四向穿梭车页面数据显示、复位操作

Junjie

2023-03-27 8d7d4c402c57ac7a0d6826ce2e355ada4eded875

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

@@ -4,32 +4,36 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
import com.core.common.RadixTools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

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

/**
 * 四向穿梭车线程
@@ -41,10 +45,11 @@
    private ModbusTcpNet modbusTcpNet;
    private ShuttleSlave slave;
    private ShuttleProtocol shuttleProtocol;
    private SiemensS7Net siemensS7Net;
    private RedisUtil redisUtil;

    public ShuttleThread(ShuttleSlave slave) {
    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }

    @Override
@@ -65,6 +70,10 @@
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
                        break;
                    default:
                        break;
@@ -99,7 +108,7 @@

    @Override
    public void close() {

        modbusTcpNet.ConnectClose();
    }

    private void readStatus() {
@@ -109,6 +118,7 @@
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                //----------读取四向穿梭车状态-----------
@@ -154,14 +164,23 @@
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 根据实时信息更新数据库
                //.....
                //小车处于忙碌状态，将标记置为true
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }

                //四向穿梭车空闲、有任务且标记为true，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                }

            }else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "四向穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initShuttle();
        }
@@ -173,47 +192,77 @@
            return false;
        }

        command.setShuttleNo(slave.getId());
        command.setShuttleNo(slave.getId().shortValue());
        // 开始任务
        //...
        short[] array = new short[17];
        //控制指令字
        array[0] = command.getCommandWord();
        //启始二维编号
        array[1] = command.getStartCodeNum();
        //中间二维编号
        array[2] = command.getMiddleCodeNum();
        //目标二维编号
        array[3] = command.getDistCodeNum();
        if (command.getStartCodeNum() != null) {
            //启始二维编号
            array[1] = command.getStartCodeNum();
        }

        //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
        array[4] = startToDistDistances[0];
        array[5] = startToDistDistances[1];
        if (command.getMiddleCodeNum() != null) {
            //中间二维编号
            array[2] = command.getMiddleCodeNum();
        }

        //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
        array[6] = middleToDistDistances[0];
        array[7] = middleToDistDistances[1];
        if (command.getDistCodeNum() != null) {
            //目标二维编号
            array[3] = command.getDistCodeNum();
        }

        //小车运行方向
        array[8] = command.getRunDirection();
        //托盘顶升
        array[9] = command.getPalletLift();
        if (command.getStartToDistDistance() != null) {
            //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
            array[4] = startToDistDistances[0];
            array[5] = startToDistDistances[1];
        }

        //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
        array[10] = forceMoveDistances[0];
        array[11] = forceMoveDistances[1];
        if (command.getMiddleToDistDistance() != null) {
            //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
            array[6] = middleToDistDistances[0];
            array[7] = middleToDistDistances[1];
        }

        //充电开关
        array[12] = command.getChargeSwitch();
        //小车IO控制
        array[13] = command.getIOControl();
        //小车运行速度
        array[14] = command.getRunSpeed();
        //小车雷达备用
        array[15] = command.getRadarTmp();
        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
        }

        if (command.getPalletLift() != null) {
            //托盘顶升
            array[9] = command.getPalletLift();
        }

        if (command.getForceMoveDistance() != null) {
            //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
            array[10] = forceMoveDistances[0];
            array[11] = forceMoveDistances[1];
        }

        if (command.getChargeSwitch() != null) {
            //充电开关
            array[12] = command.getChargeSwitch();
        }

        if (command.getIOControl() != null) {
            //小车IO控制
            array[13] = command.getIOControl();
        }

        if (command.getRunSpeed() != null) {
            //小车运行速度
            array[14] = command.getRunSpeed();
        }

        if (command.getRadarTmp() != null) {
            //小车雷达备用
            array[15] = command.getRadarTmp();
        }

        //指令结束位
        array[16] = command.getCommandEnd();

@@ -236,9 +285,150 @@
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
//        shuttleProtocol.setShuttleNo(slave.getId().shortValue());
//        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
//        shuttleProtocol.setCurrentCode("0");
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

