#

Junjie

1 天以前 90acb0ad1372bde74a306b47ec108ddea36fccc9

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

@@ -5,29 +5,22 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;

import java.text.MessageFormat;
import java.util.*;

@@ -43,22 +36,6 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    @Value("${wms.url}")
    private String wmsUrl;
    public static final List<Short> rowOne = new ArrayList<Short>() {{
        add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
    }};
    public static final List<Short> rowTwo = new ArrayList<Short>() {{
        add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
    }};
    public static final List<Short> rowThree = new ArrayList<Short>() {{
        add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
    }};
    public static final List<Short> rowFour = new ArrayList<Short>() {{
        add((short) 4);add((short) 10);add((short) 14);add((short) 18);
    }};


    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -83,7 +60,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write2((CrnCommand) task.getData());
                        write5((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -201,93 +178,7 @@
                    crnCommand.setAckFinish((short)1);
                    if (write(crnCommand)) {
                        resetFlag = false;

                        //堆垛机任务完成后访问wms请求任务完成 locationDone 货位处理完成
                        TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
                        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()));
                        String tasktype = null;
                        switch (taskWrk.getIoType()){
                            case 1:
                                tasktype= "RK";
                                break;
                            case 2:
                                tasktype= "CK";
                                break;
                            case 3:
                                tasktype= "YK";
                                break;
                            default:
                                tasktype= "未知";
                        }
                        Map<String, Object> map = new HashMap<>();
                        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
                        TaskOverToWms taskOverToWms = new TaskOverToWms();
                        taskOverToWms.setFeedbackFrom("WCS"); //来源
                        taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
                        taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
                        taskOverToWms.setTaskType(tasktype); // 任务类型
                        taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
                        if (taskWrk.getIoType() ==1){
                            taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
                            taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
                        }else if (taskWrk.getIoType() ==2){
                            Map<Integer,String> map1 = new HashMap<>();
                            map1.put(102,"J-1101");
                            map1.put(106,"J-1103");
                            map1.put(110,"J-1105");
                            map1.put(114,"J-1107");
                            map1.put(118,"J-1109");
                            map1.put(122,"J-1111");
                            map1.put(305,"H-1101");
                            map1.put(405,"G-1101");
                            taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
                            taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
                        } else if (taskWrk.getIoType() == 3) {
                            taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
                            taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint());
                            taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
                        }
                        taskOverToWms.setTaskStatus("location_done"); //任务状态
                        String response = null;
                        try {
                            response = new HttpHandler.Builder()
                                    .setHeaders(map)
                                    .setUri("10.32.53.195:8080")
                                    .setPath("wcsManager/wcsInterface/taskStatusFeedback")
                                    .setJson(JSON.toJSONString(taskOverToWms))
                                    .build()
                                    .doPost();
                        }catch (Exception e){
                            log.error("堆垛机任务完成，请求wms任务完成接口失败");
                        }
                        ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
                        apiLogService.save("Wms任务完成接口"
                                ,"10.32.53.195:8080"+"/wcsManager/wcsInterface/taskStatusFeedback"
                                ,null
                                ,"127.0.0.1"
                                ,JSON.toJSONString(taskOverToWms)
                                ,response
                                ,true
                        );
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)){
                            if (taskWrk.getIoType() == 3){
                                taskWrk.setWrkSts(4);
                            }
                            taskWrk.setStatus(5);
                            if (!taskWrkService.update(taskWrk,new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()))){
                                log.error("堆垛机任务完成，改变任务状态失败");
                            }

                            log.info("堆垛机任务完成，请求wms任务完成接口成功");
                        }else {
                            log.error("堆垛机任务完成，请求wms任务完成接口完成，但返回失败");
                        }

                    }



                }
            }

@@ -341,11 +232,7 @@

        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        if (Cools.isEmpty(command.getAckFinish())) {
            array[0] = 5;
        } else {
            array[0] = command.getAckFinish();
        }
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
@@ -359,75 +246,131 @@
        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish() != 1) {

