| src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/command/CrnCommand.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/cpmmandParam/CrnCommandParam.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/SiemensCrnThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -32,6 +32,7 @@ import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.LedCommand; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.cpmmandParam.CrnCommandParam; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.RgvProtocol; import com.zy.core.model.protocol.StaProtocol; @@ -1697,8 +1698,6 @@ && crnProtocol.getTaskNo() == 0 && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // sign[0] = 1; // sign[1] = 1; /* * 任务拆分特殊处理 * */ @@ -1709,16 +1708,10 @@ sign[0] = 1; sign[1] = 1; } }else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE && crnProtocol.getTaskNoTwo() == 0 && crnProtocol.getLoadedTwo() == 0 && crnProtocol.getForkPosTwo() == 0){ sign[0] = 1; sign[1] = 2; } } if (sign[0]==1 && sign[1] == 1){ if (sign[0]==1){ // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { @@ -3073,47 +3066,93 @@ // return; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX((short)0); // 目标库位排 crnCommand.setDestinationPosY((short)0); // 目标库位列 crnCommand.setDestinationPosZ((short)0); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); wrkMastSplitTwin.setWrkSts(1); wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); wrkMastSplitTwin.setEndRow(crnStn.getRow()); wrkMastSplitTwin.setEndBay(crnStn.getBay()); wrkMastSplitTwin.setEndLev(crnStn.getLev()); wrkMastSplitTwin.setWrkType(1); wrkMastSplitTwin.setIoType(2); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } if (true){ // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX((short)0); // 目标库位排 crnCommand.setDestinationPosY((short)0); // 目标库位列 crnCommand.setDestinationPosZ((short)0); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); wrkMastSplitTwin.setWrkSts(1); wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); wrkMastSplitTwin.setEndRow(crnStn.getRow()); wrkMastSplitTwin.setEndBay(crnStn.getBay()); wrkMastSplitTwin.setEndLev(crnStn.getLev()); wrkMastSplitTwin.setWrkType(1); wrkMastSplitTwin.setIoType(2); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); } break; } break; } // else { // // 1.堆垛机开始移动 // CrnCommandParam crnCommandParam = new CrnCommandParam(); // CrnCommand crnCommand = new CrnCommand(); // crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 // crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 // crnCommand.setAckFinish((short) 0); // 任务完成确认位 // crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 // crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 // crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 // crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 // crnCommand.setDestinationPosX((short)0); // 目标库位排 // crnCommand.setDestinationPosY((short)0); // 目标库位列 // crnCommand.setDestinationPosZ((short)0); // 目标库位层 // if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { // log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); // } else { // // 修改工作档状态 11.生成出库ID => 12.吊车出库中 // Date now = new Date(); // wrkMast.setWrkSts(12L); // wrkMast.setCrnStrTime(now); // wrkMast.setModiTime(now); // WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); // wrkMastSplitTwin.setWrkSts(1); // wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); // wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); // wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); // wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); // wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); // wrkMastSplitTwin.setEndRow(crnStn.getRow()); // wrkMastSplitTwin.setEndBay(crnStn.getBay()); // wrkMastSplitTwin.setEndLev(crnStn.getLev()); // wrkMastSplitTwin.setWrkType(1); // wrkMastSplitTwin.setIoType(2); // if (wrkMastMapper.updateById(wrkMast) == 0) { // log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); // } // // if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ // log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); // } // break; // } // } } }
@@ -25,7 +25,7 @@ /** * 任务模式： * 0 = 无 * 0 = CrnCommandParam * 1 = 入库 源和目标都发 * 2 = 出库 源和目标都发 * 3 = 库位移转 源和目标都发 src/main/java/com/zy/core/model/cpmmandParam/CrnCommandParam.java
