#v2.0

luxiaotao1123

2020-08-27 c422d0d7da0d26f39cd40f9070311ffbb2f9c009

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

@@ -12,6 +12,7 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
@@ -35,6 +36,7 @@
    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    public CrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -47,7 +49,7 @@
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
@@ -130,7 +132,7 @@
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransBool(result.Content, 26, 2));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
@@ -178,13 +180,21 @@

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

//        if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//            if (resetFlag) {
//                if (melsecMcNet.Write("D2218", 1).IsSuccess) {
//                    resetFlag = false;
//                }
//            }
//        }

        // 根据实时信息更新数据库
        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        BasCrnp basCrnp = new BasCrnp();
        basCrnp.setCrnNo(slave.getId());
        if (basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
            log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
//        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
//        BasCrnp basCrnp = new BasCrnp();
//        basCrnp.setCrnNo(slave.getId());
//        if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
//            log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//        }

    }

@@ -199,15 +209,33 @@
        command.setCrnNo(slave.getId());
        /* 方法 1 */
        do {
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            if (command.getDestinationPosZ() != null) {
                if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            }
            if (command.getDestinationPosY() != null) {
                if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            }
            if (command.getSourcePosZ() != null) {
                if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            }
            if (command.getSourcePosY() != null) {
                if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            }
            if (command.getTaskMode() != null) {
                if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            }
            if (command.getTaskNo() != null) {
                if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
            }
            if (command.getAckFinish() != null) {
                if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            }

            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), 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)));
@@ -254,14 +282,14 @@
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setIp("192.168.3.39");
        slave.setPort(5015);
        slave.setRack(0);
        slave.setSlot(0);
        CrnThread crnThread = new CrnThread(slave);
        crnThread.connect();
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));
        Thread.sleep(3000L);

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();
@@ -334,19 +362,19 @@
//        command.setDestinationPosZ((short) 0);     // 目标库位层
//        crnThread.write(command);

//        // 7.坐标移行   目标发   pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
//        command.setSourcePosX((short) 0);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 0);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 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);
        // 7.坐标移行   目标发   pass
        CrnCommand command = new CrnCommand();
        command.setCrnNo(1); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 1);     // 目标库位排
        command.setDestinationPosY((short) 3);     // 目标库位列
        command.setDestinationPosZ((short) 3);     // 目标库位层
        crnThread.write(command);

        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr