src/main/java/com/zy/asrs/controller/RgvController.java
@@ -66,113 +66,113 @@ private LocMastService locMastService; @Autowired private BasRgvMapMapper basRgvMapMapper; @ManagerAuth(memo = "解锁小车") @PostMapping("/lock") public R lock(CrnOperatorParam param){ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo()); rgvThread.setPakMk(true); return R.ok(); } @PostMapping("/table/rgv/state") @ManagerAuth(memo = "RGV信息表") public R rgvStateTable() { List<RgvStateTableVo> list = new ArrayList<>(); List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no")); for (BasRgv basRgv : rgvs) { RgvStateTableVo vo = new RgvStateTableVo(); vo.setRgvNo(basRgv.getRgvNo()); // RGV号 list.add(vo); // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo()); if (rgvThread == null) continue; RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) continue; BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); vo.setStatusType(rgvProtocol.modeType.desc); // 模式状态 vo.setStatus(String.valueOf(rgvProtocol.getMode())); // 状态 vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1任务号 vo.setStatus1(rgvProtocol.getStatusType1().desc); // 工位1状态 vo.setLoading1(rgvProtocol.getLoaded1() ? "有物" : "无物"); // 工位1有物 vo.setRgvPos(basRgvMap != null?basRgvMap.getNowRoute():0); vo.setRgvPos1(rgvProtocol.getRgvPosI2()); vo.setWalkPos(Objects.equals(rgvProtocol.getWalkPos(), 1) ? "在定位" : "不在定位"); vo.setPakMk(rgvThread.isPakMk() ? "无锁" : "锁定"); // vo.setPakIn(rgvThread.isPakIn() ? "可入" : "不可入"); // vo.setPakOut(rgvThread.isPakOut() ? "可出" : "不可出"); // vo.setPakRgv(rgvThread.isPakRgv() ? "无锁" : "锁定"); vo.setPaking(rgvThread.isPaking()? "无锁" : "锁定"); // vo.setPakAll(rgvThread.isPakAll() ? "无锁" : "锁定"); // vo.setPakToCrn(rgvThread.isPakToCrn() ? "无锁" : "锁定"); // @ManagerAuth(memo = "解锁小车") // @PostMapping("/lock") // public R lock(CrnOperatorParam param){ // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo()); // rgvThread.setPakMk(true); // return R.ok(); // } // // @PostMapping("/table/rgv/state") // @ManagerAuth(memo = "RGV信息表") // public R rgvStateTable() { // List<RgvStateTableVo> list = new ArrayList<>(); // List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no")); // // for (BasRgv basRgv : rgvs) { // RgvStateTableVo vo = new RgvStateTableVo(); // vo.setRgvNo(basRgv.getRgvNo()); // RGV号 // list.add(vo); // // // 获取RGV信息 // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo()); // if (rgvThread == null) continue; // // RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // if (rgvProtocol == null) continue; // BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); // // vo.setStatusType(rgvProtocol.modeType.desc); // 模式状态 // vo.setStatus(String.valueOf(rgvProtocol.getMode())); // 状态 // vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1任务号 // vo.setStatus1(rgvProtocol.getStatusType1().desc); // 工位1状态 // vo.setLoading1(rgvProtocol.getLoaded1() ? "有物" : "无物"); // 工位1有物 // vo.setRgvPos(basRgvMap != null?basRgvMap.getNowRoute():0); // vo.setRgvPos1(rgvProtocol.getRgvPosI2()); // vo.setWalkPos(Objects.equals(rgvProtocol.getWalkPos(), 1) ? "在定位" : "不在定位"); // vo.setPakMk(rgvThread.isPakMk() ? "无锁" : "锁定"); //// vo.setPakIn(rgvThread.isPakIn() ? "可入" : "不可入"); //// vo.setPakOut(rgvThread.isPakOut() ? "可出" : "不可出"); //// vo.setPakRgv(rgvThread.isPakRgv() ? "无锁" : "锁定"); // vo.setPaking(rgvThread.isPaking()? "无锁" : "锁定"); //// vo.setPakAll(rgvThread.isPakAll() ? "无锁" : "锁定"); //// vo.setPakToCrn(rgvThread.isPakToCrn() ? "无锁" : "锁定"); // // // vo.setWorkNo2(rgvProtocol.getTaskNo2()); // 工位2任务号 //// vo.setStatus2(rgvProtocol.getStatusType2().desc); // 工位2状态 // vo.setLoading2(rgvProtocol.getLoaded2() ? "有物" : "无物"); // 工位2有物 // // // --- 遍历 errX 字段生成 warnCode 和 alarm --- // List<String> alarms = new ArrayList<>(); // List<String> warnCodes = new ArrayList<>(); // Field[] fields = rgvProtocol.getClass().getDeclaredFields(); // for (Field field : fields) { // if (field.getName().startsWith("err") && field.getType().equals(Boolean.class)) { // field.setAccessible(true); // try { // Boolean value = (Boolean) field.get(rgvProtocol); // if (Boolean.TRUE.equals(value)) { // String numPart = field.getName().substring(3); // int errId = Integer.parseInt(numPart); // warnCodes.add(String.valueOf(errId)); // // BasRgvErr rgvErr = basRgvErrMapper.selectById(errId); // alarms.add(rgvErr == null ? "未知异常(" + errId + ")" : rgvErr.getErrName()); // } // } catch (IllegalAccessException e) { // e.printStackTrace(); // } // } // } // // vo.setWarnCode(String.join(",", warnCodes)); // vo.setAlarm(alarms.isEmpty() ? "" : String.join("，", alarms)); // } // // return R.ok().add(list); // } vo.setWorkNo2(rgvProtocol.getTaskNo2()); // 工位2任务号 // vo.setStatus2(rgvProtocol.getStatusType2().desc); // 工位2状态 vo.setLoading2(rgvProtocol.getLoaded2() ? "有物" : "无物"); // 工位2有物 // --- 遍历 errX 字段生成 warnCode 和 alarm --- List<String> alarms = new ArrayList<>(); List<String> warnCodes = new ArrayList<>(); Field[] fields = rgvProtocol.getClass().getDeclaredFields(); for (Field field : fields) { if (field.getName().startsWith("err") && field.getType().equals(Boolean.class)) { field.setAccessible(true); try { Boolean value = (Boolean) field.get(rgvProtocol); if (Boolean.TRUE.equals(value)) { String numPart = field.getName().substring(3); int errId = Integer.parseInt(numPart); warnCodes.add(String.valueOf(errId)); BasRgvErr rgvErr = basRgvErrMapper.selectById(errId); alarms.add(rgvErr == null ? "未知异常(" + errId + ")" : rgvErr.getErrName()); } } catch (IllegalAccessException e) { e.printStackTrace(); } } } vo.setWarnCode(String.join(",", warnCodes)); vo.setAlarm(alarms.isEmpty() ? "" : String.join("，", alarms)); } return R.ok().add(list); } @PostMapping("/table/rgv/msg") @ManagerAuth(memo = "RGV数据表") public R rgvMsgTable(){ List<RgvMsgTableVo> list = new ArrayList<>(); List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no")); for (BasRgv basRgv : rgvs) { // 表格行 RgvMsgTableVo vo = new RgvMsgTableVo(); vo.setRgvNo(basRgv.getRgvNo()); // RGV号 list.add(vo); // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo()); if (rgvThread == null) { continue; } RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1工作号 vo.setWorkNo2(rgvProtocol.getTaskNo2()); //工位2 工作号 vo.setStaNo(String.valueOf(rgvProtocol.getRgvPosDestination())); //小车目标站 vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc); // 模式状态 } return R.ok().add(list); } // @PostMapping("/table/rgv/msg") // @ManagerAuth(memo = "RGV数据表") // public R rgvMsgTable(){ // List<RgvMsgTableVo> list = new ArrayList<>(); // List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no")); // for (BasRgv basRgv : rgvs) { // // 表格行 // RgvMsgTableVo vo = new RgvMsgTableVo(); // vo.setRgvNo(basRgv.getRgvNo()); // RGV号 // list.add(vo); // // 获取RGV信息 // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo()); // if (rgvThread == null) { // continue; // } // RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // if (rgvProtocol == null) { // continue; // } // // vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1工作号 // vo.setWorkNo2(rgvProtocol.getTaskNo2()); //工位2 工作号 // vo.setStaNo(String.valueOf(rgvProtocol.getRgvPosDestination())); //小车目标站 // vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc); // 模式状态 // // } // return R.ok().add(list); // } @PostMapping("/output/site") @ManagerAuth(memo = "RGV报文日志输出") @@ -187,196 +187,196 @@ return R.ok().add(str.toString()); } /****************************************************************/ /************************** 手动操作 ******************************/ /****************************************************************/ @ManagerAuth(memo = "取放货") @PostMapping("/operator/put") public R rgvFetchPut(RgvOperatorParam param){ RgvCommand command = new RgvCommand(); command.setRgvNo(param.getRgvNo()); // RGV编号 command.setAckFinish1(false); // 任务完成确认位 command.setTaskNo(0); // 工作号 command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货 command.setSourceStaNo1(param.getSourceStaNo1()); // 源站 // command.setDestinationStaNo1(param.getStaNo1()); // 目标站 command.setAckFinish2(false); // 任务完成确认位 command.setTaskNo2(0); // 工作号 command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货 command.setSourceStaNo2(param.getSourceStaNo2()); // 源站 // command.setDestinationStaNo2(param.getStaNo2()); // 目标站 command.setCommand(true); return rgvControl(command)? R.ok(): R.error(); } @ManagerAuth(memo = "取货") @PostMapping("/operator/take") public R rgvFetch(RgvOperatorParam param){ RgvCommand command = new RgvCommand(); command.setRgvNo(param.getRgvNo()); // RGV编号 command.setWrkTaskPri(param.getWorkSta()); //执行工位 command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号 command.setTaskStatus(RgvTaskStatusType.FETCH); // 任务模式: 取货 command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 目标站 // command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货 // /****************************************************************/ // /************************** 手动操作 ******************************/ // /****************************************************************/ // // @ManagerAuth(memo = "取放货") // @PostMapping("/operator/put") // public R rgvFetchPut(RgvOperatorParam param){ // RgvCommand command = new RgvCommand(); // command.setRgvNo(param.getRgvNo()); // RGV编号 // command.setAckFinish1(false); // 任务完成确认位 // command.setTaskNo(0); // 工作号 // command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货 // command.setSourceStaNo1(param.getSourceStaNo1()); // 源站 //// command.setDestinationStaNo1(param.getStaNo1()); // 目标站 // command.setAckFinish2(false); // 任务完成确认位 // command.setTaskNo2( 0); // 工作号 // command.setTaskNo2(0); // 工作号 // command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货 // command.setSourceStaNo2(param.getSourceStaNo2()); // 源站 // command.setDestinationStaNo2(param.getStaNo2()); // 目标站 command.setCommand(true); //// command.setDestinationStaNo2(param.getStaNo2()); // 目标站 // command.setCommand(true); // // return rgvControl(command)? R.ok(): R.error(); // } return rgvControl(command)? R.ok(): R.error(); } // @ManagerAuth(memo = "取货") // @PostMapping("/operator/take") // public R rgvFetch(RgvOperatorParam param){ // RgvCommand command = new RgvCommand(); // command.setRgvNo(param.getRgvNo()); // RGV编号 // command.setWrkTaskPri(param.getWorkSta()); //执行工位 // command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号 // command.setTaskStatus(RgvTaskStatusType.FETCH); // 任务模式: 取货 // command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 目标站 //// command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货 //// command.setAckFinish1(false); // 任务完成确认位 //// command.setSourceStaNo1(param.getSourceStaNo1()); // 