| | |
| | | import lombok.extern.slf4j.Slf4j; |
| | | |
| | | import java.text.MessageFormat; |
| | | import java.util.ArrayList; |
| | | import java.util.Base64; |
| | | import java.util.Date; |
| | | import java.util.List; |
| | | import java.util.*; |
| | | |
| | | @Slf4j |
| | | @SuppressWarnings("all") |
| | |
| | | } |
| | | |
| | | read(); |
| | | Thread.sleep(200); |
| | | Thread.sleep(300); |
| | | execute(); |
| | | } catch (Exception e) { |
| | | e.printStackTrace(); |
| | |
| | | try { |
| | | //获取提升机数据 |
| | | OperateResultExOne<byte[]> result1 = this.masterThread.read(this.slave.getId(), "status"); |
| | | if (result1 == null) { |
| | | OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId())); |
| | | } |
| | | |
| | | SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net(); |
| | | if (result1.IsSuccess) { |
| | | if (null == forkLiftProtocol) { |
| | |
| | | forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12)); |
| | | //故障码 |
| | | forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14)); |
| | | //当前层 |
| | | forkLiftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16)); |
| | | |
| | | //************补充扩展字段************* |
| | | InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend(); |
| | |
| | | OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId())); |
| | | } |
| | | |
| | | OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatus"); |
| | | OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatusTray"); |
| | | if (result2.IsSuccess) { |
| | | for (int i = 0; i < this.slave.getSta().size(); i++) { |
| | | ForkLiftSlave.Sta sta = this.slave.getSta().get(i); |
| | |
| | | continue; |
| | | } |
| | | |
| | | short val = siemensS7Net.getByteTransform().TransInt16(result2.Content, i * 2); |
| | | ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i); |
| | | boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2); |
| | | forkLiftStaProtocol.setHasTray(status1[0]); |
| | | forkLiftStaProtocol.setHasCar(status1[1]); |
| | | forkLiftStaProtocol.setHasTray(val == 1); |
| | | } |
| | | } |
| | | |
| | | OperateResultExOne<byte[]> result3 = this.masterThread.read(this.slave.getId(), "staStatusCar"); |
| | | if (result3.IsSuccess) { |
| | | for (int i = 0; i < this.slave.getSta().size(); i++) { |
| | | ForkLiftSlave.Sta sta = this.slave.getSta().get(i); |
| | | if (forkLiftStaProtocols.isEmpty()) { |
| | | continue; |
| | | } |
| | | |
| | | short val = siemensS7Net.getByteTransform().TransInt16(result3.Content, i * 2); |
| | | ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i); |
| | | forkLiftStaProtocol.setHasCar(val == 1); |
| | | } |
| | | } |
| | | |
| | |
| | | deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo()); |
| | | deviceDataLog.setCreateTime(new Date()); |
| | | deviceDataLogService.insert(deviceDataLog); |
| | | |
| | | //保存数据记录 |
| | | DeviceDataLog deviceDataLog2 = new DeviceDataLog(); |
| | | deviceDataLog2.setOriginData(Base64.getEncoder().encodeToString(result2.Content)); |
| | | deviceDataLog2.setWcsData(JSON.toJSONString(forkLiftStaProtocols)); |
| | | deviceDataLog2.setType("forkLiftStaProtocols"); |
| | | deviceDataLog2.setDeviceNo(forkLiftProtocol.getLiftNo()); |
| | | deviceDataLog2.setCreateTime(new Date()); |
| | | deviceDataLogService.insert(deviceDataLog2); |
| | | |
| | | //更新采集时间 |
| | | forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis()); |
| | |
| | | array[1] = command.getMode();//任务模式 |
| | | array[2] = command.getPick();//取货数据 |
| | | array[3] = command.getPut();//放货数据 |
| | | OperateResult result = this.masterThread.write(this.slave.getId(), "write", array); |
| | | if (result.IsSuccess) { |
| | | OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm()); |
| | | if (result2.IsSuccess) { |
| | | response.setResult(true); |
| | | } |
| | | } |
| | | return response; |
| | | } |
| | | |
| | | @Override |
| | | public CommandResponse move(ForkLiftCommand command) { |
| | | CommandResponse response = new CommandResponse(false); |
| | | |
| | | short[] array = new short[4]; |
| | | array[0] = command.getTaskNo();//任务号 |
| | | array[1] = command.getMode();//任务模式 |
| | | array[2] = command.getPut();//放货数据 |
| | | OperateResult result = this.masterThread.write(this.slave.getId(), "write", array); |
| | | if (result.IsSuccess) { |
| | | OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm()); |
| | |
| | | return commands; |
| | | } |
| | | |
| | | @Override |
| | | public List<ForkLiftCommand> getMoveCommand(Integer taskNo, Integer pick, Integer put) { |
| | | Integer realPick = pick % 1000; |
| | | Integer realPut = put % 1000; |
| | | |
| | | List<ForkLiftCommand> commands = new ArrayList<>(); |
| | | ForkLiftCommand command = new ForkLiftCommand(); |
| | | command.setLiftNo(slave.getId()); |
| | | command.setTaskNo(taskNo.shortValue()); |
| | | command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue()); |
| | | command.setPick(realPick.shortValue()); |
| | | command.setPut(realPut.shortValue()); |
| | | command.setConfirm((short) 1); |
| | | |
| | | commands.add(command); |
| | | return commands; |
| | | } |
| | | |
| | | /** |
| | | * 扩展字段 |
| | | */ |