#

lsh

2024-01-26 ad214d47abef40ddca668854bbfeefcf5ac9f33d

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

@@ -5,6 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
@@ -38,6 +39,15 @@
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    public Long sign = System.currentTimeMillis();

    public boolean isRunning = true;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;

    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
    }
@@ -46,7 +56,7 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
        while (isRunning) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
@@ -87,7 +97,8 @@
            } catch (Exception e) {
//                e.printStackTrace();
            }

//            System.out.println("第"+slave.getId()+"个堆垛机线程运行一轮："+(System.currentTimeMillis()-sign));
            sign = System.currentTimeMillis();
        }
    }

@@ -142,10 +153,11 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 70);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
@@ -162,18 +174,23 @@
                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));

                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.getStatusType().equals(CrnStatusType.WAITING)) {
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为10，等待确认！！",
                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
@@ -223,9 +240,9 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        convertRow(command);
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[12];
        short[] array = new short[10];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
@@ -235,14 +252,15 @@
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getSourceStaNo();
        array[10] = command.getDestinationStaNo();
        array[11] = command.getCommand();
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = siemensNet.Write("DB100.22", commandFinish);
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
        }

        try {
@@ -402,4 +420,9 @@

    }

    // 提供一个方法来停止线程
    public void requestStop() {
        isRunning = false;
    }

}