源站 //// command.setAckFinish2(false); // 任务完成确认位 //// command.setTaskNo2( 0); // 工作号 //// command.setSourceStaNo2(param.getSourceStaNo2()); // 源站 //// command.setDestinationStaNo2(param.getStaNo2()); // 目标站 // command.setCommand(true); // // return rgvControl(command)? R.ok(): R.error(); // } @ManagerAuth(memo = "放货") @PostMapping("/operator/stockMove") public R rgvPut(RgvOperatorParam param){ RgvCommand command = new RgvCommand(); command.setRgvNo(param.getRgvNo()); // RGV编号 command.setWrkTaskPri(param.getWorkSta()); //执行工位 command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号 command.setTaskStatus(RgvTaskStatusType.PUT); // 任务模式: 取货 command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 目标站 // command.setAckFinish1(false); // 任务完成确认位 // command.setSourceStaNo1(param.getSourceStaNo1()); // 源站 // command.setAckFinish2(false); // 任务完成确认位 // @ManagerAuth(memo = "放货") // @PostMapping("/operator/stockMove") // public R rgvPut(RgvOperatorParam param){ // RgvCommand command = new RgvCommand(); // command.setRgvNo(param.getRgvNo()); // RGV编号 // command.setWrkTaskPri(param.getWorkSta()); //执行工位 // command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号 // command.setTaskStatus(RgvTaskStatusType.PUT); // 任务模式: 取货 // command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 目标站 //// command.setAckFinish1(false); // 任务完成确认位 //// command.setSourceStaNo1(param.getSourceStaNo1()); // 源站 //// command.setAckFinish2(false); // 任务完成确认位 //// command.setTaskNo2( 0); // 工作号 //// command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货 //// command.setSourceStaNo2(param.getSourceStaNo2()); // 源站 //// command.setDestinationStaNo2(param.getStaNo2()); // 目标站 // command.setCommand(true); // // return rgvControl(command)? R.ok(): R.error(); // } // @ManagerAuth(memo = "任务完成") // @PostMapping("/operator/taskComplete") // public R rgvTaskComplete(RgvOperatorParam param){ // RgvCommand command = new RgvCommand(); // command.setRgvNo(param.getRgvNo()); // RGV编号 // command.setAckFinish1(true); // 任务完成确认位 //// command.setTaskNo1(0); // 工作号 // command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式 // command.setSourceStaNo1((short) 0); // 源站 // command.setDestinationStaNo1((short) 0); // 目标站 // command.setAckFinish2(true); // 任务完成确认位 // command.setTaskNo2( 0); // 工作号 // command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货 // command.setSourceStaNo2(param.getSourceStaNo2()); // 源站 // command.setDestinationStaNo2(param.getStaNo2()); // 目标站 command.setCommand(true); // command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式 // command.setSourceStaNo2((short) 0); // 源站 // command.setDestinationStaNo2((short) 0); // 目标站 // command.setCommand(true); // // return rgvControl(command)? R.ok(): R.error(); // } return rgvControl(command)? R.ok(): R.error(); } // @ManagerAuth(memo = "清除命令") // @PostMapping("/operator/clearCommand") // public R rgvClearCommand(RgvOperatorParam param){ // if (param.getRgvNo() == null) { // throw new CoolException("请选择RGV号"); // } // RgvCommand command = new RgvCommand(); // command.setRgvNo(param.getRgvNo()); // RGV编号 // command.setWrkTaskPri(0); //执行工位 // command.setTaskNo(Math.toIntExact(0)); // 工作号 // command.setTaskStatus((short)0); // 任务模式: 取货 // command.setTargetPosition(0); // 目标站 // // return rgvClear(command)? R.ok(): R.error(); // } @ManagerAuth(memo = "任务完成") @PostMapping("/operator/taskComplete") public R rgvTaskComplete(RgvOperatorParam param){ RgvCommand command = new RgvCommand(); command.setRgvNo(param.getRgvNo()); // RGV编号 command.setAckFinish1(true); // 任务完成确认位 // command.setTaskNo1(0); // 工作号 command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式 command.setSourceStaNo1((short) 0); // 源站 command.setDestinationStaNo1((short) 0); // 目标站 command.setAckFinish2(true); // 任务完成确认位 command.setTaskNo2( 0); // 工作号 command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式 command.setSourceStaNo2((short) 0); // 源站 command.setDestinationStaNo2((short) 0); // 目标站 command.setCommand(true); return rgvControl(command)? R.ok(): R.error(); } @ManagerAuth(memo = "清除命令") @PostMapping("/operator/clearCommand") public R rgvClearCommand(RgvOperatorParam param){ if (param.getRgvNo() == null) { throw new CoolException("请选择RGV号"); } RgvCommand command = new RgvCommand(); command.setRgvNo(param.getRgvNo()); // RGV编号 command.setWrkTaskPri(0); //执行工位 command.setTaskNo(Math.toIntExact(0)); // 工作号 command.setTaskStatus((short)0); // 任务模式: 取货 command.setTargetPosition(0); // 目标站 return rgvClear(command)? R.ok(): R.error(); } @ManagerAuth(memo = "手动复位") @PostMapping("/operator/handleReset") public R handleReset(RgvOperatorParam param) throws Exception { if (param.getRgvNo() == null) { throw new CoolException("请选择RGV"); } // 获取RGV缓存 for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 if (param.getRgvNo().equals(rgv.getId())) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); if (rgvThread == null) { throw new CoolException("RGV不在线"); } RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { throw new CoolException("RGV不在线"); } RgvCommand Command = new RgvCommand(); Command.setRgvNo(rgv.getId()); // RGV编号 Command.setTaskMode1(RgvTaskModeType.NONE); Command.setAckFinish1(true); // 任务完成确认位 Command.setAckFinish2(true); // 任务完成确认位 Command.setCommand(true); // 任务完成确认位 // 延时发送 Thread.sleep(1000L); if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, Command))) { return R.ok(); } else { throw new CoolException("命令下发失败"); } } } return R.error(); } private boolean rgvControl(RgvCommand command){ if (command.getRgvNo() == null) { throw new CoolException("请选择RGV"); } for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 if (command.getRgvNo().equals(rgv.getId())) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); if (rgvThread == null) { throw new CoolException("RGV不在线"); } RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { throw new CoolException("RGV不在线"); } if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) { return true; } else { throw new CoolException("命令下发失败"); } } } return false; } private boolean rgvClear(RgvCommand command){ if (command.getRgvNo() == null) { throw new CoolException("请选择RGV"); } for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 if (command.getRgvNo().equals(rgv.getId())) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); if (rgvThread == null) { throw new CoolException("RGV不在线"); } RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { throw new CoolException("RGV不在线"); } if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(3, command))) { return true; } else { throw new CoolException("命令下发失败"); } } } return false; } // @ManagerAuth(memo = "手动复位") // @PostMapping("/operator/handleReset") // public R handleReset(RgvOperatorParam param) throws Exception { // if (param.getRgvNo() == null) { // throw new CoolException("请选择RGV"); // } // // 获取RGV缓存 // for (RgvSlave rgv : slaveProperties.getRgv()) { // // 获取RGV信息 // if (param.getRgvNo().equals(rgv.getId())) { // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); // if (rgvThread == null) { // throw new CoolException("RGV不在线"); // } // RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // if (rgvProtocol == null) { // throw new CoolException("RGV不在线"); // } // RgvCommand Command = new RgvCommand(); // Command.setRgvNo(rgv.getId()); // RGV编号 // Command.setTaskMode1(RgvTaskModeType.NONE); // Command.setAckFinish1(true); // 任务完成确认位 // Command.setAckFinish2(true); // 任务完成确认位 // Command.setCommand(true); // 任务完成确认位 // // 延时发送 // Thread.sleep(1000L); // if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, Command))) { // return R.ok(); // } else { // throw new CoolException("命令下发失败"); // } // // } // } // return R.error(); // } // // private boolean rgvControl(RgvCommand command){ // if (command.getRgvNo() == null) { // throw new CoolException("请选择RGV"); // } // for (RgvSlave rgv : slaveProperties.getRgv()) { // // 获取RGV信息 // if (command.getRgvNo().equals(rgv.getId())) { // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); // if (rgvThread == null) { // throw new CoolException("RGV不在线"); // } // RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // if (rgvProtocol == null) { // throw new CoolException("RGV不在线"); // } // if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) { // return true; // } else { // throw new CoolException("命令下发失败"); // } // } // } // return false; // } // // private boolean rgvClear(RgvCommand command){ // if (command.getRgvNo() == null) { // throw new CoolException("请选择RGV"); // } // for (RgvSlave rgv : slaveProperties.getRgv()) { // // 获取RGV信息 // if (command.getRgvNo().equals(rgv.getId())) { // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); // if (rgvThread == null) { // throw new CoolException("RGV不在线"); // } // RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // if (rgvProtocol == null) { // throw new CoolException("RGV不在线"); // } // if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(3, command))) { // return true; // } else { // throw new CoolException("命令下发失败"); // } // } // } // return false; // // } } src/main/java/com/zy/asrs/entity/DeviceError.java
New file @@ -0,0 +1,96 @@ package com.zy.asrs.entity; import com.baomidou.mybatisplus.annotations.TableField; import com.baomidou.mybatisplus.annotations.TableId; import com.baomidou.mybatisplus.annotations.TableName; import com.baomidou.mybatisplus.enums.IdType; import com.core.common.Cools; import io.swagger.annotations.ApiModelProperty; import lombok.Data; import org.springframework.format.annotation.DateTimeFormat; import java.io.Serializable; import java.text.SimpleDateFormat; import java.util.Date; @Data @TableName("wcs_device_error") public class DeviceError implements Serializable { private static final long serialVersionUID = 1L; @ApiModelProperty(value= "") @TableId(value = "id", type = IdType.AUTO) @TableField("id") private Long id; /** * 设备 */ @ApiModelProperty(value= "设备") @TableField("device") private String device; /** * 异常信息 */ @ApiModelProperty(value= "异常信息") @TableField("msg") private String msg; /** * 设备ID */ @ApiModelProperty(value= "设备ID") @TableField("device_id") private Integer deviceId; /** * 设备ID */ @ApiModelProperty(value= "设备plcID") @TableField("device_plc_id") private Integer devicePlcId; /** * 创建时间 */ @ApiModelProperty(value= "创建时间") @TableField("create_time") @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss") private Date createTime; /** * 创建时间 */ @ApiModelProperty(value= "创建时间") @TableField("appe_time") @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss") private Date appeTime; public DeviceError() {} public DeviceError(Long id, String device, String msg, Integer deviceId, Date createTime) { this.id = id; this.device = device; this.msg = msg; this.deviceId = deviceId; this.createTime = createTime; } // DeviceError deviceError = new DeviceError( // null, // 设备 // null, // 设备ID // null, // 创建时间 // null // 异常信息 // ); public String getCreateTime$(){ if (Cools.isEmpty(this.createTime)){ return ""; } return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime); } } src/main/java/com/zy/asrs/mapper/DeviceErrorMapper.java
