WCS功能完善

pjb

2 天以前 31ec51457b9eebcd6f0d087b5134a00bd708159e

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

@@ -7,22 +7,19 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.common.utils.News;
import com.zy.core.ThreadHandler;
import com.zy.core.RgvThread2;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.entity.BasRgv;
import com.zy.entity.BasRgvOpt;
import com.zy.service.BasRgvOptService;
import com.zy.service.BasRgvService;
import com.zy.utils.News;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

@@ -35,7 +32,7 @@
 */
@Data
@Slf4j
public class RgvThread implements Runnable, ThreadHandler {
public class RgvThread implements Runnable, RgvThread2 {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
@@ -48,6 +45,9 @@
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;

    //锁定标记
    private boolean PakMk = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -70,52 +70,52 @@
                        readStatus();
                        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());
                    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;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setCommand((short)0);
                        write1(command);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        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.setCommand((short)0);
                        write(commandAvoidanceXY);
                        break;
//                    case 3:
//                        RgvCommand command = (RgvCommand) task.getData();
//                        if (null == command) {
//                            command = new RgvCommand();
//                        }
//                        command.setRgvNo(slave.getId()); // RGV编号
//                        command.setTaskNo1((short) 0); // 工作号
//                        command.setAckFinish1((short) 1);  // 任务完成确认位
//                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
//                        command.setSourceStaNo1((short)0);     // 源站
//                        command.setDestinationStaNo1((short)0);     // 目标站
//                        command.setCommand((short)0);
//                        write1(command);
//                        break;
//                    // 回原点  避让
//                    case 9:
//                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
//                        if (null == commandAvoidanceXY) {
//                            commandAvoidanceXY = new RgvCommand();
//                        }
//                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
//                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
//                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
//                        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.setCommand((short)0);
//                        write(commandAvoidanceXY);
//                        break;
                    default:
                        break;
                }
@@ -133,21 +133,25 @@
    private void initRgv() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
            rgvProtocol.setRgvNo(slave.getId());
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
        rgvProtocol.setRgvPos(0);
        rgvProtocol.setStartSta((short)0);
        rgvProtocol.setEndSta((short)0);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setStatus((short)-1);

//        rgvProtocol.setStatus1((short)-1);
//        rgvProtocol.setWalkPos((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);
        rgvProtocol.setxDuration((short) 0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 0);
    }

    @Override
@@ -175,26 +179,29 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 22);
            if (result.IsSuccess) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                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.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 6));
                rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo1((short) siemensNet.getByteTransform().TransInt32(result.Content, 14));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 20));

//                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
//                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//                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.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
//                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));
@@ -205,16 +212,16 @@
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }
//                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag1) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish1((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag1 = false;
//                        }
//                    }
//                }

                // 工位2复位信号
//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
@@ -264,12 +271,18 @@
        }
//        convertRow(command);
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        short[] array = new short[3];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getDestinationStaNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        OperateResult result1 = siemensNet.Write("DB100.0", array);

        OperateResult result2 = siemensNet.Write("DB100.6", command.getTaskNo1().intValue());

        Thread.sleep(100);
        OperateResult result3 = siemensNet.Write("DB100.10", command.getCommand());


//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
@@ -281,7 +294,7 @@
//        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
@@ -309,7 +322,7 @@
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
        if (result1 != null && result1.IsSuccess && result2 != null && result2.IsSuccess && result3 != null && result3.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
@@ -329,6 +342,26 @@
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB100.0", (short) 12);
        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result3.IsSuccess){
            RgvCommand one = new RgvCommand();
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
            one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
            one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
            one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));

            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result8 = siemensNet.Write("DB100.10", (short) 0);
        if (result8.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }

//        siemensNet.Write("DB100.20", command.getCommand());
@@ -535,7 +568,7 @@
    public static void main(String[] args) throws InterruptedException {
        RgvSlave slave = new RgvSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setIp("10.10.10.53");
        slave.setRack(0);
        slave.setSlot(0);
        RgvThread rgvThread = new RgvThread(slave);
@@ -543,6 +576,14 @@
        rgvThread.readStatus();
        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
        Thread.sleep(3000L);
        RgvCommand command = new RgvCommand();
        command.setRgvNo(1);
        command.setSourceStaNo1((short)1120);
        command.setDestinationStaNo1((short)1101);
        command.setTaskNo1((short)1);
        command.setTaskMode1((short)3);
        command.setCommand((short)1);
        rgvThread.write(command);

    }