1.新增agv状态请求离开 2.修复无法自动生成移库任务

zwl

21 小时以前 8e01a40be0a7ba61ece12870332b35a1fa3bfcd5

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

@@ -10,8 +10,10 @@
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.DeviceDataLogService;
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
@@ -25,6 +27,7 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Base64;
import java.util.Date;

/**
@@ -154,7 +157,8 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 58);
            short len = 56;
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", len);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -177,13 +181,10 @@
                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.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                if (slave.getId() == 1) {
                    crnProtocol.setCrnLane((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));
                }
                crnProtocol.setxDistance((short) siemensNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setyDistance((short) siemensNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setxDuration((short) siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setyDuration((short) siemensNet.getByteTransform().TransSingle(result.Content, 52));

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

@@ -199,6 +200,30 @@
                            resetFlag = false;
                        }
                    }
                }

                if (crnProtocol.getAlarm() > 0) {
                    crnProtocol.setLastCommandTime(-1L);
                }

                if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
                    crnProtocol.setLastCommandTime(System.currentTimeMillis());
                }

                if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > 1000 * 1) {
                    //采集时间超过5s，保存一次数据记录
                    //保存数据记录
                    DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                    DeviceDataLog deviceDataLog = new DeviceDataLog();
                    deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result.Content));
                    deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
                    deviceDataLog.setType("crn");
                    deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
                    deviceDataLog.setCreateTime(new Date());
                    deviceDataLogService.insert(deviceDataLog);

                    //更新采集时间
                    crnProtocol.setDeviceDataLog(System.currentTimeMillis());
                }

                try {
@@ -242,23 +267,6 @@
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }

        int writeAck = 0;
        do {
            OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
            if (resultAck.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (ack != 0) {
                    writeAck++;
                }else {
                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成");
                    break;
                }
            }
        }while (writeAck <5);

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -317,7 +325,6 @@
            return false;
        }
    }


    @Override
    public void close() {