自动化立库仓库-WCS系统
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pang.jiabao
2024-06-22 62af9acaccedaea4c4c7efd4e68c8b702cf5a27d 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -5,7 +5,6 @@


import HslCommunication.Profinet.Siemens.SiemensPLCS;


import HslCommunication.Profinet.Siemens.SiemensS7Net;


import com.alibaba.fastjson.JSON;


import com.core.common.Cools;


import com.core.common.DateUtils;


import com.core.common.SpringUtils;


import com.zy.asrs.entity.BasCrnOpt;


@@ -16,7 +15,9 @@


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;


@@ -158,7 +159,7 @@


     */


    private void readStatus(){


        try {


            OperateResultExOne<byte[]> result = siemensNet.Read("DB91.0", (short) 52);


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


            if (result.IsSuccess) {


                if (null == crnProtocol) {


                    crnProtocol = new CrnProtocol();


@@ -175,20 +176,20 @@


                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));


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




//                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.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, 46));


                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));


@@ -201,15 +202,28 @@


                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 (!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;


                        }


                    }


                }


@@ -255,7 +269,12 @@


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


            return false;


        }


        OperateResult result;


//        convertRow(command);


        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();


@@ -270,12 +289,13 @@


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


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


        array[9] = command.getCommand();


        OperateResult result = siemensNet.Write("DB90.0", array);


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




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


            short commandFinish = 1;


            Thread.sleep(100L);


            result = siemensNet.Write("DB90.18", commandFinish);


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


//                short commandFinish = 1;


//                Thread.sleep(100L);


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


//            }


        }




        try {


@@ -326,7 +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);


@@ -337,16 +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