#

Junjie

5 天以前 f033da325dd16825bbca0d1ac71cc76420dfc8a2

 src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java

@@ -17,6 +17,7 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
@@ -35,7 +36,7 @@
public class ZyStationV3RealConnect implements ZyStationConnectApi {

    private List<ZyStationStatusEntity> statusList;
    private List<ZyStationStatusEntity> barcodeStatusList;
    private List<StationObjModel> barcodeOriginList;
    private SiemensS7Net siemensNet;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
@@ -50,7 +51,7 @@
    @Override
    public boolean connect() {
        boolean connected = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        siemensNet = new SiemensS7Net(SiemensPLCS.S1500, deviceConfig.getIp());
        OperateResult connect = siemensNet.ConnectServer();
        if (connect.IsSuccess) {
            connected = true;
@@ -66,6 +67,7 @@
            News.error("输送站plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]",
                    deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        }
//        siemensNet.ConnectClose();
        return connected;
    }

@@ -93,10 +95,11 @@
            if (statusList != null) {
                statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
            }
            barcodeStatusList = JSONObject.parseArray(basDevp.getBarcodeStationList(), ZyStationStatusEntity.class);
            if (barcodeStatusList != null) {
                barcodeStatusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
            }
            barcodeOriginList = basDevp.getBarcodeStationList$();
        }

        if (siemensNet == null) {
            return statusList;
        }

        OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 8));
@@ -117,21 +120,94 @@
                boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 7, 1);
                statusEntity.setRunBlock(status2[1]);//重新规划路线
                statusEntity.setEnableIn(status2[3]);//启动入库

                Integer palletHeight = null;
                if (status[7]) {
                    palletHeight = 1;//低
                }
                if (status2[0]) {
                    palletHeight = 2;//中
                }
                if (status[6]) {
                    palletHeight = 3;//高
                }
                statusEntity.setPalletHeight(palletHeight);//高低信号

                statusEntity.setError(0);//默认无报警
            }
        }

        // 条码扫描器
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.0", (short) (statusList.size() * 10));
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.0", (short) (barcodeOriginList.size() * 16));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeStatusList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = barcodeStatusList.get(i);
                ZyStationStatusEntity statusEntity = findStatusEntity(barcodeEntity.getStationId());
                if (statusEntity == null) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 10 + 2, 8, "UTF-8");
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 16 + 2, 14, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);
            }
        }

        // 称重
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB102.0", (short) (barcodeOriginList.size() * 4));
        if (result3.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                double weight = (double) siemensNet.getByteTransform().TransSingle(result3.Content, i * 4);
                barcodeEntity.setWeight(weight);
            }
        }

        // 报警信息
        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.0", (short) (barcodeOriginList.size() * 2));
        if (result4.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }

                StringBuilder sb = new StringBuilder();
                boolean[] status1 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2, 1);
                boolean[] status2 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2 + 1, 1);

                if(status1[0]){
                    sb.append("左超宽报警;");
                }
                if(status1[1]) {
                    sb.append("右超宽报警;");
                }
                if(status1[2]) {
                    sb.append("前超长报警;");
                }
                if(status1[3]) {
                    sb.append("后超长报警;");
                }
                if(status1[4]) {
                    sb.append("超高报警;");
                }
                if(status1[5]) {
                    sb.append("有货报警，空托入库时检测托盘上有无货物;");
                }
                if(status1[6]) {
                    sb.append("重量异常报警;");
                }
                if(status1[7]) {
                    sb.append("扫码异常;");
                }

                if(sb.length() > 0) {
                    barcodeEntity.setError(1);
                }else {
                    barcodeEntity.setError(0);
                }
                barcodeEntity.setErrorMsg(sb.toString());
            }
        }

@@ -146,10 +222,12 @@
            return commandResponse;
        }

        int maxTryCount = 999;
        int tryCount = 0;
        if (command.getCommandType().equals(StationCommandType.MOVE)) {
            int enableCommandIdx = -1;
            while (true) {
                enableCommandIdx = getEnableCommandIdx();
                enableCommandIdx = getEnableCommandIdx(command.getTaskNo());
                if(enableCommandIdx == -1) {
                    try {
                        Thread.sleep(300);
@@ -157,11 +235,16 @@
                }else {
                    break;
                }
                tryCount++;
                if (tryCount > maxTryCount) {
                    commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
                    return commandResponse;
                }
            }

