| | |
| | | import com.zy.common.model.SearchLocParam; |
| | | import com.zy.common.model.StartupDto; |
| | | import com.zy.common.service.CommonService; |
| | | import com.zy.common.utils.CollectionUtils; |
| | | import com.zy.common.utils.HttpHandler; |
| | | import com.zy.common.utils.News; |
| | | import com.zy.core.CrnThread; |
| | |
| | | // 退回 |
| | | if (back) { |
| | | // News.warn("扫码入库失败,{}入库站因{}异常,托盘已被退回", inSta.getStaNo(), errMsg); |
| | | MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); |
| | | |
| | | if (!staProtocol.isLoading()){ |
| | | continue; |
| | | } |
| | |
| | | && staProtocol.isLoading() |
| | | && staProtocol.isInEnable() |
| | | && !staProtocol.isEmptyMk() |
| | | && (staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9997 || staProtocol.getWorkNo() == 9995) |
| | | && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) { |
| | | |
| | | // if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) { |
| | | // News.info("{}号条码扫描器检测条码信息:{}", inSta.getBarcode(), barcode); |
| | | // //条码为空或者不符合,退库到172站点 |
| | | if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) { |
| | | News.info("{}号条码扫描器检测条码信息:{}", inSta.getBarcode(), barcode); |
| | | //条码为空或者不符合,退库到172站点 |
| | | // staProtocol.setWorkNo((short)9999); |
| | | // staProtocol.setStaNo((short)172); |
| | | // devpThread.setPakMk(staProtocol.getSiteId(), false); |
| | |
| | | // if (!result) { |
| | | // throw new CoolException("更新plc站点信息失败"); |
| | | // } |
| | | // continue; |
| | | // } |
| | | continue; |
| | | } |
| | | |
| | | // 判断重复工作档 |
| | | WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); |
| | |
| | | |
| | | WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>() |
| | | .eq("barcode", barcode) |
| | | .eq("io_type", 103)); |
| | | .in("io_type", 107,103)); |
| | | if (!Cools.isEmpty(checkPick)) { |
| | | continue; |
| | | } |
| | |
| | | |
| | | |
| | | } else { |
| | | staProtocol.setWorkNo((short) 9998); |
| | | staProtocol.setStaNo((short) 14); |
| | | staProtocol.setWorkNo(wrkNo); |
| | | wrkNo++; |
| | | staProtocol.setStaNo(inSta.getBackSta().shortValue()); |
| | | devpThread.setPakMk(staProtocol.getSiteId(), false); |
| | | MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); |
| | | |
| | |
| | | } |
| | | String barcode = barcodeThread.getBarcode(); |
| | | |
| | | if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) { |
| | | if (!Cools.isEmpty(barcode)) { |
| | | // log.info("{}号条码扫描器检测条码信息:{}", pickSta.getBarcode(), barcode); |
| | | if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) { |
| | | staProtocol.setWorkNo((short) 9998); |
| | | staProtocol.setStaNo((short) 14); |
| | | if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) { |
| | | if (!staProtocol.isLoading()) { |
| | | continue; |
| | | } |
| | | if (!staProtocol.isPakMk()) { |
| | | continue; |
| | | } |
| | | if(staProtocol.getWorkNo() != 0) { |
| | | continue; |
| | | } |
| | | staProtocol.setWorkNo(wrkNo); |
| | | wrkNo++; |
| | | staProtocol.setStaNo(pickSta.getBackSta().shortValue()); |
| | | devpThread.setPakMk(staProtocol.getSiteId(), false); |
| | | MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); |
| | | // led 异常显示 |
| | |
| | | && staProtocol.isLoading() |
| | | && staProtocol.isInEnable() |
| | | && !staProtocol.isEmptyMk() |
| | | && (staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9997 || staProtocol.getWorkNo() == 9995) |
| | | // && (staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9997 || staProtocol.getWorkNo() == 9995) |
| | | && staProtocol.isPakMk()) { |
| | | |
| | | WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); |
| | |
| | | // 获取目标站 |
| | | Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>() |
| | | .eq("type_no", wrkMast.getIoType() - 50) |
| | | //速腾特有捡料, 11站是出库站, 然后手动走到15站进行再入库 |
| | | .eq("stn_no", 15) // 作业站点 = 拣料出库的目标站 |
| | | .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站 |
| | | .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号 |
| | | StaDesc staDesc = staDescService.selectOne(wrapper); |
| | | if (Cools.isEmpty(staDesc)) { |
| | |
| | | * 出库 ===>> 工作档信息写入led显示器 |
| | | */ |
| | | public synchronized void ledExecute() { |
| | | // String methodName = Thread.currentThread().getStackTrace()[1].getMethodName(); |
| | | |
| | | for (LedSlave led : slaveProperties.getLed()) { |
| | | // 获取输送线plc线程 |
| | | DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); |
| | | // // 命令集合 |
| | | // List<LedCommand> commands = new ArrayList<>(); |
| | | // // 工作档集合 |
| | | // List<WrkMast> wrkMasts = new ArrayList<>(); |
| | | // 命令集合 |
| | | List<LedCommand> commands = new ArrayList<>(); |
| | | // 工作档集合 |
| | | List<WrkMast> wrkMasts = new ArrayList<>(); |
| | | for (Integer staNo : led.getStaArr()) { |
| | | // 获取叉车站点 |
| | | StaProtocol staProtocol = devpThread.getStation().get(staNo); |
| | | if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { |
| | | MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, "")); |
| | | continue; |
| | | } else { |
| | | staProtocol = staProtocol.clone(); |
| | | } |
| | | // 获取工作档数据 |
| | | WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); |
| | | if (null == wrkMast) { |
| | | MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, "")); |
| | | continue; |
| | | } |
| | | ArrayList<MatDto> matDtos = new ArrayList<>(); |
| | | Wrapper<WrkDetl> detlWrapper = new EntityWrapper<WrkDetl>() |
| | | .eq("wrk_no", wrkMast.getWrkNo()); |
| | | if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; } |
| | | wrkMasts.add(wrkMast); |
| | | // 组装命令 |
| | | LedCommand ledCommand = new LedCommand(); |
| | | ledCommand.setWorkNo(wrkMast.getWrkNo()); |
| | | ledCommand.setStaNo(wrkMast.getStaNo()); |
| | | ledCommand.setSourceStaNo(wrkMast.getSourceStaNo()); |
| | | ledCommand.setLocNo(wrkMast.getLocNo()); |
| | | ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); |
| | | ledCommand.setIoType(wrkMast.getIoType()); |
| | | ledCommand.setTitle(wrkMast.getIoType$()); |
| | | |
| | | // 出库模式 |
| | | switch (wrkMast.getIoType()) { |
| | | case 10: |
| | | case 101: |
| | | ledCommand.setTitle("全板出库"); |
| | | break; |
| | | case 103: |
| | | ledCommand.setTitle("拣料出库"); |
| | | break; |
| | | case 104: |
| | | ledCommand.setTitle("并板出库"); |
| | | break; |
| | | case 107: |
| | | ledCommand.setTitle("盘点出库"); |
| | | break; |
| | | case 110: |
| | | ledCommand.setTitle("空板出库"); |
| | | ledCommand.setEmptyMk(true); |
| | | break; |
| | | default: |
| | | ledCommand.setBarcode(wrkMast.getBarcode()); |
| | | List<WrkDetl> wrkDetls = wrkDetlService.selectList(detlWrapper); |
| | | for (WrkDetl wrkDetl : wrkDetls) { |
| | | MatDto matDto = new MatDto(); |
| | | matDto.setMaknx(wrkDetl.getMaktx()); |
| | | matDto.setMatNo(wrkDetl.getMatnr()); |
| | | matDto.setCount(wrkDetl.getAnfme()); |
| | | matDtos.add(matDto); |
| | | } |
| | | News.error("任务入出库类型错误!!![工作号:{}] [入出库类型:{}]", wrkMast.getWrkNo(), wrkMast.getIoType()); |
| | | break; |
| | | |
| | | |
| | | } |
| | | ledCommand.setMatDtos(matDtos); |
| | | MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, ledCommand.toString())); |
| | | |
| | | // wrkMasts.add(wrkMast); |
| | | // // 组装命令 |
| | | // LedCommand ledCommand = new LedCommand(); |
| | | // ledCommand.setWorkNo(wrkMast.getWrkNo()); |
| | | // ledCommand.setIoType(wrkMast.getIoType()); |
| | | // // 出库模式 |
| | | // switch (wrkMast.getIoType()) { |
| | | // case -1: |
| | | // ledCommand.setTitle("全板入库"); |
| | | // break; |
| | | // case 10: |
| | | // ledCommand.setTitle("空板入库"); |
| | | // break; |
| | | // case 10-1: |
| | | // ledCommand.setTitle("全板出库"); |
| | | // break; |
| | | // case 103: |
| | | // ledCommand.setTitle("拣料出库"); |
| | | // break; |
| | | // case 104: |
| | | // ledCommand.setTitle("并板出库"); |
| | | // break; |
| | | // case 107: |
| | | // ledCommand.setTitle("盘点出库"); |
| | | // break; |
| | | // case 110: |
| | | // ledCommand.setTitle("空板出库"); |
| | | // ledCommand.setEmptyMk(true); |
| | | // break; |
| | | // default: |
| | | // News.error(methodName + ":任务入出库类型错误!!![工作号:{}] [入出库类型:{}]", wrkMast.getWrkNo(), wrkMast.getIoType()); |
| | | // break; |
| | | // } |
| | | // ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); |
| | | // ledCommand.setLocNo(wrkMast.getLocNo()); |
| | | // ledCommand.setStaNo(wrkMast.getStaNo()); |
| | | //// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo()); |
| | | // if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) { |
| | | // List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); |
| | | // wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()))); |
| | | // } |
| | | // commands.add(ledCommand); |
| | | // } |
| | | // Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); |
| | | // // 获取LED线程 |
| | | // LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); |
| | | // // 相同工作号集合则过滤 |
| | | //// if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { |
| | | //// continue; |
| | | //// } |
| | | // // 命令下发 ------------------------------------------------------------------------------- |
| | | // if (!commands.isEmpty()) { |
| | | // String errMsg = ""; |
| | | // if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) { |
| | | // News.error(methodName + ":{}号LED命令下发失败!!![ip:{}] [port:{}]", led.getId(), led.getIp(), led.getPort()); |
| | | // continue; |
| | | // } else { |
| | | // ledThread.setLedMk(false); |
| | | // } |
| | | // |
| | | // |
| | | ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); |
| | | ledCommand.setStaNo(wrkMast.getStaNo()); |
| | | ledCommand.setBarcode(wrkMast.getBarcode()); |
| | | if (wrkMast.getIoType() != 110) { |
| | | List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); |
| | | wrkDetls.forEach(wrkDetl -> { |
| | | if (wrkMast.getIoType() == 101) { |
| | | ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())); |
| | | } |
| | | if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) { |
| | | ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())); |
| | | } |
| | | if (wrkMast.getIoType() == 107) { |
| | | ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())); |
| | | } |
| | | }); |
| | | } |
| | | commands.add(ledCommand); |
| | | } |
| | | // |
| | | // try { |
| | | // // 修改主档led标记 |
| | | // for (WrkMast wrkMast : wrkMasts) { |
| | | // wrkMast.setOveMk("Y"); |
| | | // wrkMast.setModiTime(new Date()); |
| | | // if (wrkMastMapper.updateById(wrkMast) == 0) { |
| | | // throw new CoolException("更新工作档失败"); |
| | | // } |
| | | // } |
| | | // |
| | | // // 更新线程当前工作号集合 |
| | | // ledThread.setWorkNos(workNos); |
| | | // |
| | | // } catch (Exception e) { |
| | | // e.printStackTrace(); |
| | | // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); |
| | | // } |
| | | Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); |
| | | // 获取LED线程 |
| | | LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); |
| | | // 相同工作号集合则过滤 |
| | | if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { |
| | | continue; |
| | | } |
| | | // 命令下发 ------------------------------------------------------------------------------- |
| | | if (!commands.isEmpty()) { |
| | | |
| | | if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { |
| | | News.error("{}号LED命令下发失败!!![ip:{}] [port:{}]", led.getId(), led.getIp(), led.getPort()); |
| | | continue; |
| | | } |
| | | } |
| | | |
| | | try { |
| | | // 修改主档led标记 |
| | | for (WrkMast wrkMast : wrkMasts) { |
| | | wrkMast.setOveMk("Y"); |
| | | wrkMast.setModiTime(new Date()); |
| | | if (wrkMastMapper.updateById(wrkMast) == 0) { |
| | | throw new CoolException("更新工作档失败"); |
| | | } |
| | | } |
| | | |
| | | // 更新线程当前工作号集合 |
| | | ledThread.setWorkNos(workNos); |
| | | |
| | | } catch (Exception e) { |
| | | e.printStackTrace(); |
| | | TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); |
| | | } |
| | | } |
| | | } |
| | | |
| | |
| | | */ |
| | | public Float yDuration; |
| | | |
| | | /** |
| | | * 堆垛机所在巷道 |
| | | */ |
| | | private Integer crnLane = 1; |
| | | |
| | | public void setMode(Short mode) { |
| | | this.mode = mode; |
| | | this.modeType = CrnModeType.get(mode); |
| | |
| | | return basCrnp; |
| | | } |
| | | |
| | | public void setxSpeed(Short xSpeed) { |
| | | this.xSpeed = Float.valueOf(xSpeed); |
| | | public void setxSpeed(float xSpeed) { |
| | | this.xSpeed = xSpeed; |
| | | } |
| | | |
| | | public void setySpeed(Short ySpeed) { |
| | | this.ySpeed = Float.valueOf(ySpeed); |
| | | public void setySpeed(float ySpeed) { |
| | | this.ySpeed = ySpeed; |
| | | } |
| | | |
| | | public void setzSpeed(Short zSpeed) { |
| | | this.zSpeed = Float.valueOf(zSpeed); |
| | | public void setzSpeed(float zSpeed) { |
| | | this.zSpeed = zSpeed; |
| | | } |
| | | |
| | | public void setxDistance(Short xDistance) { |
| | | this.xDistance = Float.valueOf(xDistance); |
| | | public void setxDistance(float xDistance) { |
| | | this.xDistance = xDistance; |
| | | } |
| | | |
| | | public void setyDistance(Short yDistance) { |
| | | this.yDistance = Float.valueOf(yDistance); |
| | | public void setyDistance(float yDistance) { |
| | | this.yDistance = yDistance; |
| | | } |
| | | |
| | | public void setxDuration(Short xDuration) { |
| | | this.xDuration = Float.valueOf(xDuration); |
| | | public void setxDuration(float xDuration) { |
| | | this.xDuration = xDuration; |
| | | } |
| | | |
| | | public void setyDuration(Short yDuration) { |
| | | this.yDuration = Float.valueOf(yDuration); |
| | | public void setyDuration(float yDuration) { |
| | | this.yDuration = yDuration; |
| | | } |
| | | |
| | | } |
| | |
| | | */ |
| | | private boolean backHpFlag = false; |
| | | |
| | | private boolean cmdFlag = true; |
| | | |
| | | public SiemensCrnThread(CrnSlave slave) { |
| | | this.slave = slave; |
| | | } |
| | |
| | | * 读取状态 |
| | | */ |
| | | private void readStatus(){ |
| | | String methodName = Thread.currentThread().getStackTrace()[1].getMethodName(); |
| | | |
| | | short len = 56; |
| | | len = slave.getId() == 1 ? (short) 56 : (short) 58; |
| | | try { |
| | | OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56); |
| | | OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short)56); |
| | | if (result.IsSuccess) { |
| | | if (null == crnProtocol) { |
| | | crnProtocol = new CrnProtocol(); |
| | |
| | | crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22)); |
| | | crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24)); |
| | | crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26)); |
| | | crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28)); |
| | | crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32)); |
| | | crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36)); |
| | | crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40)); |
| | | crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44)); |
| | | crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48)); |
| | | crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52)); |
| | | crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28)); |
| | | crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32)); |
| | | crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36)); |
| | | crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40)); |
| | | crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44)); |
| | | crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48)); |
| | | crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52)); |
| | | |
| | | 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.getStatusType().equals(CrnStatusType.WAITING)) { |
| | | if (resetFlag) { |
| | | if(crnProtocol.getTaskNo()==9999){ |
| | | backHpFlag = false; |
| | | } |
| | | CrnCommand crnCommand = new CrnCommand(); |
| | | crnCommand.setAckFinish((short)1); |
| | | if (write(crnCommand)) { |
| | | resetFlag = false; |
| | | cmdFlag = true; |
| | | } |
| | | } |
| | | } |
| | |
| | | basCrnp.setCrnNo(slave.getId()); |
| | | basCrnp.setCrnSts((int)crnProtocol.getMode()); |
| | | if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){ |
| | | News.error(methodName + ":堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); |
| | | News.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); |
| | | } |
| | | } catch (Exception ignore){} |
| | | |
| | | } else { |
| | | initCrn(); |
| | | OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); |
| | | News.error(methodName + ":读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); |
| | | News.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); |
| | | } |
| | | } catch (Exception e) { |
| | | e.printStackTrace(); |
| | | OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); |
| | | News.error(methodName + ":读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); |
| | | News.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); |
| | | initCrn(); |
| | | } |
| | | } |
| | |
| | | * 写入数据 |
| | | */ |
| | | private boolean write(CrnCommand command) throws InterruptedException { |
| | | String methodName = Thread.currentThread().getStackTrace()[1].getMethodName(); |
| | | |
| | | if (null == command) { |
| | | News.error("堆垛机写入命令为空"); |
| | | return false; |
| | | } |
| | | // 向堆垛机发任务前的堆垛机状态 |
| | | try{ |
| | | OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (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()) |
| | | ){ |
| | | News.error("下发前:[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); |
| | | } else { |
| | | News.info("下发前:[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); |
| | | } |
| | | } |
| | | }catch (Exception e){ |
| | | News.error("堆垛机命令地址写入后回读出错"); |
| | | } |
| | | // convertRow(command); |
| | | command.setCrnNo(slave.getId()); |
| | | // short[] array = new short[10]; |
| | | 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[0] = command.getAckFinish(); // 任务完成确认位 |
| | | array[1] = command.getTaskNo(); // 任务号 |
| | | array[2] = command.getTaskMode(); // 模式 |
| | | array[3] = command.getSourcePosX(); // 源位置排号 |
| | | array[4] = command.getSourcePosY(); // 源位置列号 |
| | | array[5] = command.getSourcePosZ(); // 源位置层号 |
| | | array[6] = command.getDestinationPosX(); // 目标位置排号 |
| | | array[7] = command.getDestinationPosY(); // 目标位置列号 |
| | | array[8] = command.getDestinationPosZ(); // 目标位置层号 |
| | | array[9] = command.getCommand(); |
| | | // array[10] = command.getLocType1(); //新增货物类型下发 |
| | | OperateResult result = siemensNet.Write("DB100.0", array); |
| | | News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); |
| | | |
| | | if(!result.IsSuccess){ |
| | | News.error("写入堆垛机plc数据失败,重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); |
| | | MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); |
| | | Thread.sleep(100); |
| | | readStatus(); |
| | | return false; |
| | | } |
| | | |
| | | //堆垛机任务写入后,回读一次,看是否成功 |
| | | Thread.sleep(200); |
| | | try{ |
| | | OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18); |
| | | 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{ |
| | | News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); |
| | | }catch (Exception e){ |
| | | try{ |
| | | News.error("日志打印失败:===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); |
| | | }catch (Exception e1){ |
| | | News.error("日志打印失败:===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); |
| | | } |
| | | } |
| | | News.error("堆垛机命令回读失败后,重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); |
| | | MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); |
| | | Thread.sleep(100); |
| | | readStatus(); |
| | | return false; |
| | | } else { |
| | | News.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)); |
| | | } |
| | | } |
| | | }catch (Exception e){ |
| | | News.error("堆垛机命令地址写入后回读出错"); |
| | | } |
| | | |
| | | |
| | | if (command.getAckFinish() == 0) { |
| | | short commandFinish = 1; |
| | | Thread.sleep(100L); |
| | | result = siemensNet.Write("DB100.18", commandFinish); |
| | | if (result.IsSuccess) { |
| | | Thread.sleep(300); |
| | | //任务下发次数 |
| | | int writeCount2 = 0; |
| | | |
| | | do { |
| | | writeCount2++; |
| | | short commandFinish = (short) 1; |
| | | result = siemensNet.Write("DB100.18", commandFinish); |
| | | if(result.IsSuccess){ |
| | | //堆垛机任务写入后,回读一次,看是否成功 |
| | | Thread.sleep(200); |
| | | OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2); |
| | | if (resultRead.IsSuccess) { |
| | | commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); |
| | | if (commandFinish != 1){ |
| | | News.error("堆垛机任务确认位"+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 |
| | | News.info("堆垛机任务确认位"+commandFinish+"回读成功!"+"循环执行次数:"+writeCount2+"次"); |
| | | break; |
| | | } |
| | | }else { |
| | | News.error("堆垛机任务确认位"+commandFinish+"回读失败!"+"循环执行次数:"+writeCount2+"次"); |
| | | } |
| | | } else { |
| | | News.error("堆垛机任务确认位"+commandFinish+"写入失败!"+"循环执行次数:"+writeCount2+"次"); |
| | | } |
| | | }while (writeCount2<5); |
| | | } |
| | | } |
| | | |
| | | // if (command.getAckFinish() == 0) { |
| | | // short commandFinish = 1; |
| | | // Thread.sleep(200L); |
| | | // result = siemensNet.Write("DB100.18", commandFinish); |
| | | // log.info("堆垛机commandFinish下发[id:{}] >>>>> {}", slave.getId(), commandFinish); |
| | | //// result = siemensNet.Write("DB100.22", commandFinish); |
| | | // } |
| | | |
| | | try { |
| | | // 日志记录 |
| | |
| | | if (result != null && result.IsSuccess) { |
| | | Thread.sleep(200); |
| | | this.readStatus(); |
| | | News.info(methodName + ":堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); |
