#出入库任务下发

zjj

2023-11-30 f6e955d57bf5e885afde54a8c6eefe80bc1bec26

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

@@ -26,6 +26,7 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Optional;

/**
 * 堆垛机线程
@@ -76,7 +77,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        write2((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -95,6 +96,9 @@
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    case 4:
                        writeAuto((CrnCommand) task.getData());
                        break;
                    default:
                        break;
@@ -271,80 +275,80 @@
            if (err15[5]) { crnProtocol.setAlarm4(72); }
            if (err15[6]) { crnProtocol.setAlarm4(73); }

            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
            crnProtocol.setConnStatus(bool1[0]);
            crnProtocol.setCorrection(bool1[3]);
            crnProtocol.setTuError(bool1[4]);
            crnProtocol.setNoneError(bool1[5]);
            crnProtocol.setStockError(bool1[6]);
            crnProtocol.setJobInvalid(bool1[7]);
            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
            crnProtocol.setIdle(bool2[0]);
            crnProtocol.setControl(bool2[1]);
            crnProtocol.setStopQuasi(bool2[2]);
            crnProtocol.setRunning(bool2[3]);
            crnProtocol.setFault(bool2[4]);
            crnProtocol.setForkHome(bool2[5]);
            crnProtocol.setForkSingleLeft(bool2[6]);
            crnProtocol.setForkSingleRight(bool2[7]);
            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
            crnProtocol.setForkDoubleLeft(bool3[0]);
            crnProtocol.setForkDoubleRight(bool3[1]);
            crnProtocol.setSingleHigh(bool3[2]);
            crnProtocol.setSingleLow(bool3[3]);
            crnProtocol.setDoubleHigh(bool3[4]);
            crnProtocol.setDoubleLow(bool3[5]);
            crnProtocol.setPlatformHigh(bool3[6]);
            crnProtocol.setPlatformLow(bool3[7]);
            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物
//            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
//            crnProtocol.setConnStatus(bool1[0]);
//            crnProtocol.setCorrection(bool1[3]);
//            crnProtocol.setTuError(bool1[4]);
//            crnProtocol.setNoneError(bool1[5]);
//            crnProtocol.setStockError(bool1[6]);
//            crnProtocol.setJobInvalid(bool1[7]);
//            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
//            crnProtocol.setIdle(bool2[0]);
//            crnProtocol.setControl(bool2[1]);
//            crnProtocol.setStopQuasi(bool2[2]);
//            crnProtocol.setRunning(bool2[3]);
//            crnProtocol.setFault(bool2[4]);
//            crnProtocol.setForkHome(bool2[5]);
//            crnProtocol.setForkSingleLeft(bool2[6]);
//            crnProtocol.setForkSingleRight(bool2[7]);
//            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
//            crnProtocol.setForkDoubleLeft(bool3[0]);
//            crnProtocol.setForkDoubleRight(bool3[1]);
//            crnProtocol.setSingleHigh(bool3[2]);
//            crnProtocol.setSingleLow(bool3[3]);
//            crnProtocol.setDoubleHigh(bool3[4]);
//            crnProtocol.setDoubleLow(bool3[5]);
//            crnProtocol.setPlatformHigh(bool3[6]);
//            crnProtocol.setPlatformLow(bool3[7]);
//            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
//            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物

            // 速度
            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
            // 累计里程、时长
            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102
//            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
//            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
//            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
//            // 累计里程、时长
//            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
//            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
//            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
//            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102

            // 增强
            if (crnProtocol.getForkHome()) {
                crnProtocol.setForkPos(CrnForkPosType.HOME);
            }
            if (crnProtocol.getForkSingleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType.LEFT);
            }
            if (crnProtocol.getForkSingleRight()) {
                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
            }
            if (crnProtocol.getForkDoubleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType._LEFT);
            }
            if (crnProtocol.getForkDoubleRight()) {
                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
            }
            if (crnProtocol.getSingleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType.UP);
            }
            if (crnProtocol.getSingleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
            }
            if (crnProtocol.getDoubleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType._UP);
            }
            if (crnProtocol.getDoubleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
            }
            if (crnProtocol.getIdle()) {
                crnProtocol.setStatus(CrnStatusType.IDLE);
            }
//            // 增强
//            if (crnProtocol.getForkHome()) {
//                crnProtocol.setForkPos(CrnForkPosType.HOME);
//            }
//            if (crnProtocol.getForkSingleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType.LEFT);
//            }
//            if (crnProtocol.getForkSingleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
//            }
//            if (crnProtocol.getForkDoubleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType._LEFT);
//            }
//            if (crnProtocol.getForkDoubleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
//            }
//            if (crnProtocol.getSingleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.UP);
//            }
//            if (crnProtocol.getSingleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
//            }
//            if (crnProtocol.getDoubleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._UP);
//            }
//            if (crnProtocol.getDoubleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
//            }
//            if (crnProtocol.getIdle()) {
//                crnProtocol.setStatus(CrnStatusType.IDLE);
//            }

