#

zjj

2024-11-09 983d8a5fdeace0591da69902f95b475ee7f724a0

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

@@ -64,23 +64,13 @@
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    // 工位1复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo1(0); // 工作号
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short) 0);//源站
                        command.setDestinationStaNo1((short) 0);//目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short) 0);//源站
                        command.setDestinationStaNo2((short) 0);//目标站
                        command.setAckFinish(true);  // 任务完成确认位
                        write(command);
                        writeAckFinish1((RgvCommand) task.getData());
                        break;
                        //工位2复位
                    case 4:
                        writeAckFinish2((RgvCommand) task.getData());
                        break;

                    default:
@@ -88,7 +78,7 @@
                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
                e.printStackTrace();
            }

        }
@@ -103,10 +93,10 @@
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [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.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [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("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initRgv();
        }
@@ -118,25 +108,28 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setRgvNo(slave.getId());
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//工位1工作号
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 6));//RGV状态
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 8));//RGV当前位置
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));//走行在定位
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt32(result.Content, 12));//备用1
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位1有物
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));//异常码
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 20));//备用2
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));//备用3
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 28));//备用4
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 6));//工位1工作号
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));//RGV状态
                rgvProtocol.setColumnNumber(siemensNet.getByteTransform().TransInt16(result.Content, 12));//RGV当前位置
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));//走行在定位
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 16));//RGV当前位置
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 20));//工位1有物
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 22));//异常码
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 24));//备用2
                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 28));//备用3
                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用4
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 36));//工位1有物

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

                // 复位信号
                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {
@@ -172,16 +165,33 @@

            } else {
                initRgv();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [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("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }
    private boolean writeAckFinish1(RgvCommand command) throws InterruptedException {
        OperateResult write = siemensNet.Write("DB100.22.1", true);
        if (!write.IsSuccess){
            log.error("任务1确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId());
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(3, command));
        }
        return write.IsSuccess;
    }
    private boolean writeAckFinish2(RgvCommand command) throws InterruptedException {
        OperateResult write = siemensNet.Write("DB100.22.2", true);
        if (!write.IsSuccess){
            log.error("任务2确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId());
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
        }
        return write.IsSuccess;
    }


    /**
     * 写入数据
@@ -198,11 +208,21 @@
        array[1] = command.getSourceStaNo2();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getDestinationStaNo2();
        array[4] = command.getTaskMode1();
        array[4] = command.getTaskMode();

        int[] array2 = new int[3];
        array2[0] = command.getTaskNo1();
        array2[1] = command.getTaskNo2();
        array2[2] = 0;

        boolean[] array3 = new boolean[3];
        array3[0] = command.isCommand();
        array3[1] = command.isAckFinish1();
        array3[2] = command.isAckFinish2();

        OperateResult result1 = siemensNet.Write("DB100.0",array);
        OperateResult result2 = siemensNet.Write("DB100.10",command.getTaskNo1());
        OperateResult result3 = siemensNet.Write("DB100.18.1",command.isAckFinish());
        OperateResult result2 = siemensNet.Write("DB100.10",array2);
        OperateResult result3 = siemensNet.Write("DB100.22",array3);

        if (!result1.IsSuccess && !result2.IsSuccess && !result3.IsSuccess){
            log.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
@@ -215,23 +235,33 @@
        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
            OperateResultExOne<byte[]> resultReadAck = siemensNet.Read("DB100.18.1", (short) 1);
            if (resultRead.IsSuccess){
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            OperateResultExOne<byte[]> readAck1 = siemensNet.Read("DB100.0", (short) 22.1);
            OperateResultExOne<byte[]> readAck2 = siemensNet.Read("DB100.0", (short) 22.2);
            if (resultRead.IsSuccess && readAck1.IsSuccess && readAck2.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransBool(resultReadAck.Content, 0));
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setSourceStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setDestinationStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 14));
                one.setCommand(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
                one.setAckFinish1(siemensNet.getByteTransform().TransBool(readAck1.Content, 0));
                one.setAckFinish2(siemensNet.getByteTransform().TransBool(readAck2.Content, 0));
//                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                if (    !command.isAckFinish() == one.isAckFinish() ||
                if (    !command.isAckFinish1() == one.isAckFinish1() ||
                        !command.isAckFinish2() == one.isAckFinish2() ||
                        !command.isCommand() == one.isCommand() ||

                        !command.getTaskNo1().equals(one.getTaskNo1()) ||
                        !command.getTaskMode1().equals(one.getTaskMode1()) ||
                        !command.getTaskNo2().equals(one.getTaskNo2()) ||
                        !command.getTaskMode().equals(one.getTaskMode()) ||
                        !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
                        !command.getDestinationStaNo1().equals(one.getDestinationStaNo1())
                        !command.getDestinationStaNo1().equals(one.getDestinationStaNo1()) ||
                        !command.getSourceStaNo2().equals(one.getSourceStaNo2()) ||
                        !command.getDestinationStaNo2().equals(one.getDestinationStaNo2())
                ){
                    try{
                        log.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));
@@ -250,12 +280,15 @@
                }else {
                    log.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }else {
                log.error("RGV命令地址写入后回读出错,重新加入队列");
                MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
            }
        }catch (Exception e){
            log.error("RGV命令地址写入后回读出错");
        }

        if (!command.isAckFinish()) {
        if (!command.isAckFinish1() && !command.isAckFinish2()) {
            if (result1.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
@@ -263,11 +296,11 @@

                do {
                    writeCount2++;
                    result1 = siemensNet.Write("DB100.18", true);
                    result1 = siemensNet.Write("DB100.22", true);
                    if(result1.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.22", (short) 2);
                        if (resultRead.IsSuccess) {
                            boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (!commandFinish){
@@ -309,9 +342,18 @@
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setMode((short) 0);
        rgvProtocol.setStatus((short) -1);
        rgvProtocol.setWalkPos((short) 1);
        rgvProtocol.setMode((short) 0);//模式
        rgvProtocol.setTaskNo1(0);//工位1工作号
        rgvProtocol.setTaskNo2(0);//工位1工作号
        rgvProtocol.setStatus((short) 0);//RGV状态
        rgvProtocol.setColumnNumber((short) 0);//RGV当前位置
        rgvProtocol.setWalkPos((short) 0);//走行在定位
        rgvProtocol.setRgvPos(0);//RGV当前位置
        rgvProtocol.setLoaded1((short) 0);//工位1有物
        rgvProtocol.setAlarm((short) 0);//异常码
        rgvProtocol.setxSpeed( 0);//备用2
        rgvProtocol.setxDistance(0);//备用3
        rgvProtocol.setxDuration( 0);//备用4
    }

    @Override