自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
luxiaotao1123
2020-08-15 334caa4ba8b118453a0227374d2feca7d850d44d 
 src/main/java/com/zy/core/thread/CrnThread.java


@@ -4,8 +4,10 @@


import HslCommunication.Core.Types.OperateResultExOne;


import HslCommunication.Profinet.Siemens.SiemensPLCS;


import HslCommunication.Profinet.Siemens.SiemensS7Net;


import com.alibaba.fastjson.JSON;


import com.zy.core.ThreadHandler;


import com.zy.core.cache.MessageQueue;


import com.zy.core.enums.CrnTaskModeType;


import com.zy.core.enums.SlaveType;


import com.zy.core.model.CrnSlave;


import com.zy.core.model.Task;


@@ -33,6 +35,7 @@


    @Override


    @SuppressWarnings("InfiniteLoopStatement")


    public void run() {


        this.connect();


        while (true) {


            try {


                int step = 1;


@@ -43,20 +46,34 @@


                switch (step) {


                    // 读数据


                    case 1:


                        readStatus();   // 读取状态


                        readStatus();


                        break;


                    // 写入数据


                    case 2:


                        CrnCommand command = (CrnCommand) task.getData();


                        break;


                    case 3:


                        write((CrnCommand) task.getData());


                        break;


                    // 复位


                    case 4:


                    case 3:


                        CrnCommand command = (CrnCommand) task.getData();


                        if (null == command) {


                            command = new CrnCommand();


                        }


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


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


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


                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式:  库位移转


                        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


                        write(command);


                        break;


                    default:


                        break;


                }


                Thread.sleep(3000);


                Thread.sleep(500);


            } catch (Exception e) {


                e.printStackTrace();


            }


@@ -75,7 +92,7 @@


            result = true;


            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


        } else {


            log.info("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


        }


        siemensNet.ConnectClose();


        return result;


@@ -85,26 +102,31 @@


     * 读取状态


     */


    private void readStatus(){


        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 10);


        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 46);


        if (result.IsSuccess) {


            if (null == crnProtocol) {


                crnProtocol = new CrnProtocol();


            }


            crnProtocol.setMode(siemensNet.ReadInt16("D2231").Content);


//            crnProtocol.setEStop(siemensNet.ReadInt16("D2232").Content);


            crnProtocol.setTaskNo(siemensNet.ReadInt16("D2233").Content);


            crnProtocol.setStatus(siemensNet.ReadInt16("D2234").Content);


            crnProtocol.setBay(siemensNet.ReadInt16("D2235").Content);


            crnProtocol.setLevel(siemensNet.ReadInt16("D2236").Content);


            crnProtocol.setForkPos(siemensNet.ReadInt16("D2237").Content);


            crnProtocol.setLiftPos(siemensNet.ReadInt16("D2238").Content);


            crnProtocol.setWalkPos(siemensNet.ReadInt16("D2239").Content);


            crnProtocol.setTaskFinish(siemensNet.ReadInt16("D2240").Content);


            crnProtocol.setLoaded(siemensNet.ReadInt16("D2241").Content);


            crnProtocol.setAlarm(siemensNet.ReadInt16("D2242").Content);


            crnProtocol.setXDistance(siemensNet.ReadInt32("D2251").Content);


            crnProtocol.setYDistance(siemensNet.ReadInt32("D2253").Content);


            crnProtocol.setDuration(siemensNet.ReadInt32("D2255").Content);


            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.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));


            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));


            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));


            crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22));


            crnProtocol.setError2(siemensNet.getByteTransform().TransInt16(result.Content, 24));


            crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 26));


            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));


            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30));


            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));


            crnProtocol.setXDistance(siemensNet.getByteTransform().TransInt32(result.Content, 34));


            crnProtocol.setYDistance(siemensNet.getByteTransform().TransInt32(result.Content, 38));


            crnProtocol.setDuration(siemensNet.getByteTransform().TransInt32(result.Content, 42));


        } else {


            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


        }


@@ -113,13 +135,33 @@


    /**


     * 写入数据


     */


    private void write(){




    private void write(CrnCommand command){


        if (null == command) {


            log.error("堆垛机写入命令为空");


            return;


        }


        command.setCrnNo(slave.getId());


        short[] array = new short[9];


        array[0] = command.getAckFinish();


        array[1] = command.getTaskNo();


        array[2] = command.getTaskMode();


        array[3] = command.getSourcePosX();


        array[4] = command.getSourcePosY();


        array[5] = command.getSourcePosZ();


        array[6] = command.getDestinationPosX();


        array[7] = command.getDestinationPosY();


        array[8] = command.getDestinationPosZ();


        OperateResult result = siemensNet.Write("DB8.0", array);


        if (result.IsSuccess) {


            readStatus();


        } else {


            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


        }


    }




    @Override


    public void close() {




        siemensNet.ConnectClose();


    }




    public CrnProtocol getCrnProtocol(){


@@ -128,4 +170,33 @@


        }


        return this.crnProtocol;


    }






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


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


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


    public static void main(String[] args) {


        CrnSlave slave = new CrnSlave();


        slave.setIp("192.168.2.9");


        slave.setRack(1);


        slave.setSlot(0);


        CrnThread crnThread = new CrnThread(slave);


        crnThread.readStatus();


        System.out.println(JSON.toJSONString(crnThread.crnProtocol));


//        // 写


//        CrnCommand command = new CrnCommand();


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


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


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


//        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式:  库位移转


//        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);




    }




}