1

zhang

2025-08-29 c6ac196d7207e64b8591f84932439214561fc446

 src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java

@@ -1,6 +1,8 @@
package com.zy.core.thread.impl;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -14,9 +16,12 @@
import com.zy.common.ExecuteSupport;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.action.ForkLiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.ForkLiftIoModeType;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.ForkLiftCommand;
@@ -27,7 +32,10 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.*;
import java.util.ArrayList;
import java.util.Base64;
import java.util.Date;
import java.util.List;

@Slf4j
@SuppressWarnings("all")
@@ -56,7 +64,21 @@

    @Override
    public boolean connect() {
        return false;
        boolean result = false;
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensS7Net.setRack(slave.getRack().byteValue());
        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if (connect.IsSuccess) {
            result = true;
            OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】货叉提升机连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            News.info("货叉提升机连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】货叉提升机连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]  [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            News.error("货叉提升机连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
        // siemensS7Net.ConnectClose();
        return result;
    }

    @Override
@@ -72,9 +94,28 @@
            try {
                read();
                Thread.sleep(200);
                execute();
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    private void execute() {
        ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
        if (forkLiftAction == null) {
            return;
        }

        Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
        if (object == null) {
            return;
        }

        Integer taskNo = Integer.valueOf(String.valueOf(object));
        if (taskNo != 0) {
            //存在任务需要执行
            boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
        }
    }

@@ -96,7 +137,7 @@
    private void readStatus() {
        try {
            //获取提升机数据
            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 32);
            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 16);
            if (result1.IsSuccess) {
                if (null == forkLiftProtocol) {
                    forkLiftProtocol = new ForkLiftProtocol();
@@ -109,27 +150,42 @@
                //----------读取提升机状态-----------
                //模式
                forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
                //任务号
                forkLiftProtocol.setTaskNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //PLC任务号
                forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
                //任务状态
                forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
                forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //任务模式
                forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
                forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
                //取货数据
                forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));
                forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
                //放货数据
                forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 20));
                forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10));
                //出入库模式
                forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 24));
                forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
                //故障码
                forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 28));
                forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));

                //************补充扩展字段*************
                InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
                forkLiftProtocol.setExtend(forkLiftExtend);

            }else {
            } else {
                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 = siemensS7Net.Read("DB102.0", (short) 8);
            if (result2.IsSuccess) {
                for (int i = 0; i < this.slave.getSta().size(); i++) {
                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
                    if (forkLiftStaProtocols.isEmpty()) {
                        continue;
                    }

                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2);
                    forkLiftStaProtocol.setHasTray(status1[0]);
                    forkLiftStaProtocol.setHasCar(status1[1]);
                }
            }

            if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
@@ -166,7 +222,7 @@
            //设备状态
            basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
            if (basLiftService.updateById(basLift)) {
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo()));
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo()));
            }

        } catch (Exception e) {
@@ -194,32 +250,98 @@

    @Override
    public CommandResponse pickAndPut(ForkLiftCommand command) {
        return null;
        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.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = siemensS7Net.Write("DB103.0", array);
        if (result.IsSuccess) {
            OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse shuttleSwitch(ForkLiftCommand command) {
        return null;
        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.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = siemensS7Net.Write("DB103.0", array);
        if (result.IsSuccess) {
            OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse reset(ForkLiftCommand command) {
        return null;
    public CommandResponse reset() {
        CommandResponse response = new CommandResponse(false);
        OperateResult result = siemensS7Net.Write("DB103.10", (short) 1);
        if (result.IsSuccess) {
            News.info("货叉提升机确认命令下发成功，提升机号={}", forkLiftProtocol.getLiftNo());
            response.setResult(true);
        }
        return response;
    }

    @Override
    public boolean isIdle() {
        return false;
        if (this.forkLiftProtocol.getTaskNo() == null
                || this.forkLiftProtocol.getProtocolStatus() == null
                || this.forkLiftProtocol.getModel() == null
                || this.forkLiftProtocol.getErrorCode() == null
        ) {
            return false;
        }

        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                && this.forkLiftProtocol.getWrkNo() == 0
                && this.forkLiftProtocol.getTaskNo() == 0
                && this.forkLiftProtocol.getModel() == 2
                && this.forkLiftProtocol.getErrorCode() == 0;
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        return false;
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        return false;
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.forkLiftProtocol.getTaskNo() == null
                || this.forkLiftProtocol.getProtocolStatus() == null
                || this.forkLiftProtocol.getModel() == null
                || this.forkLiftProtocol.getErrorCode() == null
        ) {
            return false;
        }

        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                && this.forkLiftProtocol.getWrkNo() == 0
                && this.forkLiftProtocol.getModel() == 2
                && this.forkLiftProtocol.getErrorCode() == 0;
        return res;
    }

    @Override
@@ -229,23 +351,36 @@

    @Override
    public boolean setSyncTaskNo(Integer taskNo) {
        this.forkLiftProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public boolean switchIOMode(ForkLiftIoModeType type) {
        OperateResult result = siemensS7Net.Write("DB103.12", type.id.shortValue());
        if (result.IsSuccess) {
            return true;
        }
        return false;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
        return 0;
        return taskNo;
    }

    @Override
    public List<ForkLiftCommand> getPickAndPutCommand(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.PICK_PUT.id.shortValue());
        command.setPick(pick.shortValue());
        command.setPut(put.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);
@@ -253,14 +388,17 @@
    }

    @Override
    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev) {
    public List<ForkLiftCommand> getShuttleSwitchCommand(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.SHUTTLE_SWITCH.id.shortValue());
        command.setPick(originLev.shortValue());
        command.setPut(targetLev.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);