New file @@ -0,0 +1,33 @@ package com.zy.asrs.mapper; import com.baomidou.mybatisplus.mapper.BaseMapper; import com.zy.asrs.entity.DeviceError; import org.apache.ibatis.annotations.Mapper; import org.apache.ibatis.annotations.Param; import org.springframework.stereotype.Repository; import java.util.List; @Mapper @Repository public interface DeviceErrorMapper extends BaseMapper<DeviceError> { DeviceError selectByDeviceAndDeviceId(String device, Integer deviceId); Integer deleteByDeviceAndDeviceId(String device, Integer deviceId); List<DeviceError> selectDeviceErrorList( @Param("id")Long id, @Param("device")String device, @Param("deviceId")Integer deviceId, @Param("pageNumber")Integer curr, @Param("pageSize")Integer limit ) ; Long selectDeviceErrorListTotal( @Param("id")Long id, @Param("device")String device, @Param("deviceId")Integer deviceId ) ; } src/main/java/com/zy/asrs/service/DeviceErrorService.java
New file @@ -0,0 +1,19 @@ package com.zy.asrs.service; import com.baomidou.mybatisplus.service.IService; import com.zy.asrs.entity.DeviceError; import java.util.List; public interface DeviceErrorService extends IService<DeviceError> { DeviceError selectByDeviceAndDeviceId(String device, Integer deviceId); Boolean addDeviceError(String device, Integer deviceId, String msg); Integer deleteDeviceError(String device, Integer deviceId); List<DeviceError> selectDeviceErrorList(Long id, String device, Integer deviceId, Integer curr, Integer limit) ; Long selectDeviceErrorListTotal(Long id,String device, Integer deviceId) ; } src/main/java/com/zy/asrs/service/impl/DeviceErrorServiceImpl.java
New file @@ -0,0 +1,55 @@ package com.zy.asrs.service.impl; import com.baomidou.mybatisplus.service.impl.ServiceImpl; import com.zy.asrs.entity.DeviceError; import com.zy.asrs.mapper.DeviceErrorMapper; import com.zy.asrs.service.DeviceErrorService; import org.springframework.stereotype.Service; import java.util.Date; import java.util.List; @Service("deviceErrorService") public class DeviceErrorServiceImpl extends ServiceImpl<DeviceErrorMapper, DeviceError> implements DeviceErrorService { @Override public DeviceError selectByDeviceAndDeviceId(String device, Integer deviceId) { return this.baseMapper.selectByDeviceAndDeviceId(device, deviceId); } @Override public Boolean addDeviceError(String device, Integer deviceId, String msg) { // DeviceError error = this.selectByDeviceAndDeviceId(device, deviceId); // if (error == null) { DeviceError deviceError = new DeviceError(); deviceError.setDevice(device); deviceError.setDeviceId(deviceId); deviceError.setMsg(msg); deviceError.setCreateTime(new Date()); Integer insert = 0; try{ insert = this.baseMapper.insert(deviceError); } catch (Exception e){ } return insert> 0; // } // return true; } @Override public Integer deleteDeviceError(String device, Integer deviceId) { return this.baseMapper.deleteByDeviceAndDeviceId(device, deviceId); } @Override public List<DeviceError> selectDeviceErrorList(Long id, String device, Integer deviceId, Integer curr, Integer limit) { return this.baseMapper.selectDeviceErrorList(id,device, deviceId,curr,limit); } @Override public Long selectDeviceErrorListTotal(Long id,String device, Integer deviceId) { return this.baseMapper.selectDeviceErrorListTotal(id,device, deviceId); } } src/main/java/com/zy/asrs/utils/TrackRangeUtils.java
New file @@ -0,0 +1,81 @@ package com.zy.asrs.utils; import com.zy.core.cache.RgvStatusCache; import com.zy.core.model.RgvSlave; import com.zy.core.model.protocol.RgvProtocol; /** * Created by Monkey D. Luffy on 2023/7/18 */ public class TrackRangeUtils { public boolean IsItSmall(RgvSlave slave) { RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); if (rgvProtocol.getRgvPos() < rgvProtocolOther.getRgvPos()) { return true; } return false; } public Long[][] avoidRange(RgvSlave slave, Long trackEntireLength, Long trackBenchmark, Long avoidDistance) { RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); RgvProtocol rgvProtocolE, rgvProtocolB; if (IsItSmall(slave)) { rgvProtocolE = rgvProtocolOther; rgvProtocolB = rgvProtocol; } else { rgvProtocolE = rgvProtocol; rgvProtocolB = rgvProtocolOther; } long entireLengthE = trackEntireLength - rgvProtocolE.getCarBodyKunPeng(); long benchmarkE = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing() + rgvProtocolB.getCarBodyKunPeng() + avoidDistance + rgvProtocolE.getCarBodyJiaoMing(); long entireLengthB = trackEntireLength - rgvProtocolE.getCarBodyKunPeng() - rgvProtocolE.getCarBodyJiaoMing() - avoidDistance - rgvProtocolB.getCarBodyKunPeng(); long benchmarkB = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing(); return new Long[][]{new Long[]{entireLengthE, benchmarkE}, new Long[]{entireLengthB, benchmarkB}}; } public Long[][] avoidRangeArr(RgvSlave slave, Long trackEntireLength, Long trackBenchmark, Long avoidDistance) { RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); RgvProtocol rgvProtocolE, rgvProtocolB; if (IsItSmall(slave)) { rgvProtocolE = rgvProtocolOther; rgvProtocolB = rgvProtocol; long entireLength = rgvProtocolE.getRgvPosDestination() - rgvProtocolE.getCarBodyJiaoMing() - avoidDistance - rgvProtocolB.getCarBodyKunPeng(); long benchmark = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing(); long entireLengthOther = trackEntireLength - rgvProtocolE.getCarBodyKunPeng(); long benchmarkOther = rgvProtocolB.getRgvPosDestination() + rgvProtocolB.getCarBodyKunPeng() + avoidDistance + rgvProtocolE.getCarBodyJiaoMing(); return new Long[][]{new Long[]{entireLength, benchmark}, new Long[]{entireLengthOther, benchmarkOther}}; } else { rgvProtocolE = rgvProtocol; rgvProtocolB = rgvProtocolOther; long entireLength = trackEntireLength - rgvProtocolE.getCarBodyKunPeng(); long benchmark = rgvProtocolB.getRgvPosDestination() + rgvProtocolB.getCarBodyKunPeng() + avoidDistance + rgvProtocolE.getCarBodyJiaoMing(); long entireLengthOther = rgvProtocolE.getRgvPosDestination() - rgvProtocolE.getCarBodyJiaoMing() - avoidDistance - rgvProtocolB.getCarBodyKunPeng(); long benchmarkOther = trackBenchmark + rgvProtocolB.getCarBodyJiaoMing(); return new Long[][]{new Long[]{entireLength, benchmark}, new Long[]{entireLengthOther, benchmarkOther}}; } } public boolean avoidRange(Long avoid, Long[] range) { return avoid < range[0] && avoid > range[1]; } } src/main/java/com/zy/core/ThreadHandler.java
@@ -6,4 +6,6 @@ void close(); void setWrkSign(); } src/main/java/com/zy/core/cache/RgvErrCache.java
New file @@ -0,0 +1,100 @@ package com.zy.core.cache; import com.zy.core.model.protocol.RgvErrProtocol; import java.util.concurrent.ConcurrentHashMap; /** * Created by IX on 2025/02/21 */ public class RgvErrCache { // 本地缓存，键为 currentPosition，值为 DeviceStatus private static final ConcurrentHashMap<Integer, RgvErrProtocol> cache = new ConcurrentHashMap<>(); /** * 更新设备状态 */ public static void updateRgvStatus(RgvErrProtocol status) { try { cache.put(status.getRgvNo(), status); } finally { } } /** * 更新设备状态 */ public static void updateRgvErr(Integer rgvNo,String error) { try { RgvErrProtocol rgvErrProtocol = cache.get(rgvNo); if (rgvErrProtocol == null){ rgvErrProtocol = new RgvErrProtocol(); rgvErrProtocol.setRgvNo(rgvNo); } if (!rgvErrProtocol.getError().equals(error)){ rgvErrProtocol.setError(error); cache.put(rgvErrProtocol.getRgvNo(), rgvErrProtocol); } } finally { } } /** * 更新设备状态 */ public static void updateRgvErr(Integer rgvNo) { try { RgvErrProtocol rgvErrProtocol = cache.get(rgvNo); if (rgvErrProtocol == null){ rgvErrProtocol = new RgvErrProtocol(); rgvErrProtocol.setRgvNo(rgvNo); } if (!rgvErrProtocol.getError().equals("-")){ rgvErrProtocol.setError("-"); cache.put(rgvErrProtocol.getRgvNo(), rgvErrProtocol); } } finally { } } /** * 更新设备状态 */ public static String getErrorDev(Integer rgvNo) { try { RgvErrProtocol rgvErrProtocol = cache.get(rgvNo); if (rgvErrProtocol == null){ rgvErrProtocol = new RgvErrProtocol(); rgvErrProtocol.setRgvNo(rgvNo); } return rgvErrProtocol.getError(); } finally { } } /** * 获取设备状态 */ public static RgvErrProtocol getRgvStatus(Integer rgvNo) { try { return cache.get(rgvNo); } finally { } } /** * 获取所有设备状态 */ public static ConcurrentHashMap<Integer, RgvErrProtocol> getAllRgvStatus() { try { return new ConcurrentHashMap<>(cache); // 返回副本 } finally { } } } src/main/java/com/zy/core/cache/RgvRunCache.java
New file @@ -0,0 +1,59 @@ package com.zy.core.cache; import com.core.common.Cools; import com.zy.core.model.protocol.RgvRunProtocol; import java.util.concurrent.ConcurrentHashMap; /** * Created by IX on 2025/02/21 */ public class RgvRunCache { // 本地缓存，键为 currentPosition，值为 DeviceStatus private static final ConcurrentHashMap<String, RgvRunProtocol> cache = new ConcurrentHashMap<>(); /** * 更新设备状态 */ public static void updateRgvStatus(RgvRunProtocol status) { try { cache.put(status.getDev(), status); } finally { } } /** * 获取设备状态 */ public static RgvRunProtocol getRgvRun() { try { RgvRunProtocol rgv = cache.get("RGV"); if (Cools.isEmpty(rgv)){ rgv = new RgvRunProtocol(); } return rgv; } finally { } } /** * 获取设备状态 */ public static RgvRunProtocol getRgvStatus(String dev) { try { return cache.get(dev); } finally { } } /** * 获取所有设备状态 */ public static ConcurrentHashMap<String, RgvRunProtocol> getAllRgvStatus() { try { return new ConcurrentHashMap<>(cache); // 返回副本 } finally { } } } src/main/java/com/zy/core/cache/RgvStatusCache.java
New file @@ -0,0 +1,62 @@ package com.zy.core.cache; import com.zy.core.model.protocol.RgvProtocol; import java.util.concurrent.ConcurrentHashMap; /** * Created by IX on 2025/02/21 */ public class RgvStatusCache { // 本地缓存，键为 currentPosition，值为 DeviceStatus private static final ConcurrentHashMap<Integer, RgvProtocol> cache = new ConcurrentHashMap<>(); /** * 更新设备状态 */ public static void updateRgvStatus(RgvProtocol status) { try { if (status.getRgvNo()!=1 && status.getRgvNo() != 2){ return; } cache.put(status.getRgvNo(), status); } finally { } } /** * 获取设备状态 */ public static RgvProtocol getRgvStatus(Integer RgvNo) { try { return cache.get(RgvNo); } finally { } } /** * 获取所有设备状态 */ public static ConcurrentHashMap<Integer, RgvProtocol> getAllRgvStatus() { try { return new ConcurrentHashMap<>(cache); // 返回副本 } finally { } } /** * 获取所有设备状态 */ public static void removeAll() { try { ConcurrentHashMap<Integer, RgvProtocol> integerRgvProtocolConcurrentHashMap = new ConcurrentHashMap<>(cache); if (integerRgvProtocolConcurrentHashMap.values().size()>2){ for (RgvProtocol rgvProtocol : integerRgvProtocolConcurrentHashMap.values()){ cache.remove(rgvProtocol.getRgvNo()); } } } finally { } } } src/main/java/com/zy/core/cache/RgvTaskCache.java
New file @@ -0,0 +1,44 @@ package com.zy.core.cache; import com.zy.core.model.protocol.RgvTaskProtocol; import java.util.concurrent.ConcurrentHashMap; /** * Created by IX on 2025/02/21 */ public class RgvTaskCache { // 本地缓存，键为 currentPosition，值为 DeviceStatus private static final ConcurrentHashMap<Integer, RgvTaskProtocol> cache = new ConcurrentHashMap<>(); /** * 更新设备状态 */ public static void updateRgvStatus(RgvTaskProtocol status) { try { cache.put(status.getRgvNo(), status); } finally { } } /** * 获取设备状态 */ public static RgvTaskProtocol getRgvStatus(Integer RgvNo) { try { return cache.get(RgvNo); } finally { } } /** * 获取所有设备状态 */ public static ConcurrentHashMap<Integer, RgvTaskProtocol> getAllRgvStatus() { try { return new ConcurrentHashMap<>(cache); // 返回副本 } finally { } } } src/main/java/com/zy/core/cache/TaskProtocolCache.java
New file @@ -0,0 +1,184 @@ package com.zy.core.cache; import com.zy.core.model.protocol.TaskProtocol; import lombok.extern.slf4j.Slf4j; import java.util.ArrayList; import java.util.List; import java.util.concurrent.ConcurrentHashMap; /** * Created by IX on 2025/02/21 */ @Slf4j public class TaskProtocolCache { // 本地缓存，键为 taskNo，值为 TaskProtocol private final ConcurrentHashMap<String, TaskProtocol> cache = new ConcurrentHashMap<>(); // 读写锁，确保线程安全 // private final ReentrantReadWriteLock lock = new ReentrantReadWriteLock(); /** * 更新设备状态 */ public void updateTaskProtocol(TaskProtocol status) { cache.put(status.getTaskNoDirection(), status); } /** * 删除任务缓存 */ public TaskProtocol removeTaskProtocol(String taskNoDirection) { // lock.readLock().lock(); // 加读锁 try { return cache.remove(taskNoDirection); } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 获取所有任务 */ public ConcurrentHashMap<String, TaskProtocol> getAllTaskProtocol() { // lock.readLock().lock(); // 加读锁 try { return new ConcurrentHashMap<>(cache); // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 获取所有取任务 */ public List<TaskProtocol> getTakeOrPutTaskProtocol(short loaded) { if (loaded == 0){ return getAllTakeTaskProtocol(); } else if (loaded == 1){ return getAllPutTaskProtocol(); } return new ArrayList<>(); } /** * 获取所有取任务 */ public List<TaskProtocol> getAllTakeTaskProtocol() { // lock.readLock().lock(); // 加读锁 try { List<TaskProtocol> allTakeTaskProtocol = new ArrayList<>(); for (TaskProtocol task : cache.values()) { if (task.getTaskStatus()==2) { allTakeTaskProtocol.add(task); } } return allTakeTaskProtocol; // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 获取所有放任务 */ public List<TaskProtocol> getAllPutTaskProtocol() { // lock.readLock().lock(); // 加读锁 try { List<TaskProtocol> allPutTaskProtocol = new ArrayList<>(); for (TaskProtocol task : cache.values()) { if (task.getTaskStatus()==3) { allPutTaskProtocol.add(task); } } return allPutTaskProtocol; // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 获取所有行走任务 */ public List<TaskProtocol> getAllWalkTaskProtocol() { // lock.readLock().lock(); // 加读锁 try { List<TaskProtocol> allWalkTaskProtocol = new ArrayList<>(); for (TaskProtocol task : cache.values()) { if (task.getTaskStatus()==1) { allWalkTaskProtocol.add(task); } } return allWalkTaskProtocol; // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 查询是否有可执行任务 */ public boolean isNowPosRun(Long targetPosition) { // lock.readLock().lock(); // 加读锁 try { List<TaskProtocol> allWalkTaskProtocol = new ArrayList<>(); for (TaskProtocol task : cache.values()) { long runPos = Math.abs(task.getTargetPosition() - targetPosition); if (runPos<50) { return true; } } return false; // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 查询是否有可执行任务 */ public TaskProtocol getNowPosRunTask(Long targetPosition) { // lock.readLock().lock(); // 加读锁 try { for (TaskProtocol task : cache.values()) { long runPos = Math.abs(task.getTargetPosition() - targetPosition); if (runPos<50) { return task; } } return null; // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } /** * 查询是否有可执行任务 */ public TaskProtocol getNowPosRunTask2() { // lock.readLock().lock(); // 加读锁 try { for (TaskProtocol task : cache.values()) { if (task.getTaskStatus()==1) { return task; } } for (TaskProtocol task : cache.values()) { if (task.getTaskStatus()==2) { return task; } } for (TaskProtocol task : cache.values()) { if (task.getTaskStatus()==3) { return task; } } return null; // 返回副本 } finally { // lock.readLock().unlock(); // 释放读锁 } } } src/main/java/com/zy/core/enums/RgvStatusType.java
@@ -2,45 +2,51 @@ public enum RgvStatusType { NONE(-1, "离线"), IDLE(0, "空闲"), WORKING(1, "作业中"), SOS(2, "报警"), WORKING1(3, "作业中"), FETCHING(11, "取货中"), PUTTING(12, "放货中"), WAITING(90, "任务完成等待WCS确认"), FETCHWAITING(91, "取货任务完成等待WCS确认"), NONE(-1, "离线","ffffff"), NONE0(0, "离线","ffffff"), IDLE(1, "空闲","ffffff"), WORKING(2, "作业中","ffffff"),// 1：行走 2：取 3：放 SOS(3, "报警","ffffff"), FETCHING(11, "取货中","ffffff"), PUTTING(12, "放货中","ffffff"), WAITING(90, "任务完成等待WCS确认","ffffff"), FETCHWAITING(91, "取货任务完成等待WCS确认","ffffff"), SOS99(99, "报警99","ffffff"), OTHER(100, "其它100","ffffff"), MAN(110, "作业启动中","ffffff"), ROAM(100000, "漫游","ffffff") ; public Integer id; public String desc; RgvStatusType(Integer id, String desc) { public String color; RgvStatusType(Integer id, String desc, String color) { this.id = id; this.desc = desc; this.color = color; } public static RgvStatusType get(Short id) { if (null == id) { return null; return OTHER; } for (RgvStatusType type : RgvStatusType.values()) { if (type.id.equals(id.intValue())) { return type; } } return NONE; return OTHER; } public static RgvStatusType get(RgvStatusType type) { if (null == type) { return null; return OTHER; } for (RgvStatusType rgvStatusType : RgvStatusType.values()) { if (rgvStatusType == type) { return rgvStatusType; } } return null; return OTHER; } } src/main/java/com/zy/core/model/RgvSlave.java
@@ -22,29 +22,16 @@ private Boolean demo; private Integer otherId; private Long carBodyJiaoMing; private Long carBodyKunPeng; // RGV入库源站点 private List<RgvStn> rgvInSStn = new ArrayList<>(); // RGV出库源站点 private List<RgvStn> rgvOutSStn = new ArrayList<>(); // RGV叠盘 private List<RgvStn> rgvEmptyInSStn = new ArrayList<>(); // RGV空板入库 private List<RgvStn> rgvEmptyOutSStn = new ArrayList<>(); // RGV出库目标站点 private List<RgvStn> rgvDestStn = new ArrayList<>(); // RGV入库取货站点 private List<RgvStn> rgvInTStn = new ArrayList<>(); // RGV入库放货站点 private List<RgvStn> rgvInPStn = new ArrayList<>(); // RGV出库取货站点 private List<RgvStn> rgvOutTStn = new ArrayList<>(); //RGV出库放货站点 private List<RgvStn> rgvOutPStn = new ArrayList<>(); private List<RgvStn> rgvInSta = new ArrayList<>(); private List<RgvStn> rgvOutSta = new ArrayList<>(); private List<RgvStn> rgvSuperSta = new ArrayList<>(); @Data public static class RgvStn { @@ -54,17 +41,15 @@ // RGV站点编号 private Integer staNo; // RGV二站点编号 private Integer staNo2; // // 排 // private Integer row; // // // 列 // private Integer bay; // // // 层 // private Integer lev; // RGV站点编号 private boolean direction; // RGV站点编号 private Integer staNoOther; // RGV站点编号 private boolean directionOther; }
New file @@ -0,0 +1,16 @@ package com.zy.core.model.protocol; import lombok.Data; /** * Created by IX on 2025/02/21 */ @Data public class RgvErrProtocol { private Integer rgvNo; public String error = "-"; public RgvErrProtocol(){} } src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -1,99 +1,59 @@ package com.zy.core.model.protocol; import com.zy.asrs.entity.BasRgv; import com.zy.asrs.entity.BasRgvErrorLog; import com.zy.core.enums.RgvModeType; import com.zy.core.enums.RgvStatusType; import lombok.Data; import javax.swing.*; import java.util.HashMap; import java.util.Map; /** * Created by vincent on 2020/8/7 */ @Data public class RgvProtocol implements Cloneable{ public class RgvProtocol { private short RgvNo; private Integer RgvNo; /** * 1 = 手动模式 * 2 = 自动模式 * 3 = 电脑模式 */ public Short mode; public Short mode = -1; public RgvModeType modeType; private transient Long loadingStartTime; public RgvModeType modeType = RgvModeType.NONE; /** * 执行优先级 * 0:不判断 * 1：工位1先执行 * 2：工位2先执行 */ public Short wrkTaskPri; public Short wrkTaskMove1; public Short wrkTaskMove2; /** * RGV当前状态工位1 * RGV当前状态 * 0：空闲，无任务 * 1：作业中 * 2：报警 */ public Short status; public Short status = -1; /** * 状态枚举 */ public RgvStatusType statusType; public RgvStatusType statusType = RgvStatusType.NONE; /** * 工位1任务号 * 任务号 */ public Integer taskNo1 = 0; /** * 工位1目标站 */ public Integer staNo1 = 0; public Long taskNo = 0L; /** * RGV工位1当前状态 * 0：空闲，无任务 * 11：取货中 * 12：放货中 * 10：任务完成等待WCS确认 * 有物 */ public Short status1; /** * 状态枚举 */ public RgvStatusType statusType1; /** * 工位1有物 */ public Boolean loaded1; public Short loaded = -1;//0 无物；1 有物 /** * RGV当前位置 */ public Integer RgvPos; public Long RgvPos = 0L; /** * RGV当前目的位置 * RGV目的位置 */ public Integer RgvPosDestination; public Long RgvPosDestination = 0L; /** * 走行在定位 @@ -103,176 +63,9 @@ public Short walkPos; /** * 急停触发 */ public Boolean err1; /** * */ public Boolean err2; /** * 有资料无物 */ public Boolean err3; /** * 命令错误走行联调冲突 */ public Boolean err4; /** * 目标为超过行走极限 */ public Boolean err5; /** * 变频器异常 */ public Boolean err6; /** * 光电异常 */ public Boolean err7; public Boolean err8; public Boolean err9; public Boolean err10; public Boolean err11; public Boolean err12; ////////////////////// 工位2定义 ////////////////////////////////////////////////// /** * 工位2任务号 */ public Integer taskNo2 = 0; /** * 工位1目标站 */ public Integer staNo2 = 0; /** * RGV工位2当前状态 * 0：空闲，无任务 * 11：取货中 * 12：放货中 * 10：任务完成等待WCS确认 */ public Short status2; /** * 状态枚举 */ public RgvStatusType statusType2; /** * 工位2有物 */ public Boolean loaded2; // /** // * 急停 // */ // public Boolean err21; // // /** // * 有物无资料 // */ // public Boolean err22; // // /** // * 有资料无物 // */ // public Boolean err23; // // /** // * 命令错误走行联调冲突 // */ // public Boolean err24; // // /** // * 目标为超过行走极限 // */ // public Boolean err25; // // /** // * 变频器异常 // */ // public Boolean err26; // // /** // * 光电异常 // */ // public Boolean err27; /////////////////////////////////////////////////////////////////////////////////////// //配置信号----------------------------------------------------------------------------- // 故障读取锁定标记 private boolean errorMk = false; //写入标记 private boolean