自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
pang.jiabao
2024-07-28 ee6863dd561415cebed005d51e8c15ec8c2f5004 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -8,11 +8,11 @@


import com.core.common.Cools;


import com.core.common.DateUtils;


import com.core.common.SpringUtils;


import com.zy.asrs.entity.BasCrnOpt;


import com.zy.asrs.entity.BasCrnp;


import com.zy.asrs.service.BasCrnOptService;


import com.zy.asrs.service.BasCrnpService;


import com.zy.common.utils.News;


import com.zy.entity.BasCrnOpt;


import com.zy.entity.BasCrnp;


import com.zy.service.BasCrnOptService;


import com.zy.service.BasCrnpService;


import com.zy.utils.News;


import com.zy.core.CrnThread;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


@@ -40,6 +40,10 @@


    private CrnProtocol crnProtocol;


    private boolean resetFlag = false;




    public boolean isRunning = true;




    public Long sign = System.currentTimeMillis();




    /**


     * 堆垛机是否在回原点运动中标记


     */


@@ -53,7 +57,7 @@


    @SuppressWarnings("InfiniteLoopStatement")


    public void run() {


        this.connect();


        while (true) {


        while (isRunning) {


            try {


                int step = 1;


                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());


@@ -169,13 +173,13 @@


                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));


                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));


                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));


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


                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));


                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));


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


                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));


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


                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));


                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));


                crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));


                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));


                crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));


                crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));


                crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));


                crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));




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




@@ -231,31 +235,150 @@


     */


    private boolean write(CrnCommand command) throws InterruptedException {


        if (null == command) {


            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");


            News.error("堆垛机写入命令为空");


            return false;


        }


        // 向堆垛机发任务前的堆垛机状态


        try{


            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


            if (resultRead.IsSuccess) {


                CrnCommand one = new CrnCommand();


                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));


                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));


                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));


                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));


                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));


                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));


                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));


                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));


                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())


                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())


                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())


                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())


                ){


                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                } else {


                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                }


            }


        }catch (Exception e){


            News.error("堆垛机命令地址写入后回读出错");


        }


//        convertRow(command);


        command.setCrnNo(slave.getId());


//        short[] array = new short[10];


        short[] array = new short[10];


        array[0] = command.getAckFinish();


        array[1] = command.getTaskNo();


        array[2] = command.getTaskMode();


        array[3] = command.getSourcePosX();


        array[4] = command.getSourcePosY();


        array[5] = command.getSourcePosZ();


        array[6] = command.getDestinationPosX();


        array[7] = command.getDestinationPosY();


        array[8] = command.getDestinationPosZ();


//        array[9] = command.getSourceStaNo();


//        array[10] = command.getDestinationStaNo();


        array[0] = command.getAckFinish(); // 任务完成确认位


        array[1] = command.getTaskNo();  // 任务号


        array[2] = command.getTaskMode();  // 模式


        array[3] = command.getSourcePosX(); // 源位置排号


        array[4] = command.getSourcePosY(); // 源位置列号


        array[5] = command.getSourcePosZ(); // 源位置层号


        array[6] = command.getDestinationPosX();  // 目标位置排号


        array[7] = command.getDestinationPosY(); // 目标位置列号


        array[8] = command.getDestinationPosZ(); // 目标位置层号


        array[9] = command.getCommand();


//        array[10] = 0;   //备用1




//        boolean[] array2 = new boolean[1];


//        array2[0] = command.isTraySize();


        OperateResult result = siemensNet.Write("DB100.0", array);


//        OperateResult result2 = siemensNet.Write("DB100.22", array2);


        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);




//        if(!result.IsSuccess || !result2.IsSuccess){


            if(!result.IsSuccess){


            News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));


            Thread.sleep(100);


            readStatus();


            return false;


        }




        //堆垛机任务写入后，回读一次，看是否成功


        Thread.sleep(200);


        try{


            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


            if (resultRead.IsSuccess) {


                CrnCommand one = new CrnCommand();


                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));


                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));


                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));


                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));


                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));


                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));


                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));


                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));


                one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));


                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())


                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())


                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())


                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())


                        || !command.isTraySize() == one.isTraySize()


                ){


                    try{


                        News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                    }catch (Exception e){


                        try{


                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));


                        }catch (Exception e1){


                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


                        }


                    }


                    News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));


                    Thread.sleep(100);


                    readStatus();


                    return false;


                } else {


                    News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                }


            }


        }catch (Exception e){


            News.error("堆垛机命令地址写入后回读出错");


        }






        if (command.getAckFinish() == 0) {


            short commandFinish = 1;


            Thread.sleep(100L);


            result = siemensNet.Write("DB100.18", commandFinish);


            if (result.IsSuccess) {


                Thread.sleep(300);


                //任务下发次数


                int writeCount2 = 0;




                do {


                    writeCount2++;


                    short commandFinish = (short) 1;


                    result = siemensNet.Write("DB100.18", commandFinish);


                    if(result.IsSuccess){


                        //堆垛机任务写入后，回读一次，看是否成功


                        Thread.sleep(200);


                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);


                        if (resultRead.IsSuccess) {


                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);


                            if (commandFinish != 1){


                                News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");


                            }else{


                                //任务命令写入成功


                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");


                                break;


                            }


                        }else {


                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");


                        }


                    } else {


                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");


                    }


                }while (writeCount2<5);


            }


        }




//        if (command.getAckFinish() == 0) {


//            short commandFinish = 1;


//            Thread.sleep(200L);


//            result = siemensNet.Write("DB100.18", commandFinish);


//            log.info("堆垛机commandFinish下发[id:{}] >>>>> {}", slave.getId(), commandFinish);


////            result = siemensNet.Write("DB100.22", commandFinish);


//        }




        try {


            // 日志记录


@@ -283,14 +406,18 @@


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


            Thread.sleep(200);


            this.readStatus();


            News.info("SiemensCrn"+" - 7"+" - 堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));


            News.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 true;


        } else {


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));


            News.error("SiemensCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            return false;


        }


    }




    public void requestStop() {


        isRunning = false;


    }






@@ -305,7 +432,7 @@


    public static void main(String[] args) throws InterruptedException {


        CrnSlave slave = new CrnSlave();


        slave.setId(1);


        slave.setIp("192.168.6.9");


        slave.setIp("10.10.10.1");


        slave.setRack(0);


        slave.setSlot(0);


        SiemensCrnThread crnThread = new SiemensCrnThread(slave);


@@ -346,15 +473,15 @@


//        // 3.库位移转   源和目标都发 pass


//        CrnCommand command = new CrnCommand();


//        command.setCrnNo(slave.getId()); // 堆垛机编号


//        command.setTaskNo((short) 0); // 工作号


//        command.setTaskNo((short) 2); // 工作号


//        command.setAckFinish((short) 0);  // 任务完成确认位


//        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


//        command.setSourcePosX((short)2);     // 源库位排


//        command.setSourcePosY((short)2);     // 源库位列


//        command.setSourcePosZ((short)3);     // 源库位层


//        command.setDestinationPosX((short)2);     // 目标库位排


//        command.setDestinationPosY((short)4);     // 目标库位列


//        command.setDestinationPosZ((short)4);     // 目标库位层


//        command.setSourcePosY((short)1);     // 源库位列


//        command.setSourcePosZ((short)1);     // 源库位层


//        command.setDestinationPosX((short)3);     // 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);




        // 4.站位移转   源和目标都发