自动化立库仓库-WCS系统
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pang.jiabao
2026-04-24 7b8021d7ff94015d7034ead10fea5006d0032301 
 src/main/java/com/zy/core/thread/RgvThread.java


@@ -7,21 +7,19 @@


import com.alibaba.fastjson.JSON;


import com.core.common.DateUtils;


import com.core.common.SpringUtils;


import com.zy.entity.BasRgv;


import com.zy.entity.BasRgvOpt;


import com.zy.service.BasRgvOptService;


import com.zy.service.BasRgvService;


import com.zy.utils.News;


import com.zy.core.RgvThread2;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


import com.zy.core.enums.RgvStatusType;


import com.zy.core.enums.RgvTaskModeType;


import com.zy.core.enums.SlaveType;


import com.zy.core.model.RgvSlave;


import com.zy.core.model.Task;


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


import com.zy.core.model.protocol.RgvProtocol;


import com.zy.entity.BasRgv;


import com.zy.entity.BasRgvOpt;


import com.zy.service.BasRgvOptService;


import com.zy.service.BasRgvService;


import com.zy.utils.News;


import lombok.Data;


import lombok.extern.slf4j.Slf4j;




@@ -72,52 +70,52 @@


                        readStatus();


                        break;


//                    // 工位1、2写入数据


//                    case 2:


//                        write((RgvCommand) task.getData());


//                        break;


                    //工位1写入数据


                    case 4:


                        write1((RgvCommand) task.getData());


                    case 2:


                        write((RgvCommand) task.getData());


                        break;


                    //工位1写入数据


//                    case 4:


//                        write1((RgvCommand) task.getData());


//                        break;


//                    //工位2写入数据


//                    case 5:


//                        write2((RgvCommand) task.getData());


//                        break;


                    // 复位


                    case 3:


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


                        if (null == command) {


                            command = new RgvCommand();


                        }


                        command.setRgvNo(slave.getId()); // RGV编号


                        command.setTaskNo1((short) 0); // 工作号


                        command.setAckFinish1((short) 1);  // 任务完成确认位


                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式


                        command.setSourceStaNo1((short)0);     // 源站


                        command.setDestinationStaNo1((short)0);     // 目标站


                        command.setCommand((short)0);


                        write1(command);


                        break;


                    // 回原点  避让


                    case 9:


                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();


                        if (null == commandAvoidanceXY) {


                            commandAvoidanceXY = new RgvCommand();


                        }


                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号


                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号


                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位


                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式


                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站


                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站


//                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号


//                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位


//                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式


//                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站


//                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站


                        commandAvoidanceXY.setCommand((short)0);


                        write(commandAvoidanceXY);


                        break;


//                    case 3:


//                        RgvCommand command = (RgvCommand) task.getData();


//                        if (null == command) {


//                            command = new RgvCommand();


//                        }


//                        command.setRgvNo(slave.getId()); // RGV编号


//                        command.setTaskNo1((short) 0); // 工作号


//                        command.setAckFinish1((short) 1);  // 任务完成确认位


//                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式


//                        command.setSourceStaNo1((short)0);     // 源站


//                        command.setDestinationStaNo1((short)0);     // 目标站


//                        command.setCommand((short)0);


//                        write1(command);


//                        break;


//                    // 回原点  避让


//                    case 9:


//                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();


//                        if (null == commandAvoidanceXY) {


//                            commandAvoidanceXY = new RgvCommand();


//                        }


//                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号


//                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号


//                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位


//                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式


//                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站


//                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站


////                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号


////                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位


////                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式


////                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站


////                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站


//                        commandAvoidanceXY.setCommand((short)0);


//                        write(commandAvoidanceXY);


//                        break;


                    default:


                        break;


                }


@@ -135,21 +133,25 @@


    private void initRgv() {


        if (null == rgvProtocol) {


            rgvProtocol = new RgvProtocol();


            rgvProtocol.setRgvNo(slave.getId());


        }


        rgvProtocol.setMode((short) -1);


        rgvProtocol.setStatus((short)-1);


        rgvProtocol.setTaskNo1((short)0);


        rgvProtocol.setStatus1((short)-1);


        rgvProtocol.setLoaded1((short)0);


        rgvProtocol.setWalkPos((short)0);


        rgvProtocol.setRgvPos((short)0);


        rgvProtocol.setRgvPos(0);


        rgvProtocol.setStartSta((short)0);


        rgvProtocol.setEndSta((short)0);


        rgvProtocol.setTaskNo1((short)0);


        rgvProtocol.setAlarm((short)0);


        rgvProtocol.setStatus((short)-1);




//        rgvProtocol.setStatus1((short)-1);


//        rgvProtocol.setWalkPos((short)0);


//        rgvProtocol.setTaskNo2((short)0);


//        rgvProtocol.setStatus2((short)-1);


//        rgvProtocol.setLoaded2((short)0);


        rgvProtocol.setAlarm((short)0);


        rgvProtocol.setxSpeed((short) 0);


        rgvProtocol.setxDistance((short) 0);


        rgvProtocol.setxDuration((short) 0);


//        rgvProtocol.setxSpeed((short) 0);


//        rgvProtocol.setxDistance((short) 0);


//        rgvProtocol.setxDuration((short) 0);


    }




    @Override


@@ -177,26 +179,29 @@


     */


    private void readStatus(){


        try {


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 22);


            if (result.IsSuccess) {


                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {


                    rgvProtocol = new RgvProtocol();


                    rgvProtocol.setRgvNo(slave.getId());


                }


                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));


                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));


                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));


                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));


                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));


                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));


                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));


                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));


                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));


                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 4));


                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 6));


                rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 10));


                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 12));


                rgvProtocol.setTaskNo1((short) siemensNet.getByteTransform().TransInt32(result.Content, 14));


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


                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 20));




//                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));


//                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));


//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));


                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));


//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));


//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));


                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));


//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));


//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));


                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));


//                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));


//                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));


//                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));


//                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));


@@ -207,16 +212,16 @@


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




                // 工位1复位信号


                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)


                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {


                    if (resetFlag1) {


                        RgvCommand rgvCommand = new RgvCommand();


                        rgvCommand.setAckFinish1((short)1);


                        if (write(rgvCommand)) {


                            resetFlag1 = false;


                        }


                    }


                }


//                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)


//                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {


//                    if (resetFlag1) {


//                        RgvCommand rgvCommand = new RgvCommand();


//                        rgvCommand.setAckFinish1((short)1);


//                        if (write(rgvCommand)) {


//                            resetFlag1 = false;


//                        }


//                    }


//                }




                // 工位2复位信号


//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)


@@ -266,12 +271,18 @@


        }


//        convertRow(command);


        command.setRgvNo(slave.getId());


        short[] array = new short[11];


        array[0] = command.getAckFinish1();


        array[1] = command.getTaskNo1();


        short[] array = new short[3];


        array[0] = command.getSourceStaNo1();


        array[1] = command.getDestinationStaNo1();


        array[2] = command.getTaskMode1();


        array[3] = command.getSourceStaNo1();


        array[4] = command.getDestinationStaNo1();


        OperateResult result1 = siemensNet.Write("DB100.0", array);




        OperateResult result2 = siemensNet.Write("DB100.6", command.getTaskNo1().intValue());




        Thread.sleep(100);


        OperateResult result3 = siemensNet.Write("DB100.10", command.getCommand());






//        array[0] = command.getAckFinish1();


//        array[1] = command.getTaskNo1();


//        array[2] = command.getTaskMode1();


@@ -283,7 +294,7 @@


//        array[8] = command.getSourceStaNo2();


//        array[9] = command.getDestinationStaNo2();


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


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






//        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {


//            short commandFinish = 3;  //工位1、2任务同时写入


@@ -311,7 +322,7 @@


            bean.insert(basRgvOpt);


        } catch (Exception ignore) {}




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


        if (result1 != null && result1.IsSuccess && result2 != null && result2.IsSuccess && result3 != null && result3.IsSuccess) {


            Thread.sleep(200);


            this.readStatus();


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


@@ -557,7 +568,7 @@


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


        RgvSlave slave = new RgvSlave();


        slave.setId(1);


        slave.setIp("192.168.6.9");


        slave.setIp("10.10.10.53");


        slave.setRack(0);


        slave.setSlot(0);


        RgvThread rgvThread = new RgvThread(slave);


@@ -565,6 +576,14 @@


        rgvThread.readStatus();


        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));


        Thread.sleep(3000L);


        RgvCommand command = new RgvCommand();


        command.setRgvNo(1);


        command.setSourceStaNo1((short)1120);


        command.setDestinationStaNo1((short)1101);


        command.setTaskNo1((short)1);


        command.setTaskMode1((short)3);


        command.setCommand((short)1);


        rgvThread.write(command);




    }