#

zjj

2023-12-08 9dd3e4be54277aafb576f4f9e5b019b9dc23a674

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

@@ -5,11 +5,15 @@
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;
@@ -21,12 +25,11 @@
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.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Optional;
import java.util.*;

/**
 * 堆垛机线程
@@ -40,6 +43,8 @@
    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);
    }};
@@ -168,7 +173,7 @@
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//            crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//            crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//            crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//            crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
@@ -181,181 +186,93 @@
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));

            // 异常
            crnProtocol.setAlarm1(0);
            crnProtocol.setAlarm2(0);
            crnProtocol.setAlarm3(0);
            crnProtocol.setAlarm4(0);
            boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1);    // 30
            if (err1[0]) { crnProtocol.setAlarm1(1); }
            if (err1[1]) { crnProtocol.setAlarm1(2); }
            if (err1[2]) { crnProtocol.setAlarm1(3); }
            boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1);    // 31
            if (err2[0]) { crnProtocol.setAlarm1(4); }
            if (err2[1]) { crnProtocol.setAlarm1(5); }
            if (err2[2]) { crnProtocol.setAlarm1(6); }
            boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1);    // 32
            if (err3[6]) { crnProtocol.setAlarm1(7); }
            if (err3[7]) { crnProtocol.setAlarm1(8); }
            boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1);    // 33
            if (err4[1]) { crnProtocol.setAlarm1(9); }
            if (err4[5]) { crnProtocol.setAlarm1(10); }
            if (err4[6]) { crnProtocol.setAlarm1(11); }
            if (err4[7]) { crnProtocol.setAlarm1(12); }
            boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1);    // 34
            if (err5[0]) { crnProtocol.setAlarm2(13); }
            if (err5[2]) { crnProtocol.setAlarm2(14); }
            if (err5[3]) { crnProtocol.setAlarm2(15); }
            if (err5[5]) { crnProtocol.setAlarm2(16); }
            if (err5[6]) { crnProtocol.setAlarm2(17); }
            if (err5[7]) { crnProtocol.setAlarm2(18); }
            boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1);    // 35
            if (err6[1]) { crnProtocol.setAlarm2(19); }
            if (err6[2]) { crnProtocol.setAlarm2(20); }
            if (err6[3]) { crnProtocol.setAlarm2(21); }
            if (err6[4]) { crnProtocol.setAlarm2(22); }
            boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1);    // 36
            if (err7[4]) { crnProtocol.setAlarm2(23); }
            if (err7[5]) { crnProtocol.setAlarm2(24); }
            if (err7[6]) { crnProtocol.setAlarm2(25); }
            boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1);    // 38
            if (err8[0]) { crnProtocol.setAlarm3(26); }
            if (err8[1]) { crnProtocol.setAlarm3(27); }
            if (err8[2]) { crnProtocol.setAlarm3(28); }
            if (err8[3]) { crnProtocol.setAlarm3(29); }
            if (err8[4]) { crnProtocol.setAlarm3(30); }
            if (err8[5]) { crnProtocol.setAlarm3(31); }
            if (err8[6]) { crnProtocol.setAlarm3(32); }
            if (err8[7]) { crnProtocol.setAlarm3(33); }
            boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);    // 39
            if (err9[0]) { crnProtocol.setAlarm3(34); }
            if (err9[1]) { crnProtocol.setAlarm3(35); }
            if (err9[2]) { crnProtocol.setAlarm3(36); }
            if (err9[3]) { crnProtocol.setAlarm3(37); }
            if (err9[4]) { crnProtocol.setAlarm3(38); }
            if (err9[5]) { crnProtocol.setAlarm3(39); }
            if (err9[6]) { crnProtocol.setAlarm3(40); }
            if (err9[7]) { crnProtocol.setAlarm3(41); }
            boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1);    // 40
            if (err10[0]) { crnProtocol.setAlarm3(42); }
            if (err10[1]) { crnProtocol.setAlarm3(43); }
            if (err10[2]) { crnProtocol.setAlarm3(44); }
            if (err10[3]) { crnProtocol.setAlarm3(45); }
            if (err10[4]) { crnProtocol.setAlarm3(46); }
            boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1);    // 41
            if (err11[0]) { crnProtocol.setAlarm3(47); }
            if (err11[1]) { crnProtocol.setAlarm3(48); }
            if (err11[2]) { crnProtocol.setAlarm3(49); }
            boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1);    // 42
            if (err12[0]) { crnProtocol.setAlarm4(50); }
            if (err12[1]) { crnProtocol.setAlarm4(51); }
            if (err12[2]) { crnProtocol.setAlarm4(52); }
            if (err12[3]) { crnProtocol.setAlarm4(53); }
            if (err12[4]) { crnProtocol.setAlarm4(54); }
            if (err12[5]) { crnProtocol.setAlarm4(55); }
            boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1);    // 43
            if (err13[0]) { crnProtocol.setAlarm4(56); }
            if (err13[1]) { crnProtocol.setAlarm4(57); }
            if (err13[2]) { crnProtocol.setAlarm4(58); }
            if (err13[3]) { crnProtocol.setAlarm4(59); }
            boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1);    // 44
            if (err14[0]) { crnProtocol.setAlarm4(60); }
            if (err14[1]) { crnProtocol.setAlarm4(61); }
            if (err14[2]) { crnProtocol.setAlarm4(62); }
            if (err14[3]) { crnProtocol.setAlarm4(63); }
            if (err14[4]) { crnProtocol.setAlarm4(64); }
            if (err14[5]) { crnProtocol.setAlarm4(65); }
            if (err14[6]) { crnProtocol.setAlarm4(66); }
            if (err14[7]) { crnProtocol.setAlarm4(67); }
            boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1);    // 45
            if (err15[1]) { crnProtocol.setAlarm4(68); }
            if (err15[2]) { crnProtocol.setAlarm4(69); }
            if (err15[3]) { crnProtocol.setAlarm4(70); }
            if (err15[4]) { crnProtocol.setAlarm4(71); }
            if (err15[5]) { crnProtocol.setAlarm4(72); }
            if (err15[6]) { crnProtocol.setAlarm4(73); }

