自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
zzgtfwq
2 天以前 29d5f847ca4d1f084d8170d5bf2235cd6b7dde14 
 src/main/java/com/zy/core/thread/RgvThread.java


@@ -169,18 +169,20 @@


                    }


                    continue;


                }


                if (delRgvTask){


                    writeDelRgvTask();


                    delRgvTask = false;


                    continue;


                }


//                if (delRgvTask){


//                    writeDelRgvTask();


//                    delRgvTask = false;


//                    continue;


//                }


                Thread.sleep(50L);




                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);


                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);


                if (status[0]){


                    Thread.sleep(500L);


                    OperateResult result4 = siemensNet.Write("DB100.12.0", false);


                // 构建设备状态对象


                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());


                if (rgvProtocol == null) {


                    rgvProtocol = new RgvProtocol();


                }


                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)){


                    OperateResult result4 = siemensNet.Write("DB100.0", (short) 1);


                }


            } catch (Exception e) {


                log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


@@ -666,7 +668,7 @@


                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);


                    return false;


                }


            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {


            } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {


                if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())


                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())


                        > avoidDistance - 50) {//无需避让


@@ -874,7 +876,7 @@


                    return false;


                }




            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {


            } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {


                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())


                        - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())


                        > avoidDistance-50) {//无需避让


@@ -1010,7 +1012,8 @@


     */


    private void readStatus() {


        try {


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);


            OperateResultExOne<byte[]> result100 = siemensNet.Read("DB100.0", (short) 18);


            if (result.IsSuccess) {


                // 构建设备状态对象


                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());


@@ -1021,14 +1024,16 @@


                rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());


                rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());




                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));


                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));


                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));


//                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));


                rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));


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


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


                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 32));


                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result100.Content, 14));


                if (rgvProtocol.getRgvPosDestination()==0L){


                    rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos());


                }




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


//                rgvProtocol.setStatus((short)1);




                //作业启动中  解决任务下发后小车状态未更新，小车状态不及时


                if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){


@@ -1038,26 +1043,22 @@


                    rgvProtocol.setStatus((short)110);


                }




                rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));




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


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


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


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


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


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


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




//                OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);


                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);


                rgvProtocol.setLoaded(status[0]? (short)1:(short)0);


                rgvProtocol.setErr1(status[8]);


                rgvProtocol.setErr2(status[9]);


                rgvProtocol.setErr3(status[10]);


                rgvProtocol.setErr4(status[11]);


                rgvProtocol.setErr5(status[12]);


                rgvProtocol.setErr6(status[13]);


                rgvProtocol.setErr7(status[14]);


                rgvProtocol.setErr8(status[15]);


//                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);


//                rgvProtocol.setLoaded(status[0]? (short)1:(short)0);


//                rgvProtocol.setErr1(status[8]);


//                rgvProtocol.setErr2(status[9]);


//                rgvProtocol.setErr3(status[10]);


//                rgvProtocol.setErr4(status[11]);


//                rgvProtocol.setErr5(status[12]);


//                rgvProtocol.setErr6(status[13]);


//                rgvProtocol.setErr7(status[14]);


//                rgvProtocol.setErr8(status[15]);


//                System.out.println("读线程"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));


//                System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()+"小车数据："+JSON.toJSONString(rgvProtocol));


                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));


@@ -1072,9 +1073,9 @@


//                        }


//                    }


//                }


                if (rgvProtocol.getAlarm$()!=0){


                    RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());


                }


//                if (rgvProtocol.getAlarm$()!=0){


//                    RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());


//                }




                try {


                    // 根据实时信息更新数据库


@@ -1152,21 +1153,26 @@


//        convertRow(command);


//        taskProtocol.setRgvNo(slave.getId());


//        Long[] array = new Long[11];


        OperateResult result41 = siemensNet.Write("DB100.12.0", false);


        OperateResult result41 = siemensNet.Write("DB100.0", (short) 0);


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


//        array[1] = taskProtocol.getTaskNo();


//        array[2] = taskProtocol.getTaskMode();


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


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


        int taskStatus = taskProtocol.getTaskStatus();


        int taskStatus = taskProtocol.getTaskStatus$();


        int targetPositionStaNo = taskProtocol.getTargetPositionStaNo();


        int targetPositionStaNoEnd = taskProtocol.getTargetPositionStaNoEnd();




        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue());


        OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);


        OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());


        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


        Thread.sleep(20L);


        OperateResult result2 = siemensNet.Write("DB100.2", taskProtocol.getTaskNo().intValue());


        OperateResult result1 = siemensNet.Write("DB100.6", (short) taskStatus);


        OperateResult result11 = siemensNet.Write("DB100.8", (short) targetPositionStaNo);


        OperateResult result12 = siemensNet.Write("DB100.10", (short) targetPositionStaNo);


        OperateResult result = siemensNet.Write("DB100.14", taskProtocol.getTargetPosition().intValue());


        OperateResult result13 = siemensNet.Write("DB100.18", (short) targetPositionStaNoEnd);


//        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


        Thread.sleep(10L);




        OperateResult result4 = siemensNet.Write("DB100.12.0", true);


        OperateResult result4 = siemensNet.Write("DB100.12", (short) 1);


        this.wrkSign = 1;




//        log.info("任务下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());