自动化立库仓库-WCS系统
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Junjie
2023-03-24 d867d8d14b00e20ecfb00e349611ea62c4853c78 
 src/main/java/com/zy/core/thread/ShuttleThread.java


@@ -10,6 +10,7 @@


import com.core.common.DateUtils;


import com.core.common.RadixTools;


import com.core.exception.CoolException;


import com.zy.common.utils.CommonUtils;


import com.zy.core.News;


import com.zy.core.ThreadHandler;


import com.zy.core.cache.MessageQueue;


@@ -28,6 +29,7 @@




import java.text.MessageFormat;


import java.util.Date;


import java.util.Random;




/**


 * 四向穿梭车线程


@@ -102,60 +104,58 @@




    private void readStatus() {


        try {


            OperateResultExOne<byte[]> result = modbusTcpNet.Read("0", (short) 17);


            OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);


            if (result.IsSuccess) {


                if (null == shuttleProtocol) {


                    shuttleProtocol = new ShuttleProtocol();


                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());


                }




                //----------设置四向穿梭车状态-----------


                //----------读取四向穿梭车状态-----------


                //获取数据


                byte[] content = result.Content;


                //小车忙状态位


                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));


                //当前二维码


                shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));


                //电池电量百分比


                shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));


                //电池温度


                shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));


                //错误编号


                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));


                //Plc输出状态IO


                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));


                //错误信息码


                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));


                //PLC输入状态


                shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));


                //当前或者之前读到的二维码值


                shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));


                //读到的二维码X方向偏移量


                shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));


                //读到的二维码Y方向偏移量


                shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));


                //当前的电压值


                shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));


                //当前的模拟量值


                shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));


                //当前的升降伺服速度


                shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));


                //当前的行走伺服速度


                shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));


                //当前的升降伺服负载率


                shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));


                //当前的行走伺服负载率


                shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));




                //--------控制字--------


                //控制指令字


                shuttleProtocol.setCommandWord(modbusTcpNet.getByteTransform().TransUInt16(content, 0));


                //启始二维编号


                shuttleProtocol.setStartCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 2));


                //中间二维编号


                shuttleProtocol.setMiddleCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 4));


                //目标二维编号


                shuttleProtocol.setDistCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 6));


                //起点到目标点的距离长度


                shuttleProtocol.setStartToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 8));


                //中间点到目标点的距离长度


                shuttleProtocol.setMiddleToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 12));


                //小车运行方向


                shuttleProtocol.setRunDirection(modbusTcpNet.getByteTransform().TransUInt16(content, 16));


                //托盘顶升


                shuttleProtocol.setPalletLift(modbusTcpNet.getByteTransform().TransUInt16(content,18));


                //小车强制移动距离


                shuttleProtocol.setForceMoveDistance(modbusTcpNet.getByteTransform().TransInt32(content, 20));


                //充电开关


                shuttleProtocol.setChargeSwitch(modbusTcpNet.getByteTransform().TransUInt16(content,24));


                //小车IO控制


                shuttleProtocol.setIOControl(modbusTcpNet.getByteTransform().TransUInt16(content,26));


                //小车运行速度


                shuttleProtocol.setRunSpeed(modbusTcpNet.getByteTransform().TransUInt16(content,28));


                //小车雷达备用


                shuttleProtocol.setRadarTmp(modbusTcpNet.getByteTransform().TransUInt16(content,30));


                //指令结束位


                shuttleProtocol.setCommandEnd(modbusTcpNet.getByteTransform().TransUInt16(content,32));


                ///读取四向穿梭车状态-end






                //---------状态字---------


//                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransUInt16(content,32));




                ///设置四向穿梭车状态-end


                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));


                //读取四向穿梭车设备信息，提供查询


                //.....




                log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));




                // 根据实时信息更新数据库


                //.....






