自动化立库仓库-WCS系统
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#
zzgtfwq
12 小时以前 de480b42a379d1cf23e1703977c0169e837fa786 
 src/main/java/com/zy/core/thread/RgvThread.java


@@ -48,11 +48,11 @@


    //    private RgvProtocol rgvProtocol;


    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();


    // # 轨道总长


    private Long trackEntireLength = 224000L;


    private Long trackEntireLength = 240000L;


    //# 轨道基准点


    private Long trackBenchmark = 1L;


    //  # 避让距离


    private Long avoidDistance = 5000L;


    private Long avoidDistance = 11200L;


    private String errorRgv = "-";




    /**


@@ -134,7 +134,7 @@


                    initRgv();


                    continue;


                }


                Thread.sleep(20);


                Thread.sleep(100L);


//                System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());




                readStatus();


@@ -176,11 +176,43 @@


                }


                Thread.sleep(50L);




                OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1);


                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1);


                if (status[0]){


                    Thread.sleep(500L);


                    OperateResult result4 = siemensNet.Write("DB100.12.0", false);


                // 构建设备状态对象


                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());


                if (rgvProtocol == null) {


                    rgvProtocol = new RgvProtocol();


                }


                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING) || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)){


                    boolean sign = true;


                    int i = 1;


                    while (sign && i<5){


                        i++;


                        sign = false;


                        OperateResult result2 = siemensNet.Write("DB100.2",(int) 0);


                        OperateResult result14 = siemensNet.Write("DB100.14", (int) 0);


                        OperateResult result6 = siemensNet.Write("DB100.6", (short) 0);


                        OperateResult result8 = siemensNet.Write("DB100.8", (short) 0);


                        OperateResult result10 = siemensNet.Write("DB100.10", (short) 0);


                        OperateResult result12 = siemensNet.Write("DB100.12", (short) 0);


                        Thread.sleep(10L);




                        OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);


                        Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);


                        short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);


                        short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);


                        short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);


                        Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);


                        if (i2!=0 || i6 != (short) 0


                                || i8!=(short)0 || i10 != (short) 0


                                || i14!=0){


                            sign = true;


                        }


                    }




                    OperateResult result0 = siemensNet.Write("DB100.0", (short) 1);




                    Thread.sleep(20L);




                    OperateResult result00 = siemensNet.Write("DB100.0", (short) 0);


                }


            } catch (Exception e) {


                log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


@@ -213,7 +245,7 @@


                    continue;


                }


                // 休眠 1 秒


                Thread.sleep(100);


                Thread.sleep(200L);




                if (!deviceDetection()) {


                    continue;


@@ -281,6 +313,8 @@


                    }


                    continue;


                }




                Thread.sleep(50L);




                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());


                RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());


@@ -666,7 +700,7 @@


                    RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);


                    return false;


                }


            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {


            } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {


                if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())


                        - (targetPosition + rgvProtocol.getCarBodyKunPeng())


                        > avoidDistance - 50) {//无需避让


@@ -874,7 +908,7 @@


                    return false;


                }




            } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {


            } else if (!rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {


                if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())


                        - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())


                        > avoidDistance-50) {//无需避让


@@ -1010,7 +1044,8 @@


     */


    private void readStatus() {


        try {


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20);


            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);


            OperateResultExOne<byte[]> result100 = siemensNet.Read("DB100.0", (short) 18);


            if (result.IsSuccess) {


                // 构建设备状态对象


                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());


@@ -1021,14 +1056,16 @@


                rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());


                rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());




                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));


                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));


                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));


//                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));


                rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));


                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));


                rgvProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 10));


                rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 32));


                rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result100.Content, 14));


                if (rgvProtocol.getRgvPosDestination()==0L){


                    rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos());


                }




                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8));


//                rgvProtocol.setStatus((short)1);




                //作业启动中  解决任务下发后小车状态未更新，小车状态不及时


                if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){


@@ -1038,26 +1075,22 @@


                    rgvProtocol.setStatus((short)110);


                }




                rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10));




                rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14));


                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 16));


//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));


//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));


//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));


//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));


                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 16));




//                OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1);


                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);


                rgvProtocol.setLoaded(status[0]? (short)1:(short)0);


                rgvProtocol.setErr1(status[8]);


                rgvProtocol.setErr2(status[9]);


                rgvProtocol.setErr3(status[10]);


                rgvProtocol.setErr4(status[11]);


                rgvProtocol.setErr5(status[12]);


                rgvProtocol.setErr6(status[13]);


                rgvProtocol.setErr7(status[14]);


                rgvProtocol.setErr8(status[15]);


//                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2);


//                rgvProtocol.setLoaded(status[0]? (short)1:(short)0);


//                rgvProtocol.setErr1(status[8]);


//                rgvProtocol.setErr2(status[9]);


//                rgvProtocol.setErr3(status[10]);


//                rgvProtocol.setErr4(status[11]);


//                rgvProtocol.setErr5(status[12]);


//                rgvProtocol.setErr6(status[13]);


//                rgvProtocol.setErr7(status[14]);


//                rgvProtocol.setErr8(status[15]);


//                System.out.println("读线程"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol));


//                System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()+"小车数据："+JSON.toJSONString(rgvProtocol));


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


@@ -1072,9 +1105,9 @@


//                        }


//                    }


//                }


                if (rgvProtocol.getAlarm$()!=0){


                    RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());


                }


//                if (rgvProtocol.getAlarm$()!=0){


//                    RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM());


