提升机、穿梭车独占令牌页面显示与控制

Junjie

2023-08-02 b82892d4b6d7ddd51d550871223036e993f76cf6

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

@@ -8,7 +8,6 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.sun.org.apache.bcel.internal.generic.IF_ACMPEQ;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
import com.zy.core.DevpThread;
@@ -42,16 +41,20 @@
    private SiemensS7Net siemensS7Net;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
    private short heartBeatVal = 1;
    private int barcodeSize = 2;
    private int barcodeSize = 1;
    public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
        add(100);add(101);add(102);
        add(103);add(104);add(105);
        add(106);add(107);add(108);
    }};

    public static final ArrayList<Integer> outInStaNos = new ArrayList<Integer>() {{
        add(102);add(105);add(106);
        add(107);add(108);
    }};

    public boolean charge0;
    public boolean charge1;
    public boolean charge2;

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
@@ -75,12 +78,18 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        write((StaProtocol) task.getData());
                        read();
                        break;
                    // 出入库模式
                    case 3:
                        write3((int)task.getData());
                        write3((StaProtocol) task.getData());
                        read();
                        break;
                    //102站回退信号
                    case 5:
                        write5((StaProtocol) task.getData());
                        read();
                    default:
                        break;
                }
@@ -132,7 +141,7 @@
            }
        }
        Thread.sleep(200);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB102.100", (short) (staNos.size()));
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) (staNos.size()));
        if (result1.IsSuccess) {
            for (int i = 0; i < staNos.size(); i++) {
                Integer siteId = staNos.get(i); // 站点编号
@@ -144,8 +153,8 @@
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位
                staProtocol.setLiftArrival(status[6]);     // 提升机到位信号
                staProtocol.setShuttleTakeEnable(status[7]);      // 提升机可取信号

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
@@ -155,9 +164,11 @@

        //读条码
        Thread.sleep(100);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.150",(short)24);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.200",(short)24);
        if (result2.IsSuccess) {
            for (int i = 0; i <= barcodeSize; i++) {
//                byte[] bytes = siemensS7Net.getByteTransform().TransByte(result2.Content, i * 8, 8);
//                String barcode = CommonUtils.bytesToBarcode(bytes);
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
@@ -183,47 +194,46 @@

        // 外形检测 - 102
        Thread.sleep(50);
        OperateResultExOne<byte[]> result102 = siemensS7Net.Read("DB102.110", (short)1);
        OperateResultExOne<byte[]> result102 = siemensS7Net.Read("DB100.100", (short)2);
        if (result102.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result102.Content, 0, 1);
            //出入库模式
            short outInModel = siemensS7Net.getByteTransform().TransInt16(result102.Content, 0);
            StaProtocol staProtocol = station.get(102);
            staProtocol.setFrontErr(status[0]);// 前超限
            staProtocol.setBackErr(status[1]);// 后超限
            staProtocol.setHighErr(status[2]);// 高超限
            staProtocol.setLeftErr(status[3]);// 左超限
            staProtocol.setRightErr(status[4]);// 右超限
            staProtocol.setWeightErr(status[5]); // 超重
            staProtocol.setBarcodeErr(status[6]);// 扫码失败
            staProtocol.setOutInModel(outInModel);
        }
//        // 外形检测 - 201
//        Thread.sleep(50);
//        OperateResultExOne<byte[]> result201 = siemensS7Net.Read("DB102.112", (short)1);
//        if (result201.IsSuccess) {
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result201.Content, 0, 1);
//            StaProtocol staProtocol = station.get(201);
//            staProtocol.setFrontErr(status[0]);
//            staProtocol.setBackErr(status[1]);
//            staProtocol.setHighErr(status[2]);
//            staProtocol.setLeftErr(status[3]);
//            staProtocol.setRightErr(status[4]);
//            staProtocol.setWeightErr(status[5]);
//            staProtocol.setBarcodeErr(status[6]);
//        }
//        // 外形检测 - 301
//        Thread.sleep(50);
//        OperateResultExOne<byte[]> result301 = siemensS7Net.Read("DB102.114", (short)1);
//        if (result301.IsSuccess) {
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result301.Content, 0, 1);
//            StaProtocol staProtocol = station.get(301);
//            staProtocol.setFrontErr(status[0]);
//            staProtocol.setBackErr(status[1]);
//            staProtocol.setHighErr(status[2]);
//            staProtocol.setLeftErr(status[3]);
//            staProtocol.setRightErr(status[4]);
//            staProtocol.setWeightErr(status[5]);
//            staProtocol.setBarcodeErr(status[6]);
//        }