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

            // 复位信号
            if (crnProtocol.getTaskFinish() == 1) {
            if (crnProtocol.getTaskFinish() == 0) {
                if (resetFlag) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
@@ -384,50 +388,136 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
            command.setTaskNo((short) 9999);
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[12];
        if (command.getAckFinish() == 0) {
        short[] array = new short[10];
        if (Cools.isEmpty(command.getAckFinish())) {
            array[0] = 5;
        } else {
            array[0] = 0;
            array[0] = command.getAckFinish();
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();

        array[3] = command.getDestinationPosZ();
        if (rowOne.contains(command.getSourcePosX())){
            array[4] = (short)1;
        }else if (rowTwo.contains(command.getSourcePosX())){
            array[4] = (short)2;
        }else if (rowThree.contains(command.getSourcePosX())){
            array[4] = (short)3;
        }else if (rowFour.contains(command.getSourcePosX())){
            array[4] = (short)4;
        }else {
            array[4] = command.getSourcePosX();
        }
        array[5] = command.getDestinationPosY();
        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
        array[4] = command.getSourcePosX();
//        }
        array[5] = command.getSourcePosY();

        array[6] = command.getDestinationPosZ();
        if (rowOne.contains(command.getDestinationPosX())){
            array[7] = (short)1;
        }else if (rowTwo.contains(command.getDestinationPosX())){
            array[7] = (short)2;
        }else if (rowThree.contains(command.getDestinationPosX())){
            array[7] = (short)3;
        }else if (rowFour.contains(command.getDestinationPosX())){
            array[7] = (short)4;
        }else {
            array[7] = command.getDestinationPosX();
        }
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
        array[7] = command.getDestinationPosX();
//        }
        array[8] = command.getDestinationPosY();
        if (!Cools.isEmpty(command.getAuto())){
            array[10] = command.getAuto();
        array[9] = command.getCommand();

        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish() != 1) {
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType() == null ? null : command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
                    command.getSourcePosY().intValue(),    // 源列
                    command.getSourcePosZ().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosX().intValue(),    // 目标排
                    command.getDestinationPosY().intValue(),    // 目标列
                    command.getDestinationPosZ().intValue(),    // 目标层
                    null,    // 目标站
                    null,    // 响应结果
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        }

        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            return false;
        }
    }

    /**
     * 写入数据
     */
    private boolean write2(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
            command.setTaskNo((short) 9999);
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        if (Cools.isEmpty(command.getAckFinish())) {
            array[0] = 5;
        } else {
            array[0] = command.getAckFinish();
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();

        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
            array[4] = command.getSourcePosX();
//        }
        array[5] = command.getSourcePosY();

        array[6] = command.getDestinationPosZ();
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
            array[7] = command.getDestinationPosX();
//        }
        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();



        // 作业信息
@@ -444,14 +534,14 @@
//        }

        // 日志记录
        try {
//        try {
            if (command.getAckFinish() != 1) {
                BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
                BasCrnOpt basCrnOpt = new BasCrnOpt(
                        command.getTaskNo().intValue(),    // 任务号
                        command.getCrnNo(),    // 堆垛机[非空]
                        new Date(),    // 下发时间
                        command.getTaskModeType().toString(),    // 模式
                        command.getTaskModeType() == null ? null : command.getTaskModeType().toString(),    // 模式
                        command.getSourcePosX().intValue(),    // 源排
                        command.getSourcePosY().intValue(),    // 源列
                        command.getSourcePosZ().intValue(),    // 源层
@@ -466,7 +556,96 @@
                );
                bean.insert(basCrnOpt);
            }
        } catch (Exception ignore) {}
//        } catch (Exception ignore) {}

        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);
//        CommandInfoLog commandInfoLog = new CommandInfoLog();
//        if (commandInfo != null) {
//            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//            commandInfoLog.setId(null);
//        }else {
//            Date now = new Date();
//            commandInfoLog.setCommand(JSON.toJSONString(command));
//            commandInfoLog.setCommandStatus(3);
//            commandInfoLog.setStartTime(now);
//            commandInfoLog.setExecuteTime(now);
//            commandInfoLog.setCompleteTime(now);
//            commandInfoLog.setDevice(SlaveType.Devp.toString());
//            commandInfoLog.setWrkNo(9999);
//            commandInfoLog.setTaskNo("9999");
//            commandInfoLog.setCommandDesc("手动命令");
//        }


        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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)));

            Date now = new Date();

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发成功");
            commandInfoLogService.insert(commandInfoLog);

            //线程暂存指令ID
            crnProtocol.setCommandId(command.getCommandId());

            //更新指令状态
            commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//执行中
            commandInfo.setExecuteTime(now);
            commandInfoService.updateById(commandInfo);

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }

            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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发失败");
            commandInfoLogService.insert(commandInfoLog);
            return false;
        }
    }

    private boolean writeAuto(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        OperateResult result = new OperateResult();
        short[] array = new short[1];
        array[0] = command.getAuto();
        if(command.getAuto() !=0){
            array[0] = command.getAuto();
            result = siemensNet.Write("DB103.0", array);
        }else if (command.getOnlineWrk1() != 0){
            array[0] = command.getOnlineWrk1();
            result = siemensNet.Write("DB103.2", array);
        }else if (command.getOnlineWrk2() !=0){
            array[0] = command.getOnlineWrk2();
            result = siemensNet.Write("DB103.4", array);
        }else if (command.getOnlineWrk3() != 0){
            array[0] = command.getOnlineWrk3();
            result = siemensNet.Write("DB103.6", array);
        }else if (command.getOnlineWrk4() != 0){
            array[0] = command.getOnlineWrk4();
            result = siemensNet.Write("DB103.8", array);
        }



        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);