Merge remote-tracking branch 'origin/shuttle_rcs_gateway' into shuttle_rcs_...

zjj

2025-09-23 6c0b7b84f1671462ca0893b109c26e7d49afb23a

 src/main/java/com/zy/core/thread/impl/NyLiftThread.java

@@ -22,10 +22,7 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.*;

@Slf4j
@SuppressWarnings("all")
@@ -109,58 +106,47 @@
        JSONObject commandObj = JSON.parseObject(command);

        HashMap<String, Object> resultData = new HashMap<>();
        resultData.put("result", "false");
        resultData.put("result", "success");

        String deviceMsgType = "command";
        OperateResult result = null;
        OperateResult result2 = null;
        if (commandObj.getInteger("mode") == 3) {
        if (commandObj.getInteger("mode") == 1) {
            //取放货
            short[] array = new short[4];
            array[0] = commandObj.getShort("taskNO");//任务号
            array[1] = commandObj.getShort("mode");//任务模式
            array[2] = commandObj.getShort("pick");//取货数据
            array[3] = commandObj.getShort("put");//放货数据
            array[0] = 1;//任务类型
            array[1] = commandObj.getShort("pick");//源站
            array[2] = commandObj.getShort("put");//目标站
            array[3] = commandObj.getShort("taskNo");//任务号
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.0", array);
            OperateResult result = siemensS7Net.Write("DB83.0", array);
            if (result.IsSuccess) {
                result2 = siemensS7Net.Write("DB103.8", (short) 1);
                if (result2.IsSuccess) {
                    resultData.put("result", "success");
                }
                resultData.put("result", "success");
            }
        } else if (commandObj.getInteger("mode") == 4) {
        } else if (commandObj.getInteger("mode") == 2) {
            //小车换层
            short[] array = new short[4];
            array[0] = commandObj.getShort("taskNO");//任务号
            array[1] = commandObj.getShort("mode");//任务模式
            array[2] = commandObj.getShort("pick");//取货数据
            array[3] = commandObj.getShort("put");//放货数据
            array[0] = 2;//任务类型
            array[1] = commandObj.getShort("pick");//源站
            array[2] = commandObj.getShort("put");//目标站
            array[3] = commandObj.getShort("taskNo");//任务号
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.0", array);
            OperateResult result = siemensS7Net.Write("DB83.0", array);
            if (result.IsSuccess) {
                result2 = siemensS7Net.Write("DB103.8", (short) 1);
                if (result2.IsSuccess) {
                    resultData.put("result", "success");
                }
                resultData.put("result", "success");
            }
        } else if (commandObj.getInteger("mode") == 5) {
        } else if (commandObj.getInteger("mode") == 3) {
            //提升机移动
            short[] array = new short[4];
            array[0] = commandObj.getShort("taskNO");//任务号
            array[1] = commandObj.getShort("mode");//任务模式
            array[2] = commandObj.getShort("pick");//取货数据
            array[3] = commandObj.getShort("put");//放货数据
            array[0] = 2;//任务类型
            array[1] = commandObj.getShort("pick");//源站
            array[2] = commandObj.getShort("put");//目标站
            array[3] = commandObj.getShort("taskNo");//任务号
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.0", array);
            OperateResult result = siemensS7Net.Write("DB83.0", array);
            if (result.IsSuccess) {
                result2 = siemensS7Net.Write("DB103.8", (short) 1);
                if (result2.IsSuccess) {
                    resultData.put("result", "success");
                }
                resultData.put("result", "success");
            }
        } else if (commandObj.getInteger("mode") == 9996) {
            //复位
@@ -168,7 +154,7 @@
            array[0] = 1;
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.10", array);
            OperateResult result = siemensS7Net.Write("DB103.10", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
@@ -178,7 +164,7 @@
            array[0] = 1;
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.12", array);
            OperateResult result = siemensS7Net.Write("DB103.12", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
@@ -188,7 +174,7 @@
            array[0] = 2;
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.12", array);
            OperateResult result = siemensS7Net.Write("DB103.12", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
@@ -196,60 +182,119 @@
            //读取状态
            JSONObject device = new JSONObject();

            OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB101.0", (short) 18);
            OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB82.0", (short) 14);
            if (readResult1.IsSuccess) {

                //读取4.0-4.7数据
                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(readResult1.Content, 4, 1);
                //读取5.0-5.7数据
                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(readResult1.Content, 5, 1);

                //模式
                device.put("model", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0));
                device.put("model", status1[0] ? 2 : 1);
                //PLC任务号
                device.put("wrkNo", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 2));
                //任务状态
                device.put("protocolStatus", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 4));
                device.put("plcTaskNo", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 6));
                //设备状态
                device.put("deviceStatus", status1[1] ? 0 : 1);
                //任务模式
                device.put("taskMode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 6));
                device.put("taskMode", 0);
                //取货数据
                device.put("pick", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 8));
                device.put("pick", 0);
                //放货数据
                device.put("put", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 10));
                device.put("put", 0);
                //出入库模式
                device.put("iOMode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 12));
                device.put("iOMode", 0);
                //有托盘
                device.put("hasTray", status2[5] ? 1 : 0);
                //有小车
                device.put("hasCar", status2[6] ? 1 : 0);
                //故障码
                device.put("errorCode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 14));
                device.put("errorCode", status2[7] ? 1 : 0);
                //层
                device.put("lev", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 16));
                device.put("lev", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 12));

