#

luxiaotao1123

2022-03-14 e73873f9406fb991c48cf7b0bc911e2a9103e7c7

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

@@ -4,11 +4,12 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.service.BasSteService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -39,6 +40,10 @@
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    private Integer lastRow;
    private Integer lastBay;
    private Integer lastLev;

    public SteThread(SteSlave slave) {
        this.slave = slave;
    }
@@ -62,24 +67,6 @@
                    // 写入数据
                    case 2:
                        write((SteCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        SteCommand command = (SteCommand) task.getData();
                        if (null == command) {
                            command = new SteCommand();
                        }
//                        command.setSteNo(slave.getId()); // 穿梭车编号
//                        command.setTaskNo((short) 0); // 工作号
//                        command.setAckFinish((short) 1);  // 任务完成确认位
//                        command.setTaskMode(CrnTaskModeType.NONE); // 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
                        write(command);
                        break;
                    default:
                        break;
@@ -146,26 +133,44 @@
     */
    private void readStatus(){
        try {
//            if (this.slave.getId() == 1 && flag1.equals(0)) {
//                Thread.sleep(3000);
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = siemensS7Net.Read("V20", (short) 70);
            if (result.IsSuccess) {
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                }
//                steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
//                steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
//                steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
//                steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
//                steProtocol.setLevel(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
//                steProtocol.setForkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 10));
//                steProtocol.setLiftPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 12));
//                steProtocol.setWalkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
//                steProtocol.setLoaded(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
//                steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
//                steProtocol.setSteNo();
//                steProtocol.setMode();
//                steProtocol.setStatus();
//                steProtocol.setExecute();
//                steProtocol.setWaiting();
//                steProtocol.setAlarm();
//                steProtocol.setAlarm0();
//                steProtocol.setCharge();
//                steProtocol.setFullCharge();
//                steProtocol.setLowCharge();
//                steProtocol.setFeed();
//                steProtocol.setLoca();
//                steProtocol.setCloser();
//                steProtocol.setSpeed();
//                steProtocol.setPos();
//                steProtocol.setLoad();
//                steProtocol.setTrack();
//                steProtocol.setTaskNo();
//                steProtocol.setTaskType();
//                steProtocol.setRow();
//                steProtocol.setBay();
//                steProtocol.setLev();
//
//                steProtocol.setHisTaskNo();
//                steProtocol.setHisTaskStatus();
//                steProtocol.setCheckQty();
//                steProtocol.setReady();
//                steProtocol.setChargeNo();
//
//                steProtocol.setHeart();
//                steProtocol.setCrnStopRun();
//                steProtocol.setCrnStopFork();
//                steProtocol.setCrnAllowRun();

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

@@ -174,7 +179,7 @@
                    if (resetFlag) {
                        SteCommand steCommand = new SteCommand();
//                        steCommand.setAckFinish((short)1);
                        if (write(steCommand)) {
                        if (write(steCommand) && confirmPos()) {
                            resetFlag = false;
                        }
                    }
@@ -182,11 +187,10 @@


                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnErr(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(steProtocol.toSqlModel(basCrnp))){
                BasSteService service = SpringUtils.getBean(BasSteService.class);
                BasSte basSte = new BasSte();
                basSte.setSteNo(slave.getId());
                if (!service.updateById(steProtocol.toSqlModel(basSte))){
                    log.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

@@ -207,13 +211,12 @@
     * 写入数据
     */
    private boolean write(SteCommand command){
        return true;
//        if (null == command) {
//            log.error("穿梭车写入命令为空");
//            return false;
//        }
//        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        if (null == command) {
            log.error("穿梭车写入命令为空");
            return false;
        }
        command.setSteNo(slave.getId());
        short[] array = new short[10];
//        array[0] = command.getAckFinish();
//        array[1] = command.getTaskNo();
//        array[2] = command.getTaskMode();
@@ -224,15 +227,15 @@
//        array[7] = command.getDestinationPosY();
//        array[8] = command.getDestinationPosZ();
//        array[9] = command.getCommand();
//        OperateResult result = siemensS7Net.Write("D0", array);
//
        OperateResult result = siemensS7Net.Write("D0", array);

//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            result = siemensS7Net.Write("D9", commandFinish);
//        }
//
//        try {
//            // 日志记录

        try {
            // 日志记录
//            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
//            BasCrnOpt basCrnOpt = new BasCrnOpt(
//                    command.getTaskNo().intValue(),    // 任务号
@@ -252,17 +255,46 @@
//                    null    // 修改人员
//            );
//            bean.insert(basCrnOpt);
//        } catch (Exception ignore) {}
//
//        if (result.IsSuccess) {
//            log.info("穿梭车命令下发[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 true;
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
            // 维护数据库排列层
//            this.modifyPos();

            log.info("穿梭车命令下发[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 true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    public void modifyPos(Integer row, Integer bay, Integer lev) {
        this.lastRow = row;
        this.lastBay = bay;
        this.lastLev = lev;
    }

    public boolean confirmPos() {
        if (this.lastRow != null && this.lastRow != 0) {
            if (this.lastBay != null && this.lastBay != 0) {
                if (this.lastLev != null && this.lastLev != 0) {
                    BasSteService service = SpringUtils.getBean(BasSteService.class);
                    BasSte basSte = service.selectById(slave.getId());
                    if (basSte != null) {
                        if (service.updatePos(this.lastRow, this.lastBay, this.lastLev) > 0) {
                            return true;
                        } else {
                            log.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
                        }
                    }

                }
            }
        }
        return false;
    }

    @Override