2 = new short[2];
//        array2[0] = command.getTaskNo();
//        array2[1] = command.getAckFinish();
//        OperateResult result1 = siemensNet.Write("DB10.24", array2);
//
//        // 结束位
//        if (command.getAckFinish() == 0) {
//            OperateResult result2 = siemensNet.Write("DB10.28.1", true);
//        }

        // 日志记录
        try {
@@ -465,7 +475,7 @@
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);

        if (result.IsSuccess && result1.IsSuccess) {
        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)));