#

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;
@@ -114,6 +115,13 @@
                        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;
                }
@@ -143,11 +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
@@ -175,7 +185,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);
            if (result.IsSuccess) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                    rgvProtocol = new RgvProtocol();
@@ -187,14 +197,18 @@
                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.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                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.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                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()));
@@ -460,6 +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();