        //计算路径
        List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
        if (calc != null) {
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
            //路径数据
            map.put("path", data);
        }

        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
        shuttleProtocol.setAssignCommand(assignCommand);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        //执行下发任务
        executeWork(assignCommand);
    }

    //执行下发的指令
    private void executeWork(ShuttleAssignCommand assignCommand) {
        //读取redis数据
        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        //path路径数目
        int size = 0;
        //下发命令
        ShuttleCommand command = new ShuttleCommand();
        switch (assignCommand.getTaskMode()) {
            case 1://入库
            case 2://出库
                //当前路径数据
                Object data = map.get("path");
                ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
                //取第一条路径
                Object o1 = pathList.get(commandStep);
                ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);

                size = path.size();
                //开始路径
                JSONObject startPath = JSON.parseObject(path.get(0).toString());
                //目标路径
                JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());

                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
                command.setMiddleCodeNum((short) 0);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
                command.setStartToDistDistance(1000);
                command.setMiddleToDistDistance(1000);
                command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
                command.setPalletLift((short) 1);
                command.setForceMoveDistance(1000);
                command.setChargeSwitch((short) 2);
                command.setIOControl((short) 0);
                command.setRunSpeed((short) 1000);
                command.setRadarTmp((short) 0);

                break;
            case 3://托盘顶升
            case 4://托盘下降
                command.setCommandWord((short) 2);
                command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
                command.setCommandEnd((short) 1);
                break;
            case 5://强制左移
            case 6://强制右移
            case 7://强制上移
            case 8://强制下移
                command.setCommandWord((short) 3);
                command.setForceMoveDistance(1000);
                command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                command.setCommandEnd((short) 1);
                break;
            case 9://状态复位
                command.setCommandWord((short) 0);
                //设置四向穿梭车为空闲状态
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);
                break;
            default:
        }

        command.setCommandEnd((short) 1);
        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            //将标记置为false(防止重发)
            shuttleProtocol.setPakMk(false);

            //判断数据是否执行完成
            if (commandStep < size) {
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
                if (shuttleOptService != null) {
                    BasShuttleOpt opt = new BasShuttleOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getShuttleNo().intValue(),
                            new Date(),
                            ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                            assignCommand.getSourceLocNo(),
                            assignCommand.getDistLocNo(),
                            null,
                            null,
                            null,
                            JSON.toJSONString(command)
                    );
                    shuttleOptService.insert(opt);
                }
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                //对主线程抛出等待确认状态waiting
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);

                News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            }

        }
    }

    /******************************************************************************************/
@@ -249,26 +439,26 @@
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
        ShuttleThread thread = new ShuttleThread(slave);
        thread.connect();
        thread.readStatus();

        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 0);
        command.setStartCodeNum((short) 12323);
        command.setMiddleCodeNum((short) 22323);
        command.setDistCodeNum((short) 29999);
        command.setStartToDistDistance(109999);
        command.setMiddleToDistDistance(5000);
        command.setRunDirection((short) 1);
        command.setPalletLift((short) 2);
        command.setForceMoveDistance(3000);
        command.setChargeSwitch((short) 2);
        command.setIOControl((short) 0);
        command.setRunSpeed((short) 0);
        command.setRadarTmp((short) 0);
        command.setCommandEnd((short) 1);
        thread.write(command);
//        ShuttleThread thread = new ShuttleThread(slave);
//        thread.connect();
//        thread.readStatus();
//
//        ShuttleCommand command = new ShuttleCommand();
//        command.setCommandWord((short) 0);
//        command.setStartCodeNum((short) 12323);
//        command.setMiddleCodeNum((short) 22323);
//        command.setDistCodeNum((short) 29999);
//        command.setStartToDistDistance(109999);
//        command.setMiddleToDistDistance(5000);
//        command.setRunDirection((short) 1);
//        command.setPalletLift((short) 2);
//        command.setForceMoveDistance(3000);
//        command.setChargeSwitch((short) 2);
//        command.setIOControl((short) 0);
//        command.setRunSpeed((short) 0);
//        command.setRadarTmp((short) 0);
//        command.setCommandEnd((short) 1);
//        thread.write(command);

    }
}