writeMk = true; private Boolean chainForward1 = false; // 链条前进 1 private Boolean chainReverse1 = false; // 链条后退 1 private Boolean inverterAlarm = false; // 变频器报警 private Boolean leftOverlimit2 = false; // 左超限 2 private Boolean rightOverlimit2 = false; // 右超限 2 private Boolean leftAtPosition2 = false; // 左到位 2 private Boolean rightAtPosition2 = false; // 右到位 2 private Boolean cargoSpeedReduction = false; // 货物减速 private Boolean conveyorInverterAlarm2 = false; // 输送变频器报警 2 private Boolean emergencyStop = false; // 急停触发 private Boolean slot1EmptyNoData = false; // 1号位有物无资料 private Boolean slot2EmptyNoData = false; // 2号位有物无资料 private Boolean commandErrorChainConflict = false; // 命令错误走链条冲突 private Boolean targetPositionIssue = false; // 目标位下发错误 private Boolean travelInverterError = false; // 走行变频器异常 private Boolean photoelectric1Error = false; // 1号光电异常 private Boolean photoelectric2Error = false; // 2号光电异常 private Boolean timeoutConnectionWithLine = false; // 与输线时接超时 private Boolean leftRollerTimeout = false; // 左侧滚筒运行超时 private Boolean rightRollerTimeout = false; // 右侧滚筒运行超时 private Boolean rgvRunTimeout = false; // rgv运行超时 private Boolean position1ChainInverterError = false; // 1号工位链条变频器异常 private Boolean position2ChainInverterError = false; // 2号工位链条变频器异常 private Boolean frontRearLimit = false; // 前后极限位 private Boolean emergencyButton = false; // 急停按钮 private Boolean forwardButton = false; // 前进按钮 private Boolean reverseButton = false; // 后退按钮 private Boolean localRemote = false; // 本地/远程 private Boolean reset = false; // 复位 private Boolean travelBrakeSwitch = false; // 走行抱闸开关钮 private Boolean travelSpeedLimitPhotoelectric = false; // 走行强制减速光电 private Boolean leftOverlimit1 = false; // 左超限 1 private Boolean rightOverlimit1 = false; // 右超限 1 private Boolean leftAtPosition1 = false; // 左到位 1 private Boolean rightAtPosition1 = false; // 右到位 1 private Boolean rightConveyor2 = false; // 右输送 2 private Boolean leftConveyor2 = false; // 左输送 2 //--------------------------------------------------------------------- /** * 异常码 */ public Short alarm; /** * 心跳指令 1-2每秒切换一次 */ public Short heart; private Short temp1; private Short temp2; private Short temp3; private Short temp4; private Short temp5; /** * X行走行速度m/min @@ -280,59 +73,54 @@ private Float xSpeed; /** * 堆垛机累计走行距离km * 累计走行距离km */ public Float xDistance; /** * 堆垛机累计走行时长h * 累计走行时长h */ public Float xDuration; /** * 车身 */ public Long carBodyJiaoMing = 2000L; public BasRgvErrorLog toSqlModelError(){ BasRgvErrorLog basRgvErrorLog = new BasRgvErrorLog(); basRgvErrorLog.setRgvNo((int) RgvNo);// 设备号（假设有定义 siteId） basRgvErrorLog.setChainForward1(chainForward1 ? "Y" : "N"); // 链条前进 1 basRgvErrorLog.setChainReverse1(chainReverse1 ? "Y" : "N"); // 链条后退 1 basRgvErrorLog.setInverterAlarm(inverterAlarm ? "Y" : "N"); // 变频器报警 basRgvErrorLog.setLeftOverlimit2(leftOverlimit2 ? "Y" : "N"); // 左超限 2 basRgvErrorLog.setRightOverlimit2(rightOverlimit2 ? "Y" : "N"); // 右超限 2 basRgvErrorLog.setLeftAtPosition2(leftAtPosition2 ? "Y" : "N"); // 左到位 2 basRgvErrorLog.setRightAtPosition2(rightAtPosition2 ? "Y" : "N"); // 右到位 2 basRgvErrorLog.setCargoSpeedReduction(cargoSpeedReduction ? "Y" : "N"); // 货物减速 basRgvErrorLog.setConveyorInverterAlarm2(conveyorInverterAlarm2 ? "Y" : "N"); // 输送变频器报警 2 basRgvErrorLog.setEmergencyStop(emergencyStop ? "Y" : "N"); // 急停触发 basRgvErrorLog.setSlot1EmptyNoData(slot1EmptyNoData ? "Y" : "N"); // 1号位有物无资料 basRgvErrorLog.setSlot2EmptyNoData(slot2EmptyNoData ? "Y" : "N"); // 2号位有物无资料 basRgvErrorLog.setCommandErrorChainConflict(commandErrorChainConflict ? "Y" : "N"); // 命令错误走链条冲突 basRgvErrorLog.setTargetPositionIssue(targetPositionIssue ? "Y" : "N"); // 目标位下发错误 basRgvErrorLog.setTravelInverterError(travelInverterError ? "Y" : "N"); // 走行变频器异常 basRgvErrorLog.setPhotoelectric1Error(photoelectric1Error ? "Y" : "N"); // 1号光电异常 basRgvErrorLog.setPhotoelectric2Error(photoelectric2Error ? "Y" : "N"); // 2号光电异常 basRgvErrorLog.setTimeoutConnectionWithLine(timeoutConnectionWithLine ? "Y" : "N"); // 与输线时接超时 basRgvErrorLog.setLeftRollerTimeout(leftRollerTimeout ? "Y" : "N"); // 左侧滚筒运行超时 basRgvErrorLog.setRightRollerTimeout(rightRollerTimeout ? "Y" : "N"); // 右侧滚筒运行超时 basRgvErrorLog.setRgvRunTimeout(rgvRunTimeout ? "Y" : "N"); // rgv运行超时 basRgvErrorLog.setPosition1ChainInverterError(position1ChainInverterError ? "Y" : "N"); // 1号工位链条变频器异常 basRgvErrorLog.setPosition2ChainInverterError(position2ChainInverterError ? "Y" : "N"); // 2号工位链条变频器异常 basRgvErrorLog.setFrontRearLimit(frontRearLimit ? "Y" : "N"); // 前后极限位 basRgvErrorLog.setEmergencyButton(emergencyButton ? "Y" : "N"); // 急停按钮 basRgvErrorLog.setForwardButton(forwardButton ? "Y" : "N"); // 前进按钮 basRgvErrorLog.setReverseButton(reverseButton ? "Y" : "N"); // 后退按钮 basRgvErrorLog.setLocalRemote(localRemote ? "Y" : "N"); // 本地/远程 basRgvErrorLog.setReset(reset ? "Y" : "N"); // 复位 basRgvErrorLog.setTravelBrakeSwitch(travelBrakeSwitch ? "Y" : "N"); // 走行抱闸开关钮 basRgvErrorLog.setTravelSpeedLimitPhotoelectric(travelSpeedLimitPhotoelectric ? "Y" : "N"); // 走行强制减速光电 basRgvErrorLog.setLeftOverlimit1(leftOverlimit1 ? "Y" : "N"); // 左超限 1 basRgvErrorLog.setRightOverlimit1(rightOverlimit1 ? "Y" : "N"); // 右超限 1 basRgvErrorLog.setLeftAtPosition1(leftAtPosition1 ? "Y" : "N"); // 左到位 1 basRgvErrorLog.setRightAtPosition1(rightAtPosition1 ? "Y" : "N"); // 右到位 1 basRgvErrorLog.setRightConveyor2(rightConveyor2 ? "Y" : "N"); // 右输送 2 basRgvErrorLog.setLeftConveyor2(leftConveyor2 ? "Y" : "N"); // 左输送 2 /** * 车身 */ public Long carBodyKunPeng = 15000L; return basRgvErrorLog; } /** * 是否启用 */ public boolean statusEnable;//0\1\2 // 急停 private boolean err1; // 有物无资料 private boolean err2; // 命令错误走行链条冲突 private boolean err3; // 目标为超过走行极限 private boolean err4; // 变频器异常 private boolean err5; // 光电异常 private boolean err6; //小车模式切换错误 private boolean err7; //其他未知异常 private boolean err8; private String errorRgv; public void setMode(Short mode) { this.mode = mode; @@ -354,50 +142,20 @@ this.status = RgvStatusType.get(type).id.shortValue(); } public void setStatus1(Short status1){ this.status1 = status1; this.statusType1 = RgvStatusType.get(status1); } public void setStatus1(RgvStatusType type1){ this.statusType1 = type1; this.status1 = RgvStatusType.get(type1).id.shortValue(); } public void setStatus2(Short status2){ this.status2 = status2; this.statusType2 = RgvStatusType.get(status2); } public void setStatus2(RgvStatusType type2){ this.statusType2 = type2; this.status2 = RgvStatusType.get(type2).id.shortValue(); } public boolean isLoaded1ing() { return Boolean.TRUE.equals(this.loaded1); } public boolean isLoaded2ing() { return Boolean.TRUE.equals(this.loaded2); } /** * 最近一次入出库类型 * I:入库 * O:出库 */ private String lastIo = "I"; public BasRgv toSqlModel(BasRgv basRgv){ if (alarm!=null) { basRgv.setRgvErr(alarm.longValue()); } basRgv.setWrkNo1(taskNo1.intValue()); basRgv.setWrkNo2(taskNo2.intValue()); basRgv.setWrkNo1(taskNo.intValue()); return basRgv; } public long getRgvPosDestinationOrPos(boolean sign){ if (!sign){ return RgvPosDestination>RgvPos? RgvPosDestination:RgvPos; } else { return RgvPosDestination<RgvPos? RgvPosDestination:RgvPos; } } public void setxSpeed(Short xSpeed) { @@ -412,87 +170,53 @@ this.xDuration = Float.valueOf(xDuration); } public Integer getRgvPosI(){ //需要根据现场改造 根据读到的值获取对应站点位置 Map<Short,Integer> map = new HashMap<>(); map.put((short) 1,1004);map.put((short) 2,1007); map.put((short) 3,1010);map.put((short) 4,1014); map.put((short) 5,1018);map.put((short) 6,1021); map.put((short) 7,1024); map.put((short) 8,1028); map.put((short) 9,1031);map.put((short) 10,1035); map.put((short) 11,2003);map.put((short) 12,2006); map.put((short) 13,2009);map.put((short) 14,2012); map.put((short) 15,2015);map.put((short) 16,2018); map.put((short) 17,2021);map.put((short) 18,2024); map.put((short) 19,2027);map.put((short) 20,2030); if (RgvPos==null) return 0; return map.get(RgvPos); } public Integer getRgvPosI1() { // key: 站点号 value: 基准物理位置 Map<Integer, Integer> posMap = new HashMap<>(); posMap.put(1004, 6534); posMap.put(1007, 33634); posMap.put(1010, 75174); posMap.put(1014, 102124); posMap.put(1018, 138224); posMap.put(1021, 178034); posMap.put(1024, 219684); posMap.put(1028, 246724); posMap.put(1031, 288194); posMap.put(1035, 314954); int tolerance = 200; // 允许误差范围 for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) { int site = entry.getKey(); int basePos = entry.getValue(); if (Math.abs(RgvPos - basePos) <= tolerance) { return site; } public int getAlarm$(){ if (err1){ return 1; } return 0; // 没匹配到站点 } public Integer getRgvPosI2() { // key: 站点号 value: 基准物理位置 Map<Integer, Integer> posMap = new HashMap<>(); posMap.put(2030, 314954); posMap.put(2027, 288094); posMap.put(2024, 246574); posMap.put(2021, 219584); posMap.put(2018, 177934); posMap.put(2015, 138126); posMap.put(2012, 102124); posMap.put(2009, 75174); posMap.put(2006, 33748); posMap.put(2003, 6449); int tolerance = 500; // 允许误差范围 for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) { int site = entry.getKey(); int basePos = entry.getValue(); if (Math.abs(RgvPos - basePos) <= tolerance) { return site; } if (err2){ return 2; } return 0; // 没匹配到站点 } @Override public RgvProtocol clone() { try { return (RgvProtocol) super.clone(); } catch (CloneNotSupportedException e) { e.printStackTrace(); if (err3){ return 3; } return null; if (err4){ return 4; } if (err5){ return 5; } if (err6){ return 6; } if (err7){ return 7; } if (err8){ return 8; } return 0; } public String getAlarmM(){ switch (getAlarm$()){ case 1: return "急停"; case 2: return "有物无资料"; case 3: return "命令错误走行链条冲突"; case 4: return "目标为超过走行极限"; case 5: return "变频器异常"; case 6: return "光电异常"; case 7: return "小车模式切换错误"; case 8: return "其它未知异常"; } return "正常"; } } src/main/java/com/zy/core/model/protocol/RgvRunProtocol.java
New file @@ -0,0 +1,18 @@ package com.zy.core.model.protocol; import lombok.Data; /** * Created by IX on 2025/02/21 */ @Data public class RgvRunProtocol { private String dev = "RGV"; private Integer RgvNo = 1; public Long currentTimeMilliOld = 0L; public RgvRunProtocol(){} } src/main/java/com/zy/core/model/protocol/RgvTaskProtocol.java
New file @@ -0,0 +1,25 @@ package com.zy.core.model.protocol; import lombok.Data; /** * Created by IX on 2025/02/21 */ @Data public class RgvTaskProtocol { private Integer RgvNo; /** * 是否避让 */ public Integer Avoid;//0\1\2 /** * 避让目的地 */ public Long AvoidingTheDestination; public RgvTaskProtocol(){} } src/main/java/com/zy/core/model/protocol/TaskProtocol.java