            }else {


                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));


@@ -173,34 +173,52 @@


            return false;


        }




        //判断小车是否在充电


        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);


        if (devpThread.charge1){




        }




        command.setShuttleNo(slave.getId());


        OperateResult result = null;


        // 开始任务


        //...


        short[] array = new short[17];


        //控制指令字


        array[0] = command.getCommandWord();


        //启始二维编号


        array[1] = command.getStartCodeNum();


        //中间二维编号


        array[2] = command.getMiddleCodeNum();


        //目标二维编号


        array[3] = command.getDistCodeNum();




        //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间


        short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());


        array[4] = startToDistDistances[0];


        array[5] = startToDistDistances[1];




        try {


            // 日志记录


            if (!command.getComplete() && command.getTaskMode() != 0) {


                //日志记录保存到数据库中


                //.....


            }


        } catch (Exception ignore) {}


        //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间


        short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());


        array[6] = middleToDistDistances[0];


        array[7] = middleToDistDistances[1];




        //小车运行方向


        array[8] = command.getRunDirection();


        //托盘顶升


        array[9] = command.getPalletLift();




        //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间


        short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());


        array[10] = forceMoveDistances[0];


        array[11] = forceMoveDistances[1];




        //充电开关


        array[12] = command.getChargeSwitch();


        //小车IO控制


        array[13] = command.getIOControl();


        //小车运行速度


        array[14] = command.getRunSpeed();


        //小车雷达备用


        array[15] = command.getRadarTmp();


        //指令结束位


        array[16] = command.getCommandEnd();




        OperateResult result = modbusTcpNet.Write("0", array);;


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


            // 维护数据库排列层


//            if (!steProtocol.getWaiting()) {


//                if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) {


//                    this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());


//                }


//            }




            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));


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


            return true;


@@ -218,9 +236,9 @@


        if (null == shuttleProtocol) {


            shuttleProtocol = new ShuttleProtocol();


        }


        shuttleProtocol.setShuttleNo(slave.getId().shortValue());


        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);


        shuttleProtocol.setCurrentCode("0");


//        shuttleProtocol.setShuttleNo(slave.getId().shortValue());


//        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);


//        shuttleProtocol.setCurrentCode("0");


    }




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


@@ -234,42 +252,23 @@


        ShuttleThread thread = new ShuttleThread(slave);


        thread.connect();


        thread.readStatus();


        System.out.println(JSON.toJSONString(thread.shuttleProtocol));




        // 任务作业


//        SteCommand command = new SteCommand();


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


//        Random random = new Random();


//        int taskNo = random.nextInt(9090);


//        command.setTaskNo(taskNo); // 工作号


//        command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 任务模式


//        thread.write(command);




        // 任务完成


//        SteCommand command = new SteCommand();


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


//        command.setComplete(Boolean.TRUE); // 任务模式


//        thread.write(command);




        // 控制模式


//        SteCommand command = new SteCommand();


//        command.setControlMode((short) 1);


//        thread.write(command);




        // 复位信号


//        SteCommand command = new SteCommand();


//        command.setReset(Boolean.TRUE);


//        thread.write(command);




        // 删除指令


//        SteCommand command = new SteCommand();


//        command.setDelete(Boolean.TRUE);


//        thread.write(command);




        // 穿梭车运行禁止


//        SteCommand command = new SteCommand();


//        command.setRun((short)0);


//        thread.write(command);


        ShuttleCommand command = new ShuttleCommand();


        command.setCommandWord((short) 0);


        command.setStartCodeNum((short) 12323);


        command.setMiddleCodeNum((short) 22323);


        command.setDistCodeNum((short) 29999);


        command.setStartToDistDistance(109999);


        command.setMiddleToDistDistance(5000);


        command.setRunDirection((short) 1);


        command.setPalletLift((short) 2);


        command.setForceMoveDistance(3000);


        command.setChargeSwitch((short) 2);


        command.setIOControl((short) 0);


        command.setRunSpeed((short) 0);


        command.setRadarTmp((short) 0);


        command.setCommandEnd((short) 1);


        thread.write(command);




    }


}