自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
lty
2025-09-22 9784ec36b190d0f0103b42059585d04ea0b10745 
 src/main/java/com/zy/core/thread/RgvThread.java


@@ -104,6 +104,7 @@


                        command.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式


                        command.setTargetPosition1( 0);     // 源站


                        command.setEndStaNo1(0);     // 目标站


                        command.setWrkTaskMove1((short) 0);


                        command.setWrkTaskPri((short)0);


                        command.setCommand(false);


                        write1(command);


@@ -120,6 +121,7 @@


                        command2.setTargetPosition2( 0);     // 源站


                        command2.setEndStaNo2(0);     // 目标站


                        command2.setWrkTaskPri((short)0);


                        command2.setWrkTaskMove2((short)0);


                        command2.setCommand(false);


                        write2(command2);


                        break;


@@ -204,10 +206,12 @@


        rgvProtocol.setTaskNo1(0);


        rgvProtocol.setStatus1((short)-1);


        rgvProtocol.setLoaded1(false);


        rgvProtocol.setWrkTaskMove1((short)0);


        //工位2状态


        rgvProtocol.setTaskNo2(0);


        rgvProtocol.setStatus2((short)-1);


        rgvProtocol.setLoaded2(false);


        rgvProtocol.setWrkTaskMove2((short)0);


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


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


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


@@ -273,14 +277,14 @@


                rgvProtocol.setErr5(status2[4]);


                rgvProtocol.setErr6(status2[5]);


                rgvProtocol.setErr7(status2[6]);


                boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);


                rgvProtocol.setErr1(status3[0]);


                rgvProtocol.setErr2(status3[1]);


                rgvProtocol.setErr3(status3[2]);


                rgvProtocol.setErr4(status3[3]);


                rgvProtocol.setErr5(status3[4]);


                rgvProtocol.setErr6(status3[5]);


                rgvProtocol.setErr7(status3[6]);


//                boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);


//                rgvProtocol.setErr1(status3[0]);


//                rgvProtocol.setErr2(status3[1]);


//                rgvProtocol.setErr3(status3[2]);


//                rgvProtocol.setErr4(status3[3]);


//                rgvProtocol.setErr5(status3[4]);


//                rgvProtocol.setErr6(status3[5]);


//                rgvProtocol.setErr7(status3[6]);






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


@@ -544,6 +548,7 @@


            one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));


            one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));


            one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));


            one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(result1.Content, 36));


//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));


//            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));


//            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));


@@ -561,23 +566,17 @@


        }


        byte[] writeBytes = new byte[34];


        command.setRgvNo(slave.getId());


        siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());


        siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());


        siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());


        siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());


        siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());


        setBool(writeBytes, 32, 0, command.getAckFinish1());




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


//        short[] array = new short[5];


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


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


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


//        array[3] = command.getSourceStaNo1();


//        array[4] = command.getDestinationStaNo1();


//        siemensNet.Write("DB100.10", command.getCommand());


        writeInt32(writeBytes, 0, command.getTargetPosition1());


        writeInt32(writeBytes, 4, command.getEndStaNo1());


        writeInt16(writeBytes, 8, (short)command.getTaskStatus1());


        writeInt32(writeBytes, 10, command.getTaskNo1());


        writeInt16(writeBytes, 14, (short)command.getDirection1());


        writeBool(writeBytes, 32, 0, command.getAckFinish1());


        writeInt16(writeBytes, 36, (short)command.getWrkTaskMove1());




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






        if (!result.IsSuccess){


            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));


@@ -593,6 +592,7 @@


            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);


            if (resultRead.IsSuccess){


                RgvCommand one = new RgvCommand();


                one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));


                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));


                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));


                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));


@@ -603,7 +603,8 @@


                                !command.getTaskNo1().equals(one.getTaskNo1()) ||


                                !command.getTaskStatus1().equals(one.getTaskStatus1()) ||


                                !command.getEndStaNo1().equals(one.getEndStaNo1()) ||


                                !command.getTargetPosition1().equals(one.getTargetPosition1())


                                !command.getTargetPosition1().equals(one.getTargetPosition1()) ||


                                !command.getWrkTaskMove1().equals(one.getWrkTaskMove1())


                ) {


                    try{


                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


@@ -643,7 +644,7 @@


                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);


                        if (resultRead.IsSuccess) {


                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);


                            if (!commandFinish){


                            if (commandFinish){


                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");


                            }else{


                                //任务命令写入成功


@@ -715,6 +716,7 @@


            one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));


            one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));


            one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));


            one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(result1.Content, 38));


            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


        }




@@ -723,16 +725,23 @@


        if (result2.IsSuccess){


            News.error("下发前把车子确认位置为0");


        }






        byte[] writeBytes = new byte[34];


        command.setRgvNo(slave.getId());


        siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());


        siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());


        siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());


        siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());


        siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());


        setBool(writeBytes, 32, 1, command.getAckFinish2());




        writeInt32(writeBytes, 16, command.getTargetPosition1());


        writeInt32(writeBytes, 20, command.getEndStaNo2());


        writeInt16(writeBytes, 24, (short)command.getTaskStatus2());


        writeInt32(writeBytes, 26, command.getTaskNo2());


        writeInt16(writeBytes, 30, (short)command.getDirection2());


        writeBool(writeBytes, 32, 0, command.getAckFinish2());


        writeInt16(writeBytes, 38, (short)command.getWrkTaskMove2());






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








        if (!result.IsSuccess){


            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));


@@ -748,6 +757,7 @@


            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);


            if (resultRead.IsSuccess){


                RgvCommand one = new RgvCommand();


                one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));


                one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));


                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));


                one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));


@@ -758,7 +768,8 @@


                                !command.getTaskNo2().equals(one.getTaskNo2()) ||


                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||


                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||


                                !command.getTargetPosition2().equals(one.getTargetPosition2())


                                !command.getTargetPosition2().equals(one.getTargetPosition2()) ||


                                !command.getWrkTaskMove2().equals(one.getWrkTaskMove2())


                ) {


                    try{


                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


@@ -798,7 +809,7 @@


                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);


                        if (resultRead.IsSuccess) {


                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);


                            if (!commandFinish){


                            if (commandFinish){


                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");


                            }else{


                                //任务命令写入成功


@@ -844,6 +855,28 @@


            return false;


        }


    }


    public static void writeInt32(byte[] buffer, int index, int value) {


        buffer[index]     = (byte)((value >> 24) & 0xFF);


        buffer[index + 1] = (byte)((value >> 16) & 0xFF);


        buffer[index + 2] = (byte)((value >> 8) & 0xFF);


        buffer[index + 3] = (byte)(value & 0xFF);


    }






    public static void writeInt16(byte[] buffer, int index, short value) {


        buffer[index]     = (byte)((value >> 8) & 0xFF); // 高字节


        buffer[index + 1] = (byte)(value & 0xFF);        // 低字节


    }




    public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {


        if (value) {


            buffer[byteIndex] |= (1 << bitIndex);


        } else {


            buffer[byteIndex] &= ~(1 << bitIndex);


        }


    }








    @Override


    public void close() {