*

lsh

2024-10-17 ea2fd20c95e81d80582a2cc086177e7081c159c7

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

@@ -68,57 +68,9 @@
                    case 1:
                        readStatus();
                        break;
                    // 工位1、2写入数据
                    //工位1写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setAckFinish2((short) 1);  // 任务完成确认位
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short)0);     // 源站
                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 32222); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.X_MOVE); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1(slave.getId()==1? (short) 101:(short)116);     // 目标站
                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.X_MOVE); // 任务模式
                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo2(slave.getId()==1? (short) 101:(short)117);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        break;
                    default:
                        break;
@@ -144,7 +96,7 @@
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
        rgvProtocol.setRgvPos(0L);
        rgvProtocol.setTaskNo2((short)0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2((short)0);
@@ -179,33 +131,21 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 18);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setRgvPos(RouteUtils.RgvPosSta(slave.getId(),siemensNet.getByteTransform().TransInt16(result.Content, 10)));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                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.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 14));
                rgvProtocol.setRgvPos(slave.getId().longValue()*100000);
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
@@ -220,18 +160,6 @@
                    }
                }

                // 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2((short)1);
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
@@ -242,7 +170,9 @@
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                        log.error("RGV 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) {

                }

            } else {
                initRgv();
@@ -258,72 +188,9 @@
    }

    /**
     * 工位1、2同时写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        array[5] = command.getAckFinish2();
        array[6] = command.getTaskNo2();
        array[7] = command.getTaskMode2();
        array[8] = command.getSourceStaNo2();
        array[9] = command.getDestinationStaNo2();
        array[10] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
            short commandFinish = 3;  //工位1、2任务同时写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV 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RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位1写入数据
     */
    private boolean write1(RgvCommand command) throws InterruptedException {
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
@@ -371,71 +238,12 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位2写入数据
     */
    private boolean write2(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        command.setRgvNo(slave.getId());
        short[] array = new short[6];
        array[0] = command.getAckFinish2();//任务完成确认位
        array[1] = command.getTaskNo2();//任务号
        array[2] = command.getTaskMode2();//任务模式
        array[3] = command.getSourceStaNo2();//源站
        array[4] = command.getDestinationStaNo2();//目标站
        array[5] = command.getCommand();//任务下发确认

        OperateResult result = siemensNet.Write("DB100.10", array);

        if (command.getAckFinish2() == 0) {
            short commandFinish = 2;  //工位2任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }