自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
pang.jiabao
2024-06-22 62af9acaccedaea4c4c7efd4e68c8b702cf5a27d 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -11,10 +11,13 @@


import com.zy.asrs.entity.BasCrnp;


import com.zy.asrs.service.BasCrnOptService;


import com.zy.asrs.service.BasCrnpService;


import com.zy.common.utils.News;


import com.zy.core.CrnThread;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


import com.zy.core.enums.*;


import com.zy.core.enums.CrnStatusType;


import com.zy.core.enums.CrnTaskModeType;


import com.zy.core.enums.SlaveType;


import com.zy.core.model.CrnSlave;


import com.zy.core.model.Task;


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


@@ -37,6 +40,15 @@


    private CrnSlave slave;


    private CrnProtocol crnProtocol;


    private boolean resetFlag = false;




    /**


     * 20230711 Add，判断是否允许下发堆垛机任务的命令标记，默认为true


     * 为了防止时间差导致的WCS连续下发多笔任务，WCS下发任务后，主线程轮询时还未读到堆垛机非空闲、有任务状态时，可能会重复下发


     * 主线程下发堆垛机任务的同时，cmdFlag置为false，当堆垛机处于等待确认状态并且resetFlag为true时，才复位cmdFlag为true


     * 所有堆垛机任务下发前，先判断cmdFlag为true后才能下发


     * 改动前，是通过判断工作档是否存在堆垛机执行中工作状态判断的，如果不生成工作档，或者是有充电、移车等任务漏判断了也会存在问题


     */


    private boolean cmdFlag = true;




    /**


     * 堆垛机是否在回原点运动中标记


@@ -132,10 +144,10 @@


        if(connect.IsSuccess){


            result = true;


            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));


            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());


            News.info("SiemensCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


        } else {


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), 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());


            News.error("SiemensCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


            initCrn();


        }


//        siemensNet.ConnectClose();


@@ -147,7 +159,7 @@


     */


    private void readStatus(){


        try {


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 54);


            if (result.IsSuccess) {


                if (null == crnProtocol) {


                    crnProtocol = new CrnProtocol();


@@ -163,30 +175,55 @@


                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().TransInt16(result.Content, 28));


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


                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));


//                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));


//                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));


//                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));




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


                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));


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


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


//                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 42));


//                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 44));


                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));






//                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));








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




                // 复位信号


//                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {


//                    if (resetFlag) {


//                        if(crnProtocol.getTaskNo()==9999){


//                            backHpFlag = false;


//                        }


//                        CrnCommand crnCommand = new CrnCommand();


//                        crnCommand.setAckFinish((short)1);


//                        if (write(crnCommand)) {


//                            resetFlag = false;


//                        }


//                    }


//                }




                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {


//                    News.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",


//                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");


                    if (resetFlag) {


                        if(crnProtocol.getTaskNo()==9999){


                            backHpFlag = false;


                        }


                        CrnCommand crnCommand = new CrnCommand();


                        crnCommand.setAckFinish((short)1);


                        if (write(crnCommand)) {


                            resetFlag = false;


//                            cmdFlag = true;


                        }


                    }


                }


@@ -198,19 +235,19 @@


                    basCrnp.setCrnNo(slave.getId());


                    basCrnp.setCrnSts((int)crnProtocol.getMode());


                    if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){


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


                        News.error("SiemensCrn"+" - 3"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


                    }


                } catch (Exception ignore){}




            } else {


                initCrn();


                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));


                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());


                News.error("SiemensCrn"+" - 4"+" - 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());


            }


        } catch (Exception e) {


            e.printStackTrace();


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));


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


            News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            initCrn();


        }


    }


@@ -229,30 +266,36 @@


     */


    private boolean write(CrnCommand command) throws InterruptedException {


        if (null == command) {


            log.error("堆垛机写入命令为空");


            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");


            return false;


        }


        OperateResult result;


//        convertRow(command);


        command.setCrnNo(slave.getId());


        short[] array = new short[10];


        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();


        if (command.getAckFinish() == 1) {


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


//            result = siemensNet.Write("DB100.18", 0);


        } else {


            command.setCrnNo(slave.getId());


            short[] array = new short[10];


            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();


//        array[9] = command.getSourceStaNo();


//        array[10] = command.getDestinationStaNo();


        array[9] = command.getCommand();


        OperateResult result = siemensNet.Write("DB100.0", array);


            array[9] = command.getCommand();


            result = siemensNet.Write("DB100.0", array);




        if (command.getAckFinish() == 0) {


            short commandFinish = 1;


            Thread.sleep(100L);


            result = siemensNet.Write("DB100.18", commandFinish);


//            if (command.getAckFinish() == 0) {


//                short commandFinish = 1;


//                Thread.sleep(100L);


//                result = siemensNet.Write("DB100.18", commandFinish);


//            }


        }




        try {


@@ -281,12 +324,12 @@


        if (result != null && result.IsSuccess) {


            Thread.sleep(200);


            this.readStatus();


            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));


            News.info("SiemensCrn"+" - 7"+" - 堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), 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)));


            return true;


        } else {


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));


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


            News.error("SiemensCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            return false;


        }


    }


@@ -303,7 +346,8 @@


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


        CrnSlave slave = new CrnSlave();


        slave.setId(1);


        slave.setIp("192.168.6.9");


        slave.setIp("10.10.10.10");


        slave.setPort(0);


        slave.setRack(0);


        slave.setSlot(0);


        SiemensCrnThread crnThread = new SiemensCrnThread(slave);


@@ -314,16 +358,17 @@




        // 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.setCrnNo(3); // 堆垛机编号


//        command.setTaskNo((short) 2); // 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.setSourcePosX((short) 6);     // 源库位排


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


//        command.setSourcePosZ((short) 2);     // 源库位层


//        command.setDestinationPosX((short) 6);     // 目标库位排


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


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


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


//        crnThread.write(command);




        // 2.出库 源和目标都发