//                }




                try {


                    // 根据实时信息更新数据库


@@ -1138,6 +1171,7 @@


     * 写入数据


     */


    private boolean write(TaskProtocol taskProtocol) throws InterruptedException {


        Thread.sleep(50L);


        if (null == taskProtocol) {


            log.error("RGV写入命令为空 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());




@@ -1149,25 +1183,67 @@


            }


            return false;


        }






        this.wrkSign = 1;


//        convertRow(command);


//        taskProtocol.setRgvNo(slave.getId());


//        Long[] array = new Long[11];


        OperateResult result41 = siemensNet.Write("DB100.12.0", false);


        OperateResult result0 = siemensNet.Write("DB100.0", (short) 0);


//        array[0] = taskProtocol.getAckFinish1();


//        array[1] = taskProtocol.getTaskNo();


//        array[2] = taskProtocol.getTaskMode();


//        array[4] = command.getDestinationStaNo();


//        array[10] = taskProtocol.getCommand();


        int taskStatus = taskProtocol.getTaskStatus();


        int taskStatus = taskProtocol.getTaskStatus$();


        int targetPositionStaNo = taskProtocol.getTargetPositionStaNo();


        int targetPositionStaNoEnd = taskProtocol.getTargetPositionStaNoEnd();


        boolean sign = true;


        int i = 1;


        while (sign && i<5){


            i++;


            sign = false;


            OperateResult result2 = siemensNet.Write("DB100.2", taskProtocol.getTaskNo().intValue());


            OperateResult result6 = siemensNet.Write("DB100.6", (short) taskStatus);


            OperateResult result8 = siemensNet.Write("DB100.8", (short) targetPositionStaNo);


            OperateResult result10 = siemensNet.Write("DB100.10", (short) targetPositionStaNo);


            OperateResult result14 = siemensNet.Write("DB100.14", taskProtocol.getTargetPosition().intValue());


            OperateResult result18 = siemensNet.Write("DB100.18", (short) targetPositionStaNoEnd);


//        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


            Thread.sleep(10L);




        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue());


        OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus);


        OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue());


        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


        Thread.sleep(20L);


            OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);


            short i0 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 0);


            Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);


            short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);


            short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);


            short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);


            Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);


            short i18 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 18);


            if (i0 !=(short) 0 || i2!=taskProtocol.getTaskNo().intValue() || i6 != (short) taskStatus


                    || i8!=(short)targetPositionStaNo || i10 != (short) targetPositionStaNo


                    || i14!=taskProtocol.getTargetPosition().intValue() || i18 != (short) targetPositionStaNoEnd){


                sign = true;


            }


        }


        sign = true;


        OperateResult result12 = siemensNet.Write("DB100.12", (short) 1);


//


        i = 1;


        sign = true;


        while (sign && i<5){


            i++;


            sign = false;


//        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


            Thread.sleep(10L);




        OperateResult result4 = siemensNet.Write("DB100.12.0", true);


        this.wrkSign = 1;


            OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);


            short i12 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 12);


            if (i12 != (short) 1 ){


                sign = true;


            }


            result12 = siemensNet.Write("DB100.12", (short) 1);


        }




//        log.info("任务下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());




@@ -1189,7 +1265,7 @@


                    null,


                    null,


                    null,


                    result.IsSuccess ? 1 : 0,


                    result12.IsSuccess ? 1 : 0,


                    null,


                    new Date(),


                    null


@@ -1199,7 +1275,7 @@


        }




        readStatus();


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


        if (result12 != null && result0.IsSuccess) {


//            Thread.sleep(50);


//            this.readStatus();


            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));


@@ -1222,11 +1298,37 @@




    private boolean writeDelRgvTask() throws InterruptedException {


//


        OperateResult result = siemensNet.Write("DB100.12.0", false);


        OperateResult result0 = siemensNet.Write("DB100.0", (int) 0);


        OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);


        OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);


        OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


        int i = 1;


        boolean sign = true;


        while (sign && i<5){


            i++;


            sign = false;


            OperateResult result0 = siemensNet.Write("DB100.0", (short) 0);


            OperateResult result2 = siemensNet.Write("DB100.2", 0);


            OperateResult result6 = siemensNet.Write("DB100.6", (short) 0);


            OperateResult result8 = siemensNet.Write("DB100.8", (short) 0);


            OperateResult result10 = siemensNet.Write("DB100.10", (short) 0);


            OperateResult result12 = siemensNet.Write("DB100.12",(short)0);


            OperateResult result14 = siemensNet.Write("DB100.14",0);


            OperateResult result18 = siemensNet.Write("DB100.18", (short) 0);


//        OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 :  (short) 2); // 执行方向（面朝轨道 定位值左小右大）    true:左   false:右


            Thread.sleep(10L);




            OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);


            short i0 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 0);


            Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);


            short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);


            short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);


            short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);


            short i12 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 12);


            Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);


            short i18 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 18);


            if (i0 !=(short) 0 || i2!=0 || i6 != (short) 0


                    || i8!=(short)0 || i10 != (short) 0 || i12 != (short) 0


                    || i14!=0 || i18 != (short) 0){


                sign = true;


            }


        }


        log.info("任务完成下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis());




        try {


@@ -1241,7 +1343,7 @@


                    null,


                    null,


                    null,


                    result.IsSuccess ? 1 : 0,


                    sign ? 1 : 0,


                    null,


                    new Date(),


                    null


@@ -1250,7 +1352,7 @@


        } catch (Exception ignore) {


        }




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


        if (sign) {


//            Thread.sleep(200);


//            this.readStatus();


            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));