//            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
//            crnProtocol.setConnStatus(bool1[0]);
//            crnProtocol.setCorrection(bool1[3]);
//            crnProtocol.setTuError(bool1[4]);
//            crnProtocol.setNoneError(bool1[5]);
//            crnProtocol.setStockError(bool1[6]);
//            crnProtocol.setJobInvalid(bool1[7]);
//            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
//            crnProtocol.setIdle(bool2[0]);
//            crnProtocol.setControl(bool2[1]);
//            crnProtocol.setStopQuasi(bool2[2]);
//            crnProtocol.setRunning(bool2[3]);
//            crnProtocol.setFault(bool2[4]);
//            crnProtocol.setForkHome(bool2[5]);
//            crnProtocol.setForkSingleLeft(bool2[6]);
//            crnProtocol.setForkSingleRight(bool2[7]);
//            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
//            crnProtocol.setForkDoubleLeft(bool3[0]);
//            crnProtocol.setForkDoubleRight(bool3[1]);
//            crnProtocol.setSingleHigh(bool3[2]);
//            crnProtocol.setSingleLow(bool3[3]);
//            crnProtocol.setDoubleHigh(bool3[4]);
//            crnProtocol.setDoubleLow(bool3[5]);
//            crnProtocol.setPlatformHigh(bool3[6]);
//            crnProtocol.setPlatformLow(bool3[7]);
//            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
//            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物

            // 速度
//            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
//            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
//            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
//            // 累计里程、时长
//            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
//            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
//            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
//            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102

//            // 增强
//            if (crnProtocol.getForkHome()) {
//                crnProtocol.setForkPos(CrnForkPosType.HOME);
//            }
//            if (crnProtocol.getForkSingleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType.LEFT);
//            }
//            if (crnProtocol.getForkSingleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
//            }
//            if (crnProtocol.getForkDoubleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType._LEFT);
//            }
//            if (crnProtocol.getForkDoubleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
//            }
//            if (crnProtocol.getSingleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.UP);
//            }
//            if (crnProtocol.getSingleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
//            }
//            if (crnProtocol.getDoubleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._UP);
//            }
//            if (crnProtocol.getDoubleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
//            }
//            if (crnProtocol.getIdle()) {
//                crnProtocol.setStatus(CrnStatusType.IDLE);
//            }

            OutputQueue.CRN.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 (crnProtocol.getTaskFinish() == 0) {
                if (resetFlag) {
                    //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");
                        taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
                        taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
                    }

                    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"
                            ,wmsUrl+"/wcsManager/wcsInterface/taskStatusFeedback"
                            ,null
                            ,"127.0.0.1"
                            ,JSON.toJSONString(taskOverToWms)
                            ,response
                            ,true
                    );
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)){
                        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");
                    }


                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
                    if (write(crnCommand)) {
                        resetFlag = false;
                    }

                }
            }

@@ -401,33 +318,11 @@
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();

        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
        array[4] = command.getSourcePosX();
//        }
        array[5] = command.getSourcePosY();

        array[6] = command.getDestinationPosZ();
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
        array[7] = command.getDestinationPosX();
//        }
        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();

@@ -490,31 +385,15 @@
        array[2] = command.getTaskMode();

        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
            array[4] = command.getSourcePosX();
//        }

        array[4] = command.getSourcePosX();

        array[5] = command.getSourcePosY();

        array[6] = command.getDestinationPosZ();
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
            array[7] = command.getDestinationPosX();
//        }

        array[7] = command.getDestinationPosX();

        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();

@@ -522,17 +401,6 @@

        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
//        // 任务号 + 完成位
//        short[] array2 = new short[2];
//        array2[0] = command.getTaskNo();
//        array2[1] = command.getAckFinish();
//        OperateResult result1 = siemensNet.Write("DB10.24", array2);
//
//        // 结束位
//        if (command.getAckFinish() == 0) {
//            OperateResult result2 = siemensNet.Write("DB10.28.1", true);
//        }

        // 日志记录
//        try {
            if (command.getAckFinish() != 1) {