            List<Integer> pathList = command.getNavigatePath();

            short[] data = new short[22];
            short[] data = new short[21];
            data[0] = command.getTargetStaNo().shortValue();

            int dataIdx = 1;
@@ -169,9 +252,58 @@
                data[dataIdx++] = path.shortValue();
            }

            OperateResult writeTask = siemensNet.Write("DB23." + enableCommandIdx * taskAddressLength, command.getTaskNo());
            OperateResult writeData = siemensNet.Write("DB23." + enableCommandIdx * taskAddressLength + 4, data);
            if(writeTask.IsSuccess &&  writeData.IsSuccess) {
            OperateResult writeTask = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength), command.getTaskNo());
            try {
                Thread.sleep(50);
            }catch (Exception e) {}

            OperateResult writeData = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 4), data);
            try {
                Thread.sleep(200);
            }catch (Exception e) {}
            OperateResult writeConfirm = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 46), (short) 1);

            if(writeTask.IsSuccess &&  writeData.IsSuccess &&  writeConfirm.IsSuccess) {
                log.error("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(true);
            }else {
                log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(false);
            }
        } else if (command.getCommandType().equals(StationCommandType.WRITE_INFO)) {
            int enableCommandIdx = -1;
            while (true) {
                enableCommandIdx = getEnableCommandIdx(command.getTaskNo());
                if(enableCommandIdx == -1) {
                    try {
                        Thread.sleep(300);
                    }catch (Exception e) {}
                }else {
                    break;
                }
                tryCount++;
                if (tryCount > maxTryCount) {
                    commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
                    return commandResponse;
                }
            }

            short[] data = new short[21];
            data[0] = command.getTargetStaNo().shortValue();
            data[1] = command.getTargetStaNo().shortValue();

            OperateResult writeTask = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength), command.getTaskNo());
            try {
                Thread.sleep(50);
            }catch (Exception e) {}

            OperateResult writeData = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 4), data);
            try {
                Thread.sleep(200);
            }catch (Exception e) {}
            OperateResult writeConfirm = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 46), (short) 1);

            if(writeTask.IsSuccess &&  writeData.IsSuccess &&  writeConfirm.IsSuccess) {
                log.error("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
                commandResponse.setResult(true);
            }else {
@@ -210,20 +342,38 @@
        return new byte[0];
    }

    private ZyStationStatusEntity findStatusEntity(Integer stationId) {
        for (ZyStationStatusEntity statusEntity : statusList) {
            if (statusEntity.getStationId().equals(stationId)) {
                return statusEntity;
    private ZyStationStatusEntity findStatusEntityByBarcodeIdx(Integer barcodeIdx) {
        Integer stationId = null;
        for (StationObjModel stationObjModel : barcodeOriginList) {
            if (stationObjModel.getBarcodeIdx().equals(barcodeIdx)) {
                stationId = stationObjModel.getStationId();
                break;
            }
        }

        for (ZyStationStatusEntity zyStationStatusEntity : statusList) {
            if(zyStationStatusEntity.getStationId().equals(stationId)) {
                return zyStationStatusEntity;
            }
        }
        return null;
    }

    private int getEnableCommandIdx() {
    private int getEnableCommandIdx(int taskNo) {
        int useIdx = -1;
        for (int i = 0; i < taskAddressLimit; i++) {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB23." + i * taskAddressLength, (short) taskAddressLength);
            int taskStatus = siemensNet.getByteTransform().TransInt16(result.Content, i * taskAddressLength + 46);
            OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB23." + (i * taskAddressLength + 0), (short) 4);
            OperateResultExOne<byte[]> resultStatus = siemensNet.Read("DB23." + (i * taskAddressLength + 46), (short) 2);
            if(!resultTask.IsSuccess || !resultStatus.IsSuccess) {
                continue;
            }

            int commandAreaTaskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, 0);
            if(commandAreaTaskNo == taskNo) {
                return -1;
            }

            int taskStatus = siemensNet.getByteTransform().TransInt16(resultStatus.Content, 0);
            if (taskStatus == 1) {
                continue;
            }