New file @@ -0,0 +1,118 @@ package com.zy.core.model.cpmmandParam; import com.alibaba.fastjson.annotation.JSONField; import com.zy.core.enums.CrnTaskModeType; import com.zy.core.model.command.CrnCommand; import lombok.Data; import java.util.Calendar; import java.util.Date; /** * 堆垛机命令报文 * Created by vincent on 2020/8/11 */ @Data public class CrnCommandParam { // 堆垛机号 private Integer crnNo = 0; // 任务完成确认位 private Short ackFinish = 0; private Short ackFinish2 = 0; // 任务号 private Short taskNo = 0; private Short taskNo2 = 0; /** * 任务模式： * 0 = 无 * 1 = 入库 源和目标都发 * 2 = 出库 源和目标都发 * 3 = 库位移转 源和目标都发 * 4 = 站位移转 源和目标都发 * 5 = 回原点 不用发 * 6 = 去反原点 目标发 * 7 = 坐标移行 目标发 * 90 = 设置时间 * 99 = 取消当前任务 */ private Short taskMode = 0; private Short taskMode2 = 0; @JSONField(serialize = false) private CrnTaskModeType taskModeType; private CrnTaskModeType taskModeType2; // 源位置排号 private Short sourcePosX = 0; private Short sourcePosX2 = 0; // 源位置列号 private Short sourcePosY = 0; private Short sourcePosY2 = 0; // 源位置层号 private Short sourcePosZ = 0; private Short sourcePosZ2 = 0; // 源站 private Short sourceStaNo = 0; private Short sourceStaNo2 = 0; // 源巷道 private Short sourceLane = 0; // 目标位置排号 private Short destinationPosX = 0; private Short destinationPosX2 = 0; // 目标位置列号 private Short destinationPosY = 0; private Short destinationPosY2 = 0; // 目标位置层号 private Short destinationPosZ = 0; private Short destinationPosZ2 = 0; // 目标站 private Short destinationStaNo = 0; private Short destinationStaNo2 = 0; // 目标巷道 private Short destinationLane = 0; // 任务确认 0：未确认 1：已确认 private Short command = 0; private Short command2 = 0; public CrnCommandParam(){ } public CrnCommandParam(CrnCommand crnCommand1,CrnCommand crnCommand2){ } public void setTaskMode(Short taskMode){ this.taskMode = taskMode; this.taskModeType = CrnTaskModeType.get(taskModeType); } public void setTaskMode(CrnTaskModeType type) { this.taskModeType = type; this.taskMode = CrnTaskModeType.get(type).id.shortValue(); } public void setTaskMode2(Short taskMode){ this.taskMode2 = taskMode; this.taskModeType2 = CrnTaskModeType.get(taskModeType2); } public void setTaskMode2(CrnTaskModeType type) { this.taskModeType2 = type; this.taskMode2 = CrnTaskModeType.get(type).id.shortValue(); } } src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -19,6 +19,7 @@ import com.zy.core.model.CrnSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.cpmmandParam.CrnCommandParam; import com.zy.core.model.protocol.CrnProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; @@ -113,6 +114,10 @@ command2.setDestinationPosY((short)0); // 目标库位列 command2.setDestinationPosZ((short)0); // 目标库位层 write5(command2); break; // 复位 case 7: write9((CrnCommandParam) task.getData()); break; default: break; @@ -600,6 +605,147 @@ } } /** * 写入数据 工位2 */ private boolean write9(CrnCommandParam command) throws InterruptedException { if (null == command) { log.error("堆垛机写入命令为空"); return false; } // convertRow(command); command.setCrnNo(slave.getId()); short[] array = new short[10]; array[0] = command.getAckFinish(); array[1] = command.getTaskNo(); array[2] = command.getTaskMode(); array[3] = command.getSourcePosX(); array[4] = command.getSourcePosY(); array[5] = command.getSourcePosZ(); array[6] = command.getDestinationPosX(); array[7] = command.getDestinationPosY(); array[8] = command.getDestinationPosZ(); // array[9] = command.getSourceStaNo(); // array[10] = command.getDestinationStaNo(); array[9] = command.getCommand(); OperateResult result18 = siemensNet.Write("DB100.38", (short)0); OperateResult result = siemensNet.Write("DB100.20", array); log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); //堆垛机任务写入后，回读一次，看是否成功 Thread.sleep(200); int writeCount = 1; do { try{ if(!result.IsSuccess){ log.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount); result = siemensNet.Write("DB100.20", array); Thread.sleep(100); writeCount++; continue; } OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 24); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) ){ try{ log.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); }catch (Exception e){ try{ log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); }catch (Exception e1){ log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); } } try{ Thread.sleep(100); }catch (Exception e){ } log.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount); result = siemensNet.Write("DB100.20", array); writeCount++; continue; } else { log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); break; } } }catch (Exception e){ log.error("堆垛机命令地址写入后回读出错,异常："+e); } writeCount++; } while (writeCount<6); if (command.getAckFinish() == 0) { short commandFinish = 1; Thread.sleep(100L); result = siemensNet.Write("DB100.38", commandFinish); int signFinish = 1; while (signFinish<5){ OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.38", (short) 2); short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0); if (transInt16 != commandFinish){ log.info("下发DB100.38 回读失败" + "commandFinish:"+commandFinish); log.info("下发DB100.38 回读失败" + "array:"+ JSON.toJSONString(array)); result = siemensNet.Write("DB100.38", commandFinish); signFinish++; }else { log.info("下发DB100.38" + "commandFinish:"+commandFinish); log.info("下发DB100.38" + "array:"+ JSON.toJSONString(array)); break; } } } try { // 日志记录 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.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); } catch (Exception ignore) {} if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); log.info("堆垛机命令下发[id:{}] >>>>> {}", 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))); 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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } @Override public void close() {