| | | News.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())); |
| | | News.error(methodName + ":写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); |
| | | News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); |
| | | return false; |
| | | } |
| | | } |
| | |
| | | public static final ArrayList<Integer> staNosErr3 = new ArrayList<Integer>() {{ |
| | | add(301); add(303); add(305); |
| | | }}; |
| | | |
| | | public static final ArrayList<Integer> barcode1 = new ArrayList<Integer>() {{ |
| | | add(0); add(1); add(2); |
| | | }}; |
| | | public static final ArrayList<Integer> barcode2 = new ArrayList<Integer>() {{ |
| | | add(3); add(4); add(5); |
| | | }}; |
| | | public static final ArrayList<Integer> barcode3 = new ArrayList<Integer>() {{ |
| | | add(6); add(7); add(8); |
| | | }}; |
| | | |
| | | private ArrayList<Integer> getStaNo() { |
| | | switch (slave.getId()) { |
| | | case 1: |
| | |
| | | throw new CoolException("获取站点失败!"); |
| | | } |
| | | } |
| | | private ArrayList<Integer> getBarcodeList() { |
| | | switch (slave.getId()) { |
| | | case 1: |
| | | return barcode1; |
| | | case 2: |
| | | return barcode2; |
| | | case 3: |
| | | return barcode3; |
| | | default: |
| | | throw new CoolException("获取站点失败!"); |
| | | } |
| | | } |
| | | |
| | | private ArrayList<Integer> getStaNoErr() { |
| | | switch (slave.getId()) { |
| | | case 1: |
| | |
| | | staProtocol.setPakMk(true); |
| | | } |
| | | } |
| | | |
| | | // 根据实时信息更新数据库 |
| | | try { |
| | | List<BasDevp> basDevps = new ArrayList<>(); |
| | | for (Integer siteId : staNos) { |
| | | StaProtocol staProtocol = station.get(siteId); |
| | | basDevps.add(staProtocol.toSqlModel()); |
| | | } |
| | | |
| | | BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class); |
| | | if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) { |
| | | throw new Exception("更新数据库数据失败"); |
| | | } |
| | | } catch (Exception e) { |
| | | e.printStackTrace(); |
| | | OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); |
| | | News.error(methodName + ":更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); |
| | | } |
| | | } |
| | | //外形检测 |
| | | ArrayList<Integer> staNoErrs = getStaNoErr(); |
| | |
| | | |
| | | //条码扫描器 |
| | | // Thread.sleep(200); |
| | | OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840",(short)(barcodeSize*10)); |
| | | // OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840",(short)(barcodeSize*8)); |
| | | // if (result2.IsSuccess) { |
| | | // for (int i = 0; i < barcodeSize; i++) { |
| | | // String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8"); |
| | | // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1); |
| | | // if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) { |
| | | // barcodeThread.setBarcode(barcode); |
| | | // } |
| | | // } |
| | | // } |
| | | |
| | | ArrayList<Integer> barcodeList = getBarcodeList(); |
| | | OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8)); |
| | | if (result2.IsSuccess) { |
| | | for (int i = 0; i < barcodeSize; i++) { |
| | | for (int i = 0; i < barcodeList.size(); i++) { |
| | | Integer barcodeId = barcodeList.get(i); |
| | | String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8"); |
| | | BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1); |
| | | BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1); |
| | | if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) { |
| | | barcodeThread.setBarcode(barcode); |
| | | } |
| | | } |
| | | |
| | | } |
| | | |
| | | //RGV小车 |
| | | // Thread.sleep(200); |
| | | OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.160",(short)2); |
| | |
| | | pickSta[0]: |
| | | staNo: 101 |
| | | barcode: ${wcs-slave.barcode[0].id} |
| | | backSta: 100 |
| | | # 拣料入库口2 |
| | | pickSta[1]: |
| | | staNo: 103 |
| | | barcode: ${wcs-slave.barcode[1].id} |
| | | backSta: 102 |
| | | # 拣料入库口3 |
| | | pickSta[2]: |
| | | staNo: 105 |
| | | barcode: ${wcs-slave.barcode[2].id} |
| | | backSta: 104 |
| | | # 输送线2楼 |
| | | devp[1]: |
| | | id: 2 |
| | |
| | | pickSta[0]: |
| | | staNo: 201 |
| | | barcode: ${wcs-slave.barcode[3].id} |
| | | backSta: 200 |
| | | # 拣料入库口2 |
| | | pickSta[1]: |
| | | staNo: 203 |
| | | barcode: ${wcs-slave.barcode[4].id} |
| | | backSta: 202 |
| | | # 拣料入库口3 |
| | | pickSta[2]: |
| | | staNo: 205 |
| | | barcode: ${wcs-slave.barcode[5].id} |
| | | backSta: 204 |
| | | # 输送线3楼 |
| | | devp[2]: |
| | | id: 3 |
| | |
| | | pickSta[0]: |
| | | staNo: 301 |
| | | barcode: ${wcs-slave.barcode[6].id} |
| | | backSta: 300 |
| | | # 拣料入库口2 |
| | | pickSta[1]: |
| | | staNo: 303 |
| | | barcode: ${wcs-slave.barcode[7].id} |
| | | backSta: 302 |
| | | # 拣料入库口3 |
| | | pickSta[2]: |
| | | staNo: 305 |
| | | barcode: ${wcs-slave.barcode[8].id} |
| | | backSta: 304 |
| | | # 条码扫描仪1 |
| | | barcode[0]: |
| | | id: 1 |
| | |
| | | ip: 10.10.10.81 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[0].id} |
| | | staArr: 101 |
| | | staArr: 100 |
| | | # LED2 |
| | | led[1]: |
| | | id: 2 |
| | | ip: 10.10.10.202 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[0].id} |
| | | staArr: 103 |
| | | staArr: 102 |
| | | # LED3 |
| | | led[2]: |
| | | id: 1 |
| | | ip: 10.10.10.81 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[0].id} |
| | | staArr: 105 |
| | | staArr: 104 |
| | | # LED4 |
| | | led[3]: |
| | | id: 2 |
| | | ip: 10.10.10.202 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[1].id} |
| | | staArr: 201 |
| | | staArr: 200 |
| | | # LED5 |
| | | led[4]: |
| | | id: 1 |
| | | ip: 10.10.10.81 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[1].id} |
| | | staArr: 203 |
| | | staArr: 202 |
| | | # LED6 |
| | | led[5]: |
| | | id: 2 |
| | | ip: 10.10.10.202 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[1].id} |
| | | staArr: 205 |
| | | staArr: 204 |
| | | # LED7 |
| | | led[6]: |
| | | id: 1 |
| | | ip: 10.10.10.81 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[2].id} |
| | | staArr: 301 |
| | | staArr: 300 |
| | | # LED8 |
| | | led[7]: |
| | | id: 2 |
| | | ip: 10.10.10.202 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[2].id} |
| | | staArr: 303 |
| | | staArr: 302 |
| | | # LED9 |
| | | led[8]: |
| | | id: 1 |
| | | ip: 10.10.10.81 |
| | | port: 5005 |
| | | devpPlcId: ${wcs-slave.devp[2].id} |
| | | staArr: 305 |
| | | staArr: 304 |
| | |
| | | "rackDescs": [{ |
| | | "type": "rackDescs", |
| | | "id": "lb_desc17", |
| | | "text": "#1", |
| | | "text": "#6", |
| | | "top": 119, |
| | | "left": 157, |
| | | "width": 30, |
| | |
| | | }, { |
| | | "type": "rackDescs", |
| | | "id": "lb_desc16", |
| | | "text": "#6", |
| | | "text": "#1", |
| | | "top": 344, |
| | | "left": 154, |
| | | "width": 33, |
| | |
| | | "height": 290 |
| | | }, { |
| | | "type": "crane", |
| | | "id": "crn-3", |
| | | "text": "3", |
| | | "id": "crn-1", |
| | | "text": "1", |
| | | "top": 316, |
| | | "left": 466, |
| | | "width": 93, |
| | |
| | | "height": 2 |
| | | }, { |
| | | "type": "crane", |
| | | "id": "crn-1", |
| | | "text": "1", |
| | | "id": "crn-3", |
| | | "text": "3", |
| | | "top": 151, |
| | | "left": 471, |
| | | "width": 93, |