        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            return false;
        }
    }

    /**
     * 写入数据
     */
    private synchronized boolean write5(CrnCommand command) throws InterruptedException {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
        Thread.sleep(100L);
        OperateResult result = siemensNet.Write("DB100.0", array);

        int i=0;
        do{
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(100);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                ){
                    i++;
                    log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
                    result = siemensNet.Write("DB100.0", array);
                }else{
                    break;
                }
            }
        }while(i<5);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }
        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType() == null ? null : command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosZ().intValue(),    // 源排
                    command.getSourcePosX().intValue(),    // 源列
                    command.getSourcePosY().intValue(),    // 源层
                    command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
                    command.getSourcePosY().intValue(),    // 源列
                    command.getSourcePosZ().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosZ().intValue(),    // 目标排
                    command.getDestinationPosX().intValue(),    // 目标列
                    command.getDestinationPosY().intValue(),    // 目标层
                    command.getDestinationPosX().intValue(),    // 目标排
                    command.getDestinationPosY().intValue(),    // 目标列
                    command.getDestinationPosZ().intValue(),    // 目标层
                    null,    // 目标站
                    null,    // 响应结果
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        }
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
//            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
        if (result != null && result.IsSuccess) {
            Thread.sleep(300);
            this.readStatus();
            log.info(methodName + ":堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error(methodName + ":写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }


        try{
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(500);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                //one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!crnCommand.getTaskNo().equals(one.getTaskNo()) || !crnCommand.getAckFinish().equals(one.getAckFinish())
                        || !crnCommand.getSourcePosZ().equals(one.getSourcePosZ()) ||  !crnCommand.getSourcePosX().equals(one.getSourcePosX()) || !crnCommand.getSourcePosY().equals(one.getSourcePosY())
                        || !crnCommand.getDestinationPosZ().equals(one.getDestinationPosZ()) ||  !crnCommand.getDestinationPosX().equals(one.getDestinationPosX()) || !crnCommand.getDestinationPosY().equals(one.getDestinationPosY())
                ){
                    log.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, crnCommand));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                } else {
                    log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
                }
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
        }
        return true;
    }

    /**
@@ -510,27 +453,7 @@
        }
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);
//        CommandInfoLog commandInfoLog = new CommandInfoLog();
//        if (commandInfo != null) {
//            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//            commandInfoLog.setId(null);
//        }else {
//            Date now = new Date();
//            commandInfoLog.setCommand(JSON.toJSONString(command));
//            commandInfoLog.setCommandStatus(3);
//            commandInfoLog.setStartTime(now);
//            commandInfoLog.setExecuteTime(now);
//            commandInfoLog.setCompleteTime(now);
//            commandInfoLog.setDevice(SlaveType.Devp.toString());
//            commandInfoLog.setWrkNo(9999);
//            commandInfoLog.setTaskNo("9999");
//            commandInfoLog.setCommandDesc("手动命令");
//        }


        if (result.IsSuccess) {
//            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));

            Date now = new Date();
            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发成功");
@@ -556,46 +479,6 @@
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发失败");
            commandInfoLogService.insert(commandInfoLog);
            return false;
        }
        try{
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(500);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                //one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!crnCommand.getTaskNo().equals(one.getTaskNo()) && !crnCommand.getAckFinish().equals(one.getAckFinish())
                && !crnCommand.getSourcePosZ().equals(one.getSourcePosZ()) &&  !crnCommand.getSourcePosX().equals(one.getSourcePosX()) && !crnCommand.getSourcePosY().equals(one.getSourcePosY())
                        && !crnCommand.getDestinationPosZ().equals(one.getDestinationPosZ()) &&  !crnCommand.getDestinationPosX().equals(one.getDestinationPosX()) && !crnCommand.getDestinationPosY().equals(one.getDestinationPosY())
                ){
                    log.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, crnCommand));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                } else {
                    log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
                }
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
        }
        return true;
    }