New file @@ -0,0 +1,61 @@ package com.zy.core.model.protocol; import lombok.Data; /** * Created by IX on 2025/02/21 */ @Data public class TaskProtocol { private volatile String taskNoDirection; // 任务号（主属性） private volatile Long taskNo; // 任务号（主属性） private volatile Long targetPosition = 0L; // 目标位置 private volatile Integer targetPositionStaNo = 0; // 目标位置 private volatile Integer targetPositionStaNoPlcId = 1; // 目标位置 private volatile int isRunning = 0; // 运行状态 0：初始 1：等待执行 2：执行中 3：执行中断 4：完结 private volatile int taskStatus = 0; //作业模式 1：行走 2：取 3：放 0:无 private volatile boolean direction; // 执行方向（面朝轨道 定位值左小右大） true:左 false:右 执行方向（面朝轨道 1:自己 2 轨道 true:自己 false:轨道 public TaskProtocol(){} public TaskProtocol(Long taskNo, Long targetPosition, int isRunning, int taskStatus, boolean direction) { this.taskNo = taskNo; this.targetPosition = targetPosition; this.isRunning = isRunning; this.taskStatus = taskStatus; this.direction = direction; } public TaskProtocol(TaskProtocol taskProtocol) { this.taskNo = taskProtocol.getTaskNo(); this.targetPosition = taskProtocol.getTargetPosition(); this.taskStatus = taskProtocol.getTaskStatus(); this.direction = taskProtocol.direction; } public TaskProtocol(TaskProtocol taskProtocol, boolean direction) { this.taskNo = taskProtocol.getTaskNo(); this.targetPosition = taskProtocol.getTargetPosition(); this.taskStatus = 1; this.direction = taskProtocol.direction; } public String gettaskNoDirection$(Long taskNo,int taskStatus){ String taskStatusStr = "Walk"; switch (taskStatus){ case 2: taskStatusStr = "Tack"; break; case 3: taskStatusStr = "Put"; break; } return taskNo+"_"+taskStatusStr; } } src/main/java/com/zy/core/thread/BarcodeThread.java
@@ -61,4 +61,11 @@ } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/java/com/zy/core/thread/LedThread.java
@@ -128,4 +128,11 @@ public void close() { } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/java/com/zy/core/thread/MelsecCrnThread.java
@@ -473,4 +473,11 @@ } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,34 +5,34 @@ import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.DateUtils; import com.core.common.SpringUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.service.*; import com.zy.common.utils.News; import com.zy.core.RgvThread2; import com.zy.asrs.entity.BasRgv; import com.zy.asrs.entity.BasRgvOpt; import com.zy.asrs.service.BasRgvOptService; import com.zy.asrs.service.BasRgvService; import com.zy.asrs.service.DeviceErrorService; import com.zy.asrs.utils.RouteUtils; import com.zy.asrs.utils.TrackRangeUtils; import com.zy.core.DevpThread; import com.zy.core.ThreadHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.cache.*; import com.zy.core.enums.RgvModeType; import com.zy.core.enums.RgvStatusType; import com.zy.core.enums.RgvTaskModeType; import com.zy.core.enums.RgvTaskStatusType; import com.zy.core.enums.SlaveType; import com.zy.core.model.RgvSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.RgvProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.model.protocol.*; import lombok.Data; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Value; import java.sql.Wrapper; import java.text.MessageFormat; import java.util.*; import java.util.Date; import java.util.List; import java.util.concurrent.ConcurrentHashMap; /** @@ -41,12 +41,19 @@ */ @Data @Slf4j public class RgvThread implements Runnable, RgvThread2 { public class RgvThread implements Runnable, ThreadHandler { private SiemensS7Net siemensNet; private RgvSlave slave; private RgvProtocol rgvProtocol; private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>(); // private RgvProtocol rgvProtocol; private TaskProtocolCache taskProtocolCache = new TaskProtocolCache(); // # 轨道总长 private Long trackEntireLength = 224000L; //# 轨道基准点 private Long trackBenchmark = 1L; // # 避让距离 private Long avoidDistance = 5000L; private String errorRgv = "-"; /** * 工位1复位信号 @@ -57,20 +64,11 @@ */ private boolean resetFlag2 = false; //锁定标记 private boolean PakMk = true; //入库标记 // private boolean PakIn = true; // //出库标记 // private boolean PakOut = true; // //根据距离跳过取货 // private boolean PakRgv = true; // //接驳标记 // private boolean PakToCrn = true; // 任务锁定 private boolean Paking = true; // //连续任务下发 // private boolean PakAll = true; private boolean connectRgv = false; public Long currentTimeMilliConnectRgv= 0L; private boolean delRgvTask = false; private short wrkSign = 0; public RgvThread(RgvSlave slave) { this.slave = slave; @@ -79,133 +77,900 @@ @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { this.connect(); initRgv(); // 启动线程自动重连 new Thread(this::rgvConnect).start(); // 启动读数据线程 new Thread(this::readStatusRgv).start(); // 启动任务下发线程 new Thread(this::taskIssued).start(); // 启动漫游线程 new Thread(this::taskWalkIssued).start(); // new Thread(this::taskWalkIssued2).start(); // 启动任务完成线程 new Thread(this::taskComplete).start(); } private void rgvConnect() { while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId()); if (task != null) { step = task.getStep(); Thread.sleep(1000); if(!connectRgv){ try { connectRgv = this.connect(); Thread.sleep(100); } catch (Exception e){ } } switch (step) { // 读数据 case 1: readStatus(); break; // 小车工位写入数据 case 2: write((RgvCommand) task.getData()); break; // 复位 case 3: RgvCommand command = (RgvCommand) task.getData(); if (null == command) { command = new RgvCommand(); } command.setRgvNo(slave.getId()); // RGV编号 command.setTaskNo(0); // 工作号 command.setTaskStatus(RgvTaskStatusType.NONE); // 任务模式 command.setTargetPosition(0); // 源站 command.setWrkTaskPri(0); // 目标站 command.setCommand(false); write2(command); break; default: break; } Thread.sleep(500); } catch (Exception e) { log.error("rgv连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "rgv连接失败"+e.getMessage()); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } initRgv(); // e.printStackTrace(); } } } private void readStatusRgv() { while (true) { try { if(!connectRgv){ try { Thread.sleep(1000L); } catch (Exception e){ } initRgv(); continue; } Thread.sleep(20); // System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()); readStatus(); } catch (Exception e) { log.error("RGV数据读取线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV数据读取线程异常"+e.getMessage()); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } initRgv(); // e.printStackTrace(); } } } private static final Set<Integer> specialSites = new HashSet<>( Arrays.asList(1004,1014,1018,1028,1035,2006,2012,2018,2024,2030)); public static final Map<Integer, Integer> StaPosition = new HashMap<Integer, Integer>() {{ put(1004, 1001);put(1014, 1011);put(1018, 1015);put(1028, 1025);put(1035, 1032); put(2006, 2004);put(2012, 2010);put(2018, 2016);put(2024, 2022);put(2030, 2028); }}; public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{ add(1);add(2); }}; public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{ add(3);add(4); }}; /** * 初始化站点状态 * 完成 */ private void initSite() { ArrayList<Integer> staNos = getStaNo(); private void taskComplete() { while (true) { try { if(!connectRgv){ try { Thread.sleep(1000L); } catch (Exception e){ // 站点编号 for (Integer siteId : staNos) { StaProtocol staProtocol = station.get(siteId); if (null == staProtocol) { staProtocol = new StaProtocol(); staProtocol.setSiteId(siteId); station.put(siteId, staProtocol); } continue; } staProtocol.setWorkNo(0); // ID staProtocol.setAutoing(false); // 自动 staProtocol.setLoading(false); // 有物 staProtocol.setInEnable(false); // 可入 staProtocol.setOutEnable(false); // 可出 staProtocol.setEmptyMk(false); // 空板信号 staProtocol.setStaNo((short) 0); // 目标站 if (delRgvTask){ writeDelRgvTask(); delRgvTask = false; continue; } Thread.sleep(50L); OperateResultExOne<byte[]> result = siemensNet.Read("DB100.12", (short) 1); boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 0, 1); if (status[0]){ Thread.sleep(500L); OperateResult result4 = siemensNet.Write("DB100.12.0", false); } } catch (Exception e) { log.error("RGV数据任务下发复位线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV数据任务下发复位线程异常"+e.getMessage()); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } initRgv(); // e.printStackTrace(); } } } /** * 漫游 */ private void taskWalkIssued() { while (true) { try { if(!connectRgv){ try { Thread.sleep(1000L); } catch (Exception e){ } continue; } // 休眠 1 秒 Thread.sleep(100); if (!deviceDetection()) { continue; } RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); if (rgvTaskProtocol == null) { initRgv(); rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); } if (rgvTaskProtocol.getAvoid() != 1) { continue; } TaskProtocol issued = new TaskProtocol(); issued.setTaskNo(32222L); issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination()); issued.setTaskStatus(1); issued.setDirection(true); write(issued); rgvTaskProtocol.setAvoid(0); // Thread.sleep(200); RgvTaskCache.updateRgvStatus(rgvTaskProtocol); } catch (Exception e) { log.error("RGV行走任务下发线程异常！！！" + e.getMessage()); // e.printStackTrace(); } } } /** * 任务下发 */ private void taskIssued() { while (true) { if(!connectRgv){ try { Thread.sleep(1000L); } catch (Exception e){ } continue; } RgvRunProtocol rgvRun = RgvRunCache.getRgvRun(); if (!rgvRun.getRgvNo().equals(slave.getId())){ continue; } try { Thread.sleep(100); rgvRun = RgvRunCache.getRgvRun(); // System.out.println(JSON.toJSON(rgvRun)); // 休眠 1 秒 if (System.currentTimeMillis() - rgvRun.currentTimeMilliOld > 500L) { rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; } else { continue; } if (!deviceDetection()) { rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; rgvRun.setRgvNo(slave.getOtherId()); RgvRunCache.updateRgvStatus(rgvRun); if (!errorRgv.equals("无")){ RgvErrCache.updateRgvErr(slave.getId(),errorRgv); } continue; } RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); if (rgvProtocol == null || rgvTaskProtocol == null) { initRgv(); rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); } if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)){ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; rgvRun.setRgvNo(slave.getOtherId()); RgvRunCache.updateRgvStatus(rgvRun); continue; } if (rgvProtocol.getLoaded() == -1){ rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; rgvRun.setRgvNo(slave.getOtherId()); RgvRunCache.updateRgvStatus(rgvRun); RgvErrCache.updateRgvErr(slave.getId(),"小车探物物状态异常"); continue; } if (rgvTaskProtocol.getAvoid() != 0) { rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; rgvRun.setRgvNo(slave.getOtherId()); RgvRunCache.updateRgvStatus(rgvRun); continue; } List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded()); if (allTakeTaskProtocol.isEmpty()){ allTakeTaskProtocol = taskProtocolCache.getAllWalkTaskProtocol(); for (TaskProtocol taskProtocol : allTakeTaskProtocol) { if (taskProtocol.getIsRunning() == 1) {//准备下发 // 双车 if (rgvOtherStatusEnable()) { //另一台车是否允许此台车执行 if (!otherRgvAvoid(taskProtocol.getTargetPosition())) { RgvErrCache.updateRgvErr(slave.getId(),errorRgv); break; } } if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50 && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection()); RgvErrCache.updateRgvErr(slave.getId()); break; } else { TaskProtocol issued = new TaskProtocol(taskProtocol,true); write(issued); RgvErrCache.updateRgvErr(slave.getId()); taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection()); break; } } } RgvErrCache.updateRgvErr(slave.getId()); } else { for (TaskProtocol taskProtocol : allTakeTaskProtocol) { if (taskProtocol.getIsRunning() == 1) {//准备下发 //双车 if (rgvOtherStatusEnable()) { //另一台车是否允许此台车执行 if (!otherRgvAvoid(taskProtocol.getTargetPosition())) { RgvErrCache.updateRgvErr(slave.getId(),errorRgv); break; } } if (taskProtocol.getTargetPosition()<=rgvProtocol.getRgvPos()+50 && taskProtocol.getTargetPosition()>=rgvProtocol.getRgvPos()-50){ if (taskProtocol.getTaskStatus()==3){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo()); if (staProtocol == null ) { RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点"); break; } // 判断是否满足入库条件 if (!staProtocol.isAutoing() || staProtocol.isLoading() ){ RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪"); break; } } else if (taskProtocol.getTaskStatus()==2){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, taskProtocol.