#

vincent

2020-08-18 b0dfde8722e47f044a1f3a234c806e7a414e2325

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

@@ -67,7 +67,7 @@
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式:  库位移转
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        command.setSourcePosX((short)0);     // 源库位排
                        command.setSourcePosY((short)0);     // 源库位列
                        command.setSourcePosZ((short)0);     // 源库位层
@@ -90,7 +90,7 @@
    @Override
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensNet = new SiemensS7Net(SiemensPLCS.S300, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
@@ -110,7 +110,7 @@
     * 读取状态
     */
    private void readStatus(){
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 46);
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 56);
        if (result.IsSuccess) {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            if (null == crnProtocol) {
@@ -127,16 +127,17 @@
//            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
            crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22));
            crnProtocol.setError2(siemensNet.getByteTransform().TransInt16(result.Content, 24));
            // 异常信息
            crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
            crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
            crnProtocol.setTemp1(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().TransSingle(result.Content, 34));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 38));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 42));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 46));
            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
@@ -164,9 +165,11 @@
        array[8] = command.getDestinationPosZ();
        OperateResult result = siemensNet.Write("DB8.0", array);
        if (result.IsSuccess) {
            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            readStatus();
        } else {
            System.out.println(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [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.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [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("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }
@@ -190,12 +193,44 @@
    /*****************************************************************************************/
    public static void main(String[] args) {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        slave.setSlot(0);
        CrnThread crnThread = new CrnThread(slave);
        crnThread.connect();
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));


        CrnCommand command = new CrnCommand();
        command.setCrnNo(1); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 1);     // 目标库位排
        command.setDestinationPosY((short) 5);     // 目标库位列
        command.setDestinationPosZ((short) 3);     // 目标库位层
        crnThread.write(command);


//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
//        command.setSourcePosX((short) 0);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 0);     // 源库位层
//        command.setDestinationPosX((short) 0);     // 目标库位排
//        command.setDestinationPosY((short) 5);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);


//        // 写
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号