#堆垛机下发命令增加库位类型

zjj

2024-01-22 69e5417284524f5e29d14bf93c70073183500fbd

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

@@ -66,6 +66,12 @@
        add(200);add(201);add(202);
    }};

    public static final ArrayList<Integer> BarcodeList = new ArrayList<Integer>() {{
        add(0); add(1); add(2);
    }};
    public static final ArrayList<Integer> staNosErrList = new ArrayList<Integer>() {{
        add(106); add(107); add(159);
    }};

    private Integer count=0;

@@ -147,7 +153,7 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo((short) 0);    // ID
                staProtocol.setWorkNo(0);    // ID
                staProtocol.setAutoing(false);      // 自动
                staProtocol.setLoading(false);      // 有物
                staProtocol.setInEnable(false);     // 可入
@@ -191,8 +197,7 @@
//        updateIoMode();
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNoSize*4));
//        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB100.2", (short) (staNoSize*2));
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
@@ -202,19 +207,11 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4));     // 工作号
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, i*8));     // 工作号

                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4 + 2));   // 目标站
            }
        }
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4));   // 目标站

        Thread.sleep(200);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) (staNoSize * 4));
        if (result1.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*4, 1);
                StaProtocol staProtocol = station.get(siteId);
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
@@ -227,20 +224,12 @@
                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                }

                if (staProtocol.getStamp()>=2 && !staProtocol.isLoading()){
                    staProtocol.setStamp(0);
                }else if (staProtocol.getStamp()<2 && staProtocol.isLoading()){
                    //lfd入库印记  当stamp>=2时才入库
                    staProtocol.setStamp(staProtocol.getStamp()+1);
                }
            }
        }

//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result0 = siemensS7Net.Read("DB101.0", (short) 186);
//        if (result0.IsSuccess) {
//            for (int i = 0; i < 93; i++) {
//        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNoSize*4));
////        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB100.2", (short) (staNoSize*2));
//        if (result.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                Integer siteId = staNos.get(i); // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
@@ -248,24 +237,74 @@
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result0.Content, i*2));   // 目标站
//                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4));     // 工作号
//
//                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4 + 2));   // 目标站
//            }
//        }
//
//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) (staNoSize * 4));
//        if (result1.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                Integer siteId = staNos.get(i); // 站点编号
//                boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*4, 1);
//                StaProtocol staProtocol = station.get(siteId);
//                staProtocol.setAutoing(status[0]);  // 自动
//                staProtocol.setLoading(status[1]);  // 有物
//                staProtocol.setInEnable(status[2]); // 可入
//                staProtocol.setOutEnable(status[3]);// 可出
//                staProtocol.setEmptyMk(status[4]);  // 空板信号
//                staProtocol.setFullPlt(status[5]);  // 满托盘
//                staProtocol.setHigh(status[6]);     // 高库位
//                staProtocol.setLow(status[7]);      // 低库位
//
//                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
//                    staProtocol.setPakMk(true);
//                }
//
//                if (staProtocol.getStamp()>=2 && !staProtocol.isLoading()){
//                    staProtocol.setStamp(0);
//                }else if (staProtocol.getStamp()<2 && staProtocol.isLoading()){
//                    //lfd入库印记  当stamp>=2时才入库
//                    staProtocol.setStamp(staProtocol.getStamp()+1);
//                }
//            }
//        }

        //条码扫描器
        Thread.sleep(200);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.0",(short)(barcodeSize*8));
        ArrayList<Integer> barcodeList = BarcodeList;
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeSize; i++) {
            for (int i = 0; i < barcodeList.size(); i++) {
                Integer barcodeId = barcodeList.get(i);
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)){
//                            && !Cools.isEmpty(barcode) && Cools.isEmpty(barcodeThread.getBarcode())) {
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }
        //外形检测
        ArrayList<Integer> staNoErrs = staNosErrList;
        int staNoErrsSize = staNoErrs.size();
        OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.800", (short) (staNoErrsSize*8));
        if (resultErr.IsSuccess){
            for (int i = 0;i<3;i++){
                Integer siteId = staNoErrs.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4+2, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
        }

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

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

@@ -303,42 +342,20 @@
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, array);

        OperateResult write = null;
        OperateResult write1 = null;
        //任务下发次数
        int writeCount = 0;
        do {
//            write = siemensS7Net.Write("DB100.0" + index*2, staProtocol.getWorkNo());    // 工作号
//            Thread.sleep(500);
//            write1 = siemensS7Net.Write("DB100.0" + index*2+2, staProtocol.getStaNo());    // 目标站
            write = siemensS7Net.Write("DB100." + index*4, array);
            if(write.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100.0" + index*2, (short) 2);
                OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB100.0" + index*2+2, (short) 2);
                if(readResult.IsSuccess && readResult1.IsSuccess){
                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0);
                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
                        //任务命令写入成功
                        log.info("写入堆垛机命令后返回成功，并且回读成功。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        log.error("写入堆垛机命令后返回成功，但是读取任务值不一致。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(200);
            write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue());    // 目标站
            if(write.IsSuccess && write1.IsSuccess){
                break;
            }
            else {
                writeCount++;
                log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
        }while (writeCount<5);