自动化立库仓库-WCS系统
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zhangc
2025-03-11 d5449236ef0b3adafb3e4cc872f50479efa0ce7b 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -17,15 +17,15 @@


import com.zy.core.CrnThread;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


import com.zy.core.enums.*;


import com.zy.core.enums.CommandStatusType;


import com.zy.core.enums.CrnTaskModeType;


import com.zy.core.enums.SlaveType;


import com.zy.core.model.CrnSlave;


import com.zy.core.model.Task;


import com.zy.core.model.command.CommandPackage;


import com.zy.core.model.command.CrnCommand;


import com.zy.core.model.protocol.CrnProtocol;


import lombok.Data;


import lombok.extern.slf4j.Slf4j;


import org.springframework.beans.factory.annotation.Autowired;


import org.springframework.beans.factory.annotation.Value;




import java.text.MessageFormat;


@@ -39,29 +39,158 @@


@Slf4j


public class SiemensCrnThread implements Runnable, CrnThread {




    public static final List<Short> rowOne = new ArrayList<Short>() {{


        add((short) 1);


        add((short) 5);


        add((short) 7);


        add((short) 11);


        add((short) 15);


        add((short) 19);


    }};


    public static final List<Short> rowTwo = new ArrayList<Short>() {{


        add((short) 2);


        add((short) 6);


        add((short) 8);


        add((short) 12);


        add((short) 16);


        add((short) 20);


    }};


    public static final List<Short> rowThree = new ArrayList<Short>() {{


        add((short) 3);


        add((short) 9);


        add((short) 13);


        add((short) 17);


        add((short) 21);


    }};


    public static final List<Short> rowFour = new ArrayList<Short>() {{


        add((short) 4);


        add((short) 10);


        add((short) 14);


        add((short) 18);


    }};


    private SiemensS7Net siemensNet;


    private CrnSlave slave;


    private CrnProtocol crnProtocol;


    private boolean resetFlag = false;




    @Value("${wms.url}")


    private String wmsUrl;


    public static final List<Short> rowOne = new ArrayList<Short>() {{


        add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);


    }};


    public static final List<Short> rowTwo = new ArrayList<Short>() {{


        add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);


    }};


    public static final List<Short> rowThree = new ArrayList<Short>() {{


        add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);


    }};


    public static final List<Short> rowFour = new ArrayList<Short>() {{


        add((short) 4);add((short) 10);add((short) 14);add((short) 18);


    }};






    public SiemensCrnThread(CrnSlave slave) {


        this.slave = slave;


    }




    /*****************************************************************************************/


    public static void main(String[] args) throws InterruptedException {


        CrnSlave slave = new CrnSlave();


        slave.setId(1);


        slave.setIp("192.168.6.9");


        slave.setRack(0);


        slave.setSlot(0);


        SiemensCrnThread crnThread = new SiemensCrnThread(slave);


        crnThread.connect();


        crnThread.readStatus();


        System.out.println(JSON.toJSONString(crnThread.crnProtocol));


        Thread.sleep(3000L);




        // 1.入库 源和目标都发


//        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.PAKIN); // 任务模式


//        command.setSourcePosX((short) 1);     // 源库位排


//        command.setSourcePosY((short) 0);     // 源库位列


//        command.setSourcePosZ((short) 1);     // 源库位层


//        command.setDestinationPosX((short) 2);     // 目标库位排


//        command.setDestinationPosY((short) 3);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);




        // 2.出库 源和目标都发


//        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.PAKOUT); // 任务模式


//        command.setSourcePosX((short) 2);     // 源库位排


//        command.setSourcePosY((short) 4);     // 源库位列


//        command.setSourcePosZ((short) 3);     // 源库位层


//        command.setDestinationPosX((short) 1);     // 目标库位排


//        command.setDestinationPosY((short) 0);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);






//        // 3.库位移转   源和目标都发 pass


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 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.LOC_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)2);     // 源库位排


//        command.setSourcePosY((short)2);     // 源库位列


//        command.setSourcePosZ((short)3);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)4);     // 目标库位列


//        command.setDestinationPosZ((short)4);     // 目标库位层


//        crnThread.write(command);




        // 4.站位移转   源和目标都发


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 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.SITE_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)1);     // 源库位排


//        command.setSourcePosY((short)0);     // 源库位列


//        command.setSourcePosZ((short)1);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)0);     // 目标库位列


//        command.setDestinationPosZ((short)1);     // 目标库位层


//        crnThread.write(command);




//        // 5.回原点  不用发   pass


//        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.GO_ORIGIN); // 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) 0);     // 目标库位列


//        command.setDestinationPosZ((short) 0);     // 目标库位层


//        crnThread.write(command);




//        // 7.坐标移行   目标发   pass


//        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) 2);     // 目标库位排


//        command.setDestinationPosY((short) 1);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);




        // 只有出现指定异常才进行复位


//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr


//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr


//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr


//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {


//            CrnCommand command = new CrnCommand();


//            command.setCrnNo(1); // 堆垛机编号


//            command.setAckFinish((short) 1);  // 任务完成确认位


//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式


//            Thread.sleep(3000L);


//            crnThread.write(command);


//        }




    }




    @Override


@@ -191,7 +320,6 @@


            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(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


@@ -287,7 +415,6 @@


                    }








                }


            }




@@ -300,7 +427,8 @@


                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){


                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());


                }


            } catch (Exception ignore){}


            } catch (Exception ignore) {


            }




            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);


            deviceErrorService.deleteDeviceError("crn", slave.getId());


@@ -446,7 +574,8 @@


                    null    // 修改人员


            );


            bean.insert(basCrnOpt);


        } catch (Exception ignore) {}


        } catch (Exception ignore) {


        }




        if (result != null && result.IsSuccess) {


            Thread.sleep(200);


@@ -605,7 +734,6 @@


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));








            return true;


        } else {


            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()));


@@ -615,124 +743,12 @@


        }


    }




    /******************************************************************************************/


    /**************************************** 测试专用 *****************************************/




    @Override


    public void close() {


        siemensNet.ConnectClose();


    }




    /******************************************************************************************/


    /**************************************** 测试专用 *****************************************/


    /*****************************************************************************************/


    public static void main(String[] args) throws InterruptedException {


        CrnSlave slave = new CrnSlave();


        slave.setId(1);


        slave.setIp("192.168.6.9");


        slave.setRack(0);


        slave.setSlot(0);


        SiemensCrnThread crnThread = new SiemensCrnThread(slave);


        crnThread.connect();


        crnThread.readStatus();


        System.out.println(JSON.toJSONString(crnThread.crnProtocol));


        Thread.sleep(3000L);




        // 1.入库 源和目标都发


//        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.PAKIN); // 任务模式


//        command.setSourcePosX((short) 1);     // 源库位排


//        command.setSourcePosY((short) 0);     // 源库位列


//        command.setSourcePosZ((short) 1);     // 源库位层


//        command.setDestinationPosX((short) 2);     // 目标库位排


//        command.setDestinationPosY((short) 3);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);




        // 2.出库 源和目标都发


//        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.PAKOUT); // 任务模式


//        command.setSourcePosX((short) 2);     // 源库位排


//        command.setSourcePosY((short) 4);     // 源库位列


//        command.setSourcePosZ((short) 3);     // 源库位层


//        command.setDestinationPosX((short) 1);     // 目标库位排


//        command.setDestinationPosY((short) 0);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);






//        // 3.库位移转   源和目标都发 pass


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 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.LOC_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)2);     // 源库位排


//        command.setSourcePosY((short)2);     // 源库位列


//        command.setSourcePosZ((short)3);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)4);     // 目标库位列


//        command.setDestinationPosZ((short)4);     // 目标库位层


//        crnThread.write(command);




        // 4.站位移转   源和目标都发


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 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.SITE_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)1);     // 源库位排


//        command.setSourcePosY((short)0);     // 源库位列


//        command.setSourcePosZ((short)1);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)0);     // 目标库位列


//        command.setDestinationPosZ((short)1);     // 目标库位层


//        crnThread.write(command);




//        // 5.回原点  不用发   pass


//        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.GO_ORIGIN); // 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) 0);     // 目标库位列


//        command.setDestinationPosZ((short) 0);     // 目标库位层


//        crnThread.write(command);




//        // 7.坐标移行   目标发   pass


//        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) 2);     // 目标库位排


//        command.setDestinationPosY((short) 1);     // 目标库位列


//        command.setDestinationPosZ((short) 1);     // 目标库位层


//        crnThread.write(command);




        // 只有出现指定异常才进行复位


//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr


//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr


//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr


//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {


//            CrnCommand command = new CrnCommand();


//            command.setCrnNo(1); // 堆垛机编号


//            command.setAckFinish((short) 1);  // 任务完成确认位


//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式


//            Thread.sleep(3000L);


//            crnThread.write(command);


//        }




    }




}