                JSONObject extend = new JSONObject();
                device.put("extend", extend);
                //前超限
                extend.put("frontOverrun", status1[4] ? 1 : 0);
                //后超限
                extend.put("backOverrun", status1[5] ? 1 : 0);
                //左超限
                extend.put("leftOverrun", status1[6] ? 1 : 0);
                //右超限
                extend.put("rightOverrun", status1[7] ? 1 : 0);
                //超高
                extend.put("overHeight", status2[0] ? 1 : 0);
                //超重
                extend.put("overWeight", status2[1] ? 1 : 0);
                //PLC已完成任务号
                extend.put("plcTaskNoComplete", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 10));

                resultData.put("deviceStatus", device);
            }

            //站点个数
            int staCount = 4;
            //读取托盘数据
            List<Integer> trayList = new ArrayList<>();
            OperateResultExOne<byte[]> readResult2 = siemensS7Net.Read("DB102.0", (short) (staCount * 2));
            List<Integer> staList = new ArrayList<>();
            staList.add(101);
            staList.add(102);
            staList.add(103);
            staList.add(1001);
            staList.add(1002);
            staList.add(1003);

            List<JSONObject> stationList = new ArrayList<>();
            OperateResultExOne<byte[]> readResult2 = siemensS7Net.Read("DB82.14", (short) 156);
            if(readResult2.IsSuccess) {
                for (int i = 0; i < staCount; i++) {
                    short val = siemensS7Net.getByteTransform().TransInt16(readResult2.Content, i * 2);
                    trayList.add((int) val);
                int i = 0;
                for (Integer siteId : staList) {
                    //读取4.0-4.7数据
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(readResult2.Content, i * 26, 1);
                    //读取5.0-5.7数据
                    boolean[] status2 = siemensS7Net.getByteTransform().TransBool(readResult2.Content, i * 26 + 1, 1);
                    String barcode = siemensS7Net.getByteTransform().TransString(readResult2.Content, i * 26 + 10, 12, "UTF-8");

                    JSONObject station = new JSONObject();
                    station.put("siteId", siteId);
                    station.put("model", status1[0] ? 1 : 0);
                    station.put("busy", status1[1] ? 1 : 0);
                    station.put("hasTray", status1[2] ? 1 : 0);
                    station.put("allowShuttleTake", status2[5] ? 1 : 0);
                    station.put("allowShuttlePut", status2[6] ? 1 : 0);
                    station.put("deviceError", status2[7] ? 1 : 0);
                    station.put("taskNo", (int) siemensS7Net.getByteTransform().TransInt16(readResult2.Content, i * 26 + 2));
                    station.put("staNo", (int) siemensS7Net.getByteTransform().TransInt16(readResult2.Content, i * 28 + 2));
                    station.put("barcode", barcode);
                    stationList.add(station);
                    i++;
                }
            }

            //读取小车数据
            OperateResultExOne<byte[]> readResult3 = siemensS7Net.Read("DB102.50", (short) (staCount * 2));
            List<Integer> carList = new ArrayList<>();
            if(readResult3.IsSuccess) {
                for (int i = 0; i < staCount; i++) {
                    short val = siemensS7Net.getByteTransform().TransInt16(readResult3.Content, i * 2);
                    carList.add((int) val);
                }
            }
            device.put("stationList", stationList);

            device.put("trayList", trayList);
            device.put("carList", carList);
            resultData.put("commandResult1", readResult1.Content);
            resultData.put("commandResult2", readResult2.Content);

            deviceMsgType = "status";
        }
        } else if (commandObj.getInteger("mode") == 10000) {
            //写入输送线数据

        resultData.put("commandResult1", JSON.toJSONString(result));
        resultData.put("commandResult2", JSON.toJSONString(result2));
            JSONObject commandBody = commandObj.getJSONObject("commandBody");
            Integer siteId = commandBody.getInteger("siteId");
            Integer staNo = commandBody.getInteger("staNo");
            Integer taskNo = commandBody.getInteger("taskNo");
            String address = commandBody.getString("address");

            short[] array = new short[2];
            array[0] = staNo.shortValue();//目标站
            array[1] = taskNo.shortValue();//任务号

            resultData.put("commandData", array);

            OperateResult result = siemensS7Net.Write("address", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
        }

        if (deviceMsgType.equals("command")) {
            log.info("收到Rcs Lift Command Data: {}", JSON.toJSONString(deviceCommandMsg));
@@ -257,7 +302,7 @@
        DeviceMsgModel deviceMsgModel = new DeviceMsgModel();
        deviceMsgModel.setDeviceId(deviceConfig.getDeviceNo());
        deviceMsgModel.setDeviceMsgType(deviceMsgType);
        deviceMsgModel.setDeviceMsg(JSON.toJSONString(resultData));
        deviceMsgModel.setDeviceMsg(resultData);
        deviceMsgModel.setDeviceOriginMsg(JSON.toJSONString(resultData));
        deviceMsgModel.setResultKey(deviceCommandMsg.getResultKey());
        deviceMsgUtils.sendDeviceMsg(SlaveType.Lift, deviceConfig.getDeviceNo(), deviceMsgModel);