#

zjj

3 天以前 c904f735e0b8a488ef56744c08f8e10258639bce

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

@@ -5,6 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
@@ -23,6 +24,7 @@
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.apache.poi.ss.formula.functions.T;

import java.text.MessageFormat;
import java.util.Date;
@@ -85,8 +87,8 @@
                            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.setTaskNo1( 0); // 工作号
                        command.setAckFinish1(true);  // 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
@@ -100,8 +102,8 @@
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskNo1( 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1(true);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
@@ -112,6 +114,13 @@
//                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        break;
                    case 10:
                        write10((String) task.getData());
                        break;
                    //单机写入数据
                    case 11:
                        write11((RgvCommand) task.getData());
                        break;
                    default:
                        break;
@@ -133,7 +142,7 @@
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setTaskNo1(0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
@@ -142,9 +151,13 @@
//        rgvProtocol.setStatus2((short)-1);
//        rgvProtocol.setLoaded2((short)0);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        rgvProtocol.setXSpeed(0.0F);
        rgvProtocol.setXDistance(0.0F);
        rgvProtocol.setXDuration(0.0F);
        rgvProtocol.setSouSta((short)0);
        rgvProtocol.setEndSta((short)0);
        rgvProtocol.setList32(new boolean[8]);
        rgvProtocol.setRgvPos(8000);
    }

    @Override
@@ -172,20 +185,30 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 16);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);
            if (result.IsSuccess) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setSouSta(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.setSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setRgvPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));
//                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setRgvPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setCode(siemensNet.getByteTransform().TransInt32(result.Content, 12));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 20));
                rgvProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 24));
                rgvProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 28));
                rgvProtocol.setList32(siemensNet.getByteTransform().TransBool(result.Content, 32, 1));
                rgvProtocol.setList33(siemensNet.getByteTransform().TransBool(result.Content, 33, 1));
                rgvProtocol.setList34(siemensNet.getByteTransform().TransBool(result.Content, 34, 1));
                rgvProtocol.setList35(siemensNet.getByteTransform().TransBool(result.Content, 35, 1));




                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
@@ -264,7 +287,12 @@
            result = siemensNet.Write("DB99.0.3", true);
        }
        else if (command.isReset()) {
            siemensNet.Write("DB99.0.3", false);
            Thread.sleep(100);
            result = siemensNet.Write("DB99.0.4", true);
        }
        else if (command.isNoStop()) {
            result = siemensNet.Write("DB99.0.3", false);
        }

//        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
@@ -296,21 +324,21 @@
            log.error("RGV写入命令为空");
            return false;
        }

//        siemensNet.Write("DB100.20", command.getCommand());
        siemensNet.Write("DB100.16", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        short[] array = new short[4];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getDestinationStaNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        siemensNet.Write("DB100.10", command.getCommand());
//        array[4] = command.getTaskNo1().shortValue();
        OperateResult result1 = siemensNet.Write("DB100.0",command.isAckFinish1());
        OperateResult result2 = siemensNet.Write("DB100.2", array);
        OperateResult result3 = siemensNet.Write("DB100.8", command.getTaskNo1());
//        OperateResult result3 = siemensNet.Write("DB100.14.1", command.getAckFinish1() != 0);

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

        if (!result.IsSuccess){
        if (!result1.IsSuccess && !result2.IsSuccess){
            log.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
            Thread.sleep(100);
@@ -324,12 +352,13 @@
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 12);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                if (
                one.setAckFinish1(siemensNet.getByteTransform().TransBool(resultRead.Content, 0));
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 8));
//                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                if (    !command.isAckFinish1() == one.isAckFinish1() ||
                        !command.getTaskNo1().equals(one.getTaskNo1()) ||
                                !command.getTaskMode1().equals(one.getTaskMode1()) ||
                                !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
@@ -357,23 +386,22 @@
            log.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1() == 0) {
            if (result.IsSuccess) {
        if (!command.isAckFinish1()) {
            if (result1.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.10", commandFinish);
                    if(result.IsSuccess){
                    result1 = siemensNet.Write("DB100.16", true);
                    if(result1.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.10", (short) 2);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.16", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                            boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (!commandFinish){
                                log.error("RGV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
@@ -381,24 +409,18 @@
                                break;
                            }
                        }else {
                            log.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                            log.error("RGV任务确认位回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        log.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                        log.error("RGV任务确认位写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

//        if (command.getAckFinish1() == 0) {
//            short commandFinish = 1;  //工位1任务写入
//            Thread.sleep(200);
//            result = siemensNet.Write("DB100.10", commandFinish);
//        }



        if (result != null && result.IsSuccess) {
        if (result1 != null && result1.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
@@ -452,6 +474,66 @@
        }
    }

    //小车强制、复位、报警消音、启动、停止、急停、复位、手动、手动定位、单机、联机、货叉回中
    private boolean write10(String status) throws InterruptedException {
        if (Cools.isEmpty(status)) {
            log.error("RGV写入命令为空");
            return false;
        }
        OperateResult result = siemensNet.Write("DB19."+status, true);
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("DB19."+status));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), "DB19."+status));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [DB块：{4}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status));
            log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [DB块：{4}]", slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status);
            return false;
        }
    }

    //单步任务
    private boolean write11(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }
        String status = "";
        command.setRgvNo(slave.getId());
        short[] array = new short[2];
        array[0] = command.getDestinationStaNo1();
        array[1] = command.getSourceStaNo1();

        OperateResult result = siemensNet.Write("DB19.0", array);
        if (command.getTaskMode1().equals(RgvTaskModeType.FETCH.id.shortValue())){
            status = "4.1";
        } else if (command.getTaskMode1().equals(RgvTaskModeType.PUT.id.shortValue())){
            status = "4.2";
        } else if (command.getTaskMode1().equals(RgvTaskModeType.X_MOVE.id.shortValue())){
            status = "4.0";
        } else if (command.getTaskMode1().equals(RgvTaskModeType.FETCH_PUT.id.shortValue())){
            status = "4.3";
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [DB块：{4}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status));
            log.error("写入RGV plc数据失败 未知任务类型 ===>> [id:{}] [ip:{}] [port:{}] [DB块：{4}]", slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status);
            return false;
        }
        OperateResult result1 = siemensNet.Write("DB19."+status, true);
        if (result != null && result.IsSuccess && result1 != null && result1.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("DB19."+status));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), "DB19."+status));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [DB块：{4}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status));
            log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [DB块：{4}]", slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status);
            return false;
        }
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();