自动化立库仓库-WCS系统
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whycq
2022-03-16 2a66c437952971e9065dff5c48d76c6ae50b6c5d 
 src/main/java/com/zy/core/thread/SteThread.java


@@ -16,6 +16,8 @@


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


import com.zy.core.enums.SlaveType;


import com.zy.core.enums.SteStatusType;


import com.zy.core.enums.SteTaskModeType;


import com.zy.core.model.SteSlave;


import com.zy.core.model.Task;


import com.zy.core.model.command.SteCommand;


@@ -25,6 +27,7 @@




import java.text.MessageFormat;


import java.util.Date;


import java.util.Random;




/**


 * shuttle 穿梭车线程


@@ -89,23 +92,12 @@


        if (null == steProtocol) {


            steProtocol = new SteProtocol();


        }


//        steProtocol.setMode((short) -1);


//        steProtocol.setTaskNo((short)0);


//        steProtocol.setStatus((short)-1);


//        steProtocol.setBay((short)0);


//        steProtocol.setLevel((short)0);


//        steProtocol.setForkPos((short) -1);


//        steProtocol.setLiftPos((short) -1);


//        steProtocol.setWalkPos((short)0);


//        steProtocol.setLoaded((short)0);


//        steProtocol.setAlarm((short)0);


//        steProtocol.setXSpeed(0F);


//        steProtocol.setYSpeed(0F);


//        steProtocol.setZSpeed(0F);


//        steProtocol.setXDistance(0F);


//        steProtocol.setYDistance(0F);


//        steProtocol.setXDuration(0F);


//        steProtocol.setYDuration(0F);


        steProtocol.setSteNo(slave.getId().shortValue());


        steProtocol.setMode((short) 0);


        steProtocol.setStatus(SteStatusType.OFF_LINE);


        steProtocol.setTaskNo(0);


        steProtocol.setExecute(false);


        steProtocol.setWaiting(false);


    }




    @Override


@@ -226,11 +218,9 @@


            // 作业


            if (command.getTaskMode() != 0) {


                // 1.任务号


                OperateResult result0 = siemensS7Net.Write("DB3", command.getTaskNo());


                OperateResult result0 = siemensS7Net.Write("DB3.0", command.getTaskNo());


                // 2.作业


                short[] array = new short[10];


                array[0] = command.getTaskMode();


                OperateResult result1 = siemensS7Net.Write("D0", array);


                OperateResult result1 = siemensS7Net.Write("DB3.4", command.getTaskMode());


                // 3.确认开始任务


                if (result0.IsSuccess && result1.IsSuccess) {


                    result = siemensS7Net.Write("D0", true);


@@ -363,101 +353,42 @@


    /**************************************** 测试专用 *****************************************/


    /*****************************************************************************************/


    public static void main(String[] args) throws InterruptedException {


//        CrnSlave slave = new CrnSlave();


//        slave.setId(1);


//        slave.setIp("192.168.3.39");


//        slave.setPort(5015);


//        slave.setRack(0);


//        slave.setSlot(0);


//        SteThread melsecCrnThread = new SteThread(slave);


//        melsecCrnThread.connect();


//        melsecCrnThread.readStatus();


//        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));


        SteSlave slave = new SteSlave();


        slave.setId(1);


        slave.setIp("192.168.3.39");


        slave.setPort(5015);


        SteThread thread = new SteThread(slave);


        thread.connect();


        thread.readStatus();


        System.out.println(JSON.toJSONString(thread.steProtocol));




        // 1.入库 源和目标都发


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(1); // 堆垛机编号


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


//        command.setAckFinish((short) 0);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式


//        command.setSourcePosX((short) 1);     // 源库位排


//        command.setSourcePosY((short) 0);     // 源库位列


//        command.setSourcePosZ((short) 1);     // 源库位层


//        command.setDestinationPosX((short) 2);     // 目标库位排


//        command.setDestinationPosY((short) 3);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);


        // 任务作业


        SteCommand command = new SteCommand();


        command.setSteNo(1); // 堆垛机编号


        command.setTaskNo(new Random().nextInt(9000)); // 工作号


        command.setTaskMode(SteTaskModeType.IN_LEFT); // 任务模式


        thread.write(command);




        // 2.出库 源和目标都发


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(1); // 堆垛机编号


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


//        command.setAckFinish((short) 0);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式


//        command.setSourcePosX((short) 2);     // 源库位排


//        command.setSourcePosY((short) 4);     // 源库位列


//        command.setSourcePosZ((short) 3);     // 源库位层


//        command.setDestinationPosX((short) 1);     // 目标库位排


//        command.setDestinationPosY((short) 0);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);


        // 任务完成


//        SteCommand command = new SteCommand();


//        command.setSteNo(1); // 堆垛机编号


//        command.setComplete(Boolean.TRUE); // 任务模式


//        thread.write(command);




        // 控制模式


//        SteCommand command = new SteCommand();


//        command.setControlMode((short) 1);


//        thread.write(command);




//        // 3.库位移转   源和目标都发 pass


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 堆垛机编号


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


//        command.setAckFinish((short) 0);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)2);     // 源库位排


//        command.setSourcePosY((short)2);     // 源库位列


//        command.setSourcePosZ((short)3);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)4);     // 目标库位列


//        command.setDestinationPosZ((short)4);     // 目标库位层


//        crnThread.write(command);


        // 复位信号


//        SteCommand command = new SteCommand();


//        command.setReset((short) 1);


//        thread.write(command);




        // 4.站位移转   源和目标都发


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 堆垛机编号


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


//        command.setAckFinish((short) 0);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)1);     // 源库位排


//        command.setSourcePosY((short)0);     // 源库位列


//        command.setSourcePosZ((short)1);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)0);     // 目标库位列


//        command.setDestinationPosZ((short)1);     // 目标库位层


//        crnThread.write(command);




//        // 5.回原点  不用发   pass


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(1); // 堆垛机编号


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


//        command.setAckFinish((short) 0);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式


//        command.setSourcePosX((short) 0);     // 源库位排


//        command.setSourcePosY((short) 0);     // 源库位列


//        command.setSourcePosZ((short) 0);     // 源库位层


//        command.setDestinationPosX((short) 0);     // 目标库位排


//        command.setDestinationPosY((short) 0);     // 目标库位列


//        command.setDestinationPosZ((short) 0);     // 目标库位层


//        crnThread.write(command);






        // 只有出现指定异常才进行复位


//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr


//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr


//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr


//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {


//            CrnCommand command = new CrnCommand();


//            command.setCrnNo(1); // 堆垛机编号


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


//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式


//            Thread.sleep(3000L);


//            crnThread.write(command);


//        }


        // 删除指令


//        SteCommand command = new SteCommand();


//        command.setDelete((short) 1);


//        thread.write(command);




    }