        Thread.sleep(50);
        for (Integer siteId : outInStaNos) {
            String dbAddress = "DB100.300";
            switch (siteId) {
                case 102:
                    dbAddress = "DB100.300";
                    break;
                case 105:
                    dbAddress = "DB100.302";
                    break;
                case 106:
                    dbAddress = "DB100.304";
                    break;
                case 107:
                    dbAddress = "DB100.306";
                    break;
                case 108:
                    dbAddress = "DB100.308";
                    break;
            }

            OperateResultExOne<byte[]> resultRead = siemensS7Net.Read(dbAddress, (short) 2);
            if (resultRead.IsSuccess) {
                //链条转动情况
                short direction = siemensS7Net.getByteTransform().TransInt16(resultRead.Content, 0);
                StaProtocol staProtocol = station.get(siteId);
                if (direction != 0 && !staProtocol.isLoading()) {
                    //状态为正转或反转且无物时，将链条转动信号位复位
                    write4(siteId, 0);
                }
            }
        }

        if (result.IsSuccess && result1.IsSuccess) {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
@@ -249,34 +259,135 @@
//            News.error("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }
    }

    /**
     * plc与提升机交互
     */
    private void write4(Integer siteId, Integer direction) throws InterruptedException {
        if (Cools.isEmpty(siteId, direction)) {
            return;
        }
        switch (siteId) {
            case 102:
                siemensS7Net.Write("DB100.300", direction.shortValue());
                break;
            case 105:
                siemensS7Net.Write("DB100.302", direction.shortValue());
                break;
            case 106:
                siemensS7Net.Write("DB100.304", direction.shortValue());
                break;
            case 107:
                siemensS7Net.Write("DB100.306", direction.shortValue());
                break;
            case 108:
                siemensS7Net.Write("DB100.308", direction.shortValue());
                break;
        }
    }

    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void write3(int outAndIn) throws InterruptedException{
        if (Cools.isEmpty(outAndIn)) {
    private void write3(StaProtocol staProtocol) throws InterruptedException {
        if (Cools.isEmpty(staProtocol)) {
            return;
        }
        if (outAndIn==666){
            siemensS7Net.Write("DB100.200", (short) 1);
        }else if (outAndIn==999){
            siemensS7Net.Write("DB100.200", (short) 0);
        }else {
            String Db=null;
            if (outAndIn<20){
                Db="DB100.180";
            }else if (outAndIn<30){
                Db="DB100.182";
            }else {
                Db="DB100.184";
        OperateResult writeResult = null;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;

        Short outAndIn = staProtocol.getOutInModel();
        Integer siteId = staProtocol.getSiteId();
        Short run = 0;//停止转动
        String address = "";
        if (staProtocol.getRotationDire() != null) {
            run = staProtocol.getRotationDire().shortValue();//转动方向
        }
        switch (siteId) {
            case 102:
                address = "DB100.300";
                break;
            case 105:
                address = "DB100.302";
                break;
            case 106:
                address = "DB100.304";
                break;
            case 107:
                address = "DB100.306";
                break;
            case 108:
                address = "DB100.308";
                break;
        }

        while(writeCount < 5){
            writeResult = siemensS7Net.Write(address, run);
            if (writeResult == null) {
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                continue;
            }
            if (outAndIn == 11 || outAndIn == 21 || outAndIn == 31){
                siemensS7Net.Write(Db, (byte) 1);    // 入库
            }else if (outAndIn == 12 || outAndIn == 22 || outAndIn == 32){
                siemensS7Net.Write(Db, (byte) 2);    // 出库
            }else if (outAndIn == 10 || outAndIn == 20 || outAndIn == 30){
                siemensS7Net.Write(Db, (byte) 0);    // 出库

            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read(address, (short) 2);
                if(readResult.IsSuccess){
                    short run2 = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    if(run.equals(run2)){
                        //任务命令写入成功
                        writeFlag = true;
                        if (staProtocol.getStaNo() != null && staProtocol.getWorkNo() != null) {
                            write(staProtocol);//写入工作号和目标站
                        }
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(3, staProtocol));
            read();//读取1次设备状态
            return;
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

            staProtocol = station.get(siteId);
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
        }

    }

    /**
@@ -359,6 +470,50 @@
    }

    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void write5(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        while(writeCount < 5){
            writeResult = siemensS7Net.Write("DB100.310", staProtocol.getRollback102().shortValue());
            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100.310", (short)2);
                if(readResult.IsSuccess){
                    short rollback = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    if (staProtocol.getRollback102() == (int) rollback) {
                        //任务命令写入成功
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        return;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol), writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
            Thread.sleep(200);
        }
    }

    /**
     * 心跳
     */
    private void heartbeat(){