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(taskProtocol.getTargetPositionStaNo()); if (staProtocol == null ) { RgvErrCache.updateRgvErr(slave.getId(),"未查到小车作业站"+staProtocol.getStaNo()+"站点"); break; } // 判断是否满足入库条件 if (!staProtocol.isAutoing() || !staProtocol.isLoading() || staProtocol.getWorkNo()==0 ){ RgvErrCache.updateRgvErr(slave.getId(),"小车等待"+staProtocol.getStaNo()+"站点就绪"); break; } } TaskProtocol issued = new TaskProtocol(taskProtocol); write(issued); RgvErrCache.updateRgvErr(slave.getId()); taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection()); break; } else { TaskProtocol issued = new TaskProtocol(taskProtocol,true); write(issued); RgvErrCache.updateRgvErr(slave.getId()); break; } } } } rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; rgvRun.setRgvNo(slave.getOtherId()); RgvRunCache.updateRgvStatus(rgvRun); } catch (Exception e) { log.error("RGV任务下发线程异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV任务下发线程异常"+e.getMessage()); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } rgvRun = RgvRunCache.getRgvRun(); rgvRun.currentTimeMilliOld = System.currentTimeMillis()+50; rgvRun.setRgvNo(slave.getOtherId()); RgvRunCache.updateRgvStatus(rgvRun); continue; // e.printStackTrace(); } } } public boolean isSignRgvTaskProtocol() { RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); if (rgvTaskProtocol == null) { return false; } RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId()); if (rgvProtocolOther == null) { return false; } if (rgvProtocolOther.statusEnable) { if (rgvTaskProtocolOther == null) { return false; } } return true; } public boolean deviceDetection() { RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); if (rgvProtocol == null || rgvTaskProtocol == null) { errorRgv = slave.getId()+"号小车连接失败"; return false; } if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)) { errorRgv = slave.getId()+"号小车非自动"; return false; } if (rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L) { errorRgv = slave.getId()+"号小车状态异常"; return false; } if (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) { errorRgv = "无"; return false; } if ( (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM)) { errorRgv = slave.getId()+"号小车存在运行目标值，需要复位！！！"; return false; } RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId()); // System.out.println("rgvTaskProtocol:"+slave.getId()+"sign:"+rgvTaskProtocol.isSignRun()+"/n"+ // "rgvTaskProtocolOther:"+slave.getOtherId()+"sign:"+rgvTaskProtocolOther.isSignRun()+"/n"); if (rgvProtocolOther == null) { errorRgv = slave.getOtherId()+"号小车连接失败"; return false; } if (rgvProtocolOther.statusEnable) { if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) { errorRgv = slave.getOtherId()+"号小车状态异常"; return false; } } return true; } public boolean rgvOtherStatusEnable() { RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); if (rgvProtocolOther == null) { return true; } if (rgvProtocolOther.statusEnable) { // if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) { return true; // } } return false; } public boolean otherRgvAvoid(Long targetPosition) { RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); long onePos = Math.abs(targetPosition - rgvProtocol.getRgvPos()); if (onePos<50){ return true; } RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId()); Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance); if (new TrackRangeUtils().IsItSmall(slave)) { if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) { if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing()) - (targetPosition + rgvProtocol.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } else { RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId()); TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache(); TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos()); if (!Cools.isEmpty(nowPosRunTask)){ boolean signNowPosRun = true; if (nowPosRunTask.getTaskStatus()==3){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo()); if (staProtocol == null ) { signNowPosRun =false; } if (signNowPosRun){ // 判断是否满足入库条件 if (!staProtocol.isAutoing() || staProtocol.isLoading() ){ if (targetPosition.equals(nowPosRunTask.getTargetPosition())){ if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) { long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos()); if (avoidAbs<51){ return false; } rgvTaskProtocol.setAvoid(1); rgvTaskProtocol.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocol); } return false; } signNowPosRun =false; } } } if (signNowPosRun){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } } TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2(); if (!Cools.isEmpty(nowPosRunTask2)){ boolean signNowPosRun = true; boolean signNowPosA = true; if (targetPosition - rgvProtocol.getRgvPos()>0){ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){ if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){ signNowPosA = false; signNowPosRun = false; } } } else if (targetPosition - rgvProtocol.getRgvPos()<0){ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){ if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){ signNowPosA = false; signNowPosRun = false; } } } if (signNowPosA){ if (nowPosRunTask2.getTaskStatus()==3){ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()); if (Math.abs(onePos - twoPos)>100){ if (onePos-50>twoPos+50){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo()); if (staProtocol == null ) { signNowPosRun =false; } if (signNowPosRun){ // 判断是否满足入库条件 if (staProtocol.isAutoing() && !staProtocol.isLoading() ){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } } signNowPosRun =false; } } } else { long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()); if (twoPos<100){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } if (Math.abs(onePos - twoPos)>100){ if (onePos-50>twoPos+50){ signNowPosRun =false; } } } } if (signNowPosRun){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } } long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos()); if (avoidAbs<51){ return true; } rgvTaskProtocolOther.setAvoid(1); rgvTaskProtocolOther.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther); return false; } } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) { if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing()) - (targetPosition + rgvProtocol.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } else { long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos()); if (avoidAbs<51){ return true; } rgvTaskProtocolOther.setAvoid(1); rgvTaskProtocolOther.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther); return false; } } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) { if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing()) - (targetPosition + rgvProtocol.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } else { if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()-50) { long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos()); if (avoidAbs<51){ return false; } rgvTaskProtocol.setAvoid(1); rgvTaskProtocol.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocol); return false; } errorRgv = slave.getOtherId()+"号RGV影响，等待中..."; return false; } } else { if ((rgvProtocolOther.getRgvPosDestinationOrPos(true) - rgvProtocolOther.getCarBodyJiaoMing()) - (targetPosition + rgvProtocol.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } } } else { if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE) && (Math.abs(rgvProtocolOther.getRgvPos() - rgvProtocolOther.getRgvPosDestination())<50)) { if ((targetPosition - rgvProtocol.getCarBodyJiaoMing()) - (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } else { RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId()); TaskProtocolCache taskProtocolCacheOther = rgvThreadOther.getTaskProtocolCache(); TaskProtocol nowPosRunTask = taskProtocolCacheOther.getNowPosRunTask(rgvProtocolOther.getRgvPos()); if (!Cools.isEmpty(nowPosRunTask)){ boolean signNowPosRun = true; if (nowPosRunTask.getTaskStatus()==3){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask.getTargetPositionStaNo()); if (staProtocol == null ) { signNowPosRun =false; } if (signNowPosRun){ // 判断是否满足入库条件 if (!staProtocol.isAutoing() || staProtocol.isLoading() ){ if (targetPosition.equals(nowPosRunTask.getTargetPosition())){ if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) { long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos()); if (avoidAbs<51){ return false; } rgvTaskProtocol.setAvoid(1); rgvTaskProtocol.