#

luxiaotao1123

2020-09-03 dd343b83ac99decfed0a79c4185c281d8b7b4013

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

@@ -12,6 +12,7 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
@@ -35,6 +36,7 @@
    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    public CrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -47,7 +49,7 @@
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
@@ -111,13 +113,13 @@
     */
    private void readStatus(){
        try {
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }

            /* 方法1 */
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D2231", (short) 62);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                }
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
@@ -142,8 +144,28 @@
                crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
                crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58));

                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
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    if (resetFlag) {
                        if (melsecMcNet.Write("D2218", (short) 1).IsSuccess) {
                            resetFlag = false;
                        }
                    }
                }

                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
                throw new CoolException("堆垛机plc状态信息失败");
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "堆垛机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
            /* 方法2 */
//            crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
@@ -173,17 +195,6 @@
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return;
        }

        OutputQueue.CRN.offer(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
        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        BasCrnp basCrnp = new BasCrnp();
        basCrnp.setCrnNo(slave.getId());
        if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
            log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }

    }
@@ -199,17 +210,35 @@
        command.setCrnNo(slave.getId());
        /* 方法 1 */
        do {
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            if (command.getDestinationPosZ() != null) {
                if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            }
            if (command.getDestinationPosY() != null) {
                if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            }
            if (command.getSourcePosZ() != null) {
                if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            }
            if (command.getSourcePosY() != null) {
                if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            }
            if (command.getTaskMode() != null) {
                if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            }
            if (command.getTaskNo() != null) {
                if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
            }
            if (command.getAckFinish() != null) {
                if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            }

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

            return;
@@ -240,13 +269,6 @@
        melsecMcNet.ConnectClose();
    }

    public CrnProtocol getCrnProtocol(){
        if (crnProtocol == null) {
            readStatus();
        }
        return this.crnProtocol;
    }


    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
@@ -262,7 +284,6 @@
        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();
@@ -335,19 +356,19 @@
//        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);
        // 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) 1);     // 目标库位排
        command.setDestinationPosY((short) 3);     // 目标库位列
        command.setDestinationPosZ((short) 3);     // 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