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocol); } return false; } signNowPosRun =false; } } } if (signNowPosRun){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } } TaskProtocol nowPosRunTask2 = taskProtocolCacheOther.getNowPosRunTask2(); if (!Cools.isEmpty(nowPosRunTask2)){ boolean signNowPosRun = true; boolean signNowPosA = true; if (targetPosition - rgvProtocol.getRgvPos()>0){ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()>0){ if (rgvProtocol.getRgvPos()>rgvProtocolOther.getRgvPos()){ signNowPosA = false; signNowPosRun = false; } } } else if (targetPosition - rgvProtocol.getRgvPos()<0){ if (nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()<0){ if (rgvProtocol.getRgvPos()<rgvProtocolOther.getRgvPos()){ signNowPosA = false; signNowPosRun = false; } } } if (signNowPosA){ if (nowPosRunTask2.getTaskStatus()==3){ long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()); if (Math.abs(onePos - twoPos)>100){ if (onePos-50>twoPos+50){ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, nowPosRunTask2.getTargetPositionStaNoPlcId()); StaProtocol staProtocol = devpThread.getStation().get(nowPosRunTask2.getTargetPositionStaNo()); if (staProtocol == null ) { signNowPosRun =false; } if (signNowPosRun){ // 判断是否满足入库条件 if (staProtocol.isAutoing() && !staProtocol.isLoading() ){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } } signNowPosRun =false; } } } else { long twoPos = Math.abs(nowPosRunTask2.getTargetPosition() - rgvProtocolOther.getRgvPos()); if (twoPos<100){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } if (Math.abs(onePos - twoPos)>100){ if (onePos-50>twoPos+50){ signNowPosRun =false; } } } } if (signNowPosRun){ errorRgv = slave.getOtherId()+"号RGV等待作业..."; return false; } } long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos()); if (avoidAbs<51){ return true; } rgvTaskProtocolOther.setAvoid(1); rgvTaskProtocolOther.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther); return false; } } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) { if ((targetPosition - rgvProtocol.getCarBodyJiaoMing()) - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } else { long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocolOther.getRgvPos()); if (avoidAbs<51){ return true; } rgvTaskProtocolOther.setAvoid(1); rgvTaskProtocolOther.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther); return false; } } else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) { if ((targetPosition - rgvProtocol.getCarBodyJiaoMing()) - (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng()) > avoidDistance-50) {//无需避让 return true; } else { if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos() + 50) { long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing(); if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) { log.error("RGV行走超出范围！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); errorRgv = "RGV行走目标超出范围"; try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV行走超出范围"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } return false; } long avoidAbs = Math.abs(avoid - rgvProtocol.getRgvPos()); if (avoidAbs<51){ return false; } rgvTaskProtocol.setAvoid(1); rgvTaskProtocol.setAvoidingTheDestination(avoid); RgvTaskCache.updateRgvStatus(rgvTaskProtocol); return false; } errorRgv = slave.getOtherId()+"号RGV等待中..."; return false; } } else { if ((rgvProtocolOther.getRgvPosDestinationOrPos(false) - rgvProtocolOther.getCarBodyJiaoMing()) - (targetPosition + rgvProtocol.getCarBodyKunPeng()) > avoidDistance - 50) {//无需避让 return true; } } } errorRgv = slave.getOtherId()+"号RGV影响，等待中..."; return false; } /** * 初始化RGV状态 */ private void initRgv() { if (null == rgvProtocol) { RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); if (rgvProtocol == null) { rgvProtocol = new RgvProtocol(); rgvProtocol.setRgvNo(slave.getId()); } //小车状态 rgvProtocol.setStatus((short)-1); rgvProtocol.setRgvPosDestination(0); rgvProtocol.setMode((short) -1); rgvProtocol.setRgvPos(0); rgvProtocol.setErr1(false); rgvProtocol.setErr2(false); rgvProtocol.setErr3(false); rgvProtocol.setErr4(false); rgvProtocol.setErr5(false); rgvProtocol.setErr6(false); rgvProtocol.setErr7(false); rgvProtocol.setWrkTaskPri((short)0); //工位1状态 rgvProtocol.setTaskNo1(0); rgvProtocol.setStatus1((short)-1); rgvProtocol.setLoaded1(false); rgvProtocol.setWrkTaskMove1((short)0); //工位2状态 rgvProtocol.setTaskNo2(0); rgvProtocol.setStatus2((short)-1); rgvProtocol.setLoaded2(false); rgvProtocol.setWrkTaskMove2((short)0); // rgvProtocol.setAlarm((short)0); // rgvProtocol.setxSpeed((short) 0); // rgvProtocol.setxDistance((short) 0); // rgvProtocol.setxDuration((short) 0); } private ArrayList<Integer> getStaNo() { switch (slave.getId()) { case 1: return staNos1; case 2: return staNos2; default: throw new CoolException("服务器异常"); rgvProtocol.setStatus((short) -1); rgvProtocol.setWalkPos((short) 0); rgvProtocol.setRgvPos(0L); rgvProtocol.setAlarm((short) 0); rgvProtocol.setxSpeed((short) 0); rgvProtocol.setxDistance((short) 0); rgvProtocol.setxDuration((short) 0); rgvProtocol.setCarBodyJiaoMing(0L); rgvProtocol.setCarBodyKunPeng(0L); try { BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class); BasRgv rgv = basRgvService.selectById(slave.getId()); if (!Cools.isEmpty(rgv)) { rgvProtocol.setStatusEnable(rgv.getStatus() == 1); } else { rgvProtocol.setStatusEnable(false); } } catch (Exception e) { log.error("RGV异常！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV异常"+e.getMessage()); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } rgvProtocol.setStatusEnable(true); } RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); if (rgvTaskProtocol == null) { rgvTaskProtocol = new RgvTaskProtocol(); rgvTaskProtocol.setRgvNo(slave.getId()); } rgvTaskProtocol.setAvoid(0); rgvTaskProtocol.setAvoidingTheDestination(0L); RgvStatusCache.updateRgvStatus(rgvProtocol); RgvTaskCache.updateRgvStatus(rgvTaskProtocol); } @Override public boolean connect() { boolean result = false; @@ -213,515 +978,307 @@ siemensNet.setRack(slave.getRack().byteValue()); siemensNet.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensNet.ConnectServer(); if(connect.IsSuccess){ if (connect.IsSuccess) { result = true; OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); // OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); // OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); initRgv(); if (System.currentTimeMillis()-currentTimeMilliConnectRgv>1000*60*10){ try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGVplc连接失败"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } if (currentTimeMilliConnectRgv == 0){ currentTimeMilliConnectRgv = System.currentTimeMillis()-1000*60*10-1; } else { currentTimeMilliConnectRgv = System.currentTimeMillis(); } } } initRgv(); // siemensNet.ConnectClose(); return result; } private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) { if (value) { buffer[byteIndex] |= (1 << bitIndex); // 置位 } else { buffer[byteIndex] &= ~(1 << bitIndex); // 清零 } } private void updateFlagInDb(String field, boolean value) { try { BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class); EntityWrapper<BasRgv> wrapper = new EntityWrapper<>(); wrapper.eq("rgv_no", slave.getId()); BasRgv entity = new BasRgv(); switch (field) { case "pak_mk": entity.setPakMk(value ? "1" : "0"); break; case "pak_in": entity.setPakIn(value ? "1" : "0"); break; case "pak_out": entity.setPakOut(value ? "1" : "0"); break; case "pak_rgv": entity.setPakRgv(value ? "1" : "0"); break; case "pak_to_crn":entity.setPakToCrn(value ? "1" : "0"); break; case "paking":entity.setPaking(value ? "1" : "0"); break; case "pak_all":entity.setPakAll(value ? "1" : "0"); break; default: log.warn("未知标志位字段: {}", field); return; } basRgvService.update(entity, wrapper); // log.info("RGV标志位更新成功 [rgv_no:{}] {}={}", slave.getId(), field, value ? "1" : "0"); } catch (Exception e) { log.error("更新RGV标志位异常 [rgv_no:{}] {}={} 错误：{}", slave.getId(), field, value, e.getMessage()); } } public void setPakMk(boolean pakMk) { this.PakMk = pakMk; updateFlagInDb("pak_mk", pakMk); } /** * 读取状态 */ private void readStatus(){ private void readStatus() { try { OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 41); OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 20); if (result.IsSuccess) { if (null == rgvProtocol) { // 构建设备状态对象 RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); if (rgvProtocol == null) { rgvProtocol = new RgvProtocol(); rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0)); } rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2)); rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4)); rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8)); rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12)); rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16)); rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20)); rgvProtocol.setStaNo1(siemensNet.getByteTransform().TransInt32(result.Content, 28)); rgvProtocol.setStaNo2(siemensNet.getByteTransform().TransInt32(result.Content, 32)); boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 1); rgvProtocol.setLoaded1(status1[0]); rgvProtocol.setLoaded2(status1[1]); boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 36,1); rgvProtocol.setErr1(status2[0]); rgvProtocol.setErr2(status2[1]); rgvProtocol.setErr3(status2[2]); rgvProtocol.setErr4(status2[3]); rgvProtocol.setErr5(status2[4]); rgvProtocol.setErr6(status2[5]); rgvProtocol.setErr7(status2[6]); rgvProtocol.setErr8(status2[7]); boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1); rgvProtocol.setErr9(status3[0]); rgvProtocol.setErr10(status3[1]); rgvProtocol.setErr11(status3[2]); rgvProtocol.setErr12(status3[3]); boolean[] statusErr = siemensNet.getByteTransform().TransBool(result.Content, 36, 5); rgvProtocol.setEmergencyStop(statusErr[0]); // 急停触发 rgvProtocol.setSlot1EmptyNoData(statusErr[1]); // 1号位有物无资料 rgvProtocol.setSlot2EmptyNoData(statusErr[2]); // 2号位有物无资料 rgvProtocol.setCommandErrorChainConflict(statusErr[3]); // 命令错误走链条冲突 rgvProtocol.setTargetPositionIssue(statusErr[4]); // 目标位下发错误 rgvProtocol.setTravelInverterError(statusErr[5]); // 走行变频器异常 rgvProtocol.setPhotoelectric1Error(statusErr[6]); // 1号光电异常 rgvProtocol.setPhotoelectric2Error(statusErr[7]); // 2号光电异常 rgvProtocol.setTimeoutConnectionWithLine(statusErr[8]); // 与输线时接超时 rgvProtocol.setLeftRollerTimeout(statusErr[9]); // 左侧滚筒运行超时 rgvProtocol.setRightRollerTimeout(statusErr[10]); // 右侧滚筒运行超时 rgvProtocol.setRgvRunTimeout(statusErr[11]); // rgv运行超时 rgvProtocol.setPosition1ChainInverterError(statusErr[12]); // 1号工位链条变频器异常 rgvProtocol.setPosition2ChainInverterError(statusErr[13]); // 2号工位链条变频器异常 rgvProtocol.setFrontRearLimit(statusErr[14]); // 前后极限位 rgvProtocol.setEmergencyButton(statusErr[15]); // 急停按钮 rgvProtocol.setForwardButton(statusErr[16]); // 前进按钮 rgvProtocol.setReverseButton(statusErr[17]); // 后退按钮 rgvProtocol.setLocalRemote(statusErr[18]); // 本地/远程 rgvProtocol.setReset(statusErr[19]); // 复位 rgvProtocol.setTravelBrakeSwitch(statusErr[20]); // 走行抱闸开关钮 rgvProtocol.setTravelSpeedLimitPhotoelectric(statusErr[21]); // 走行强制减速光电 rgvProtocol.setLeftOverlimit1(statusErr[22]); // 左超限 1 rgvProtocol.setRightOverlimit1(statusErr[23]); // 右超限 1 rgvProtocol.setLeftAtPosition1(statusErr[24]); // 左到位 1 rgvProtocol.setRightAtPosition1(statusErr[25]); // 右到位 1 rgvProtocol.setChainForward1(statusErr[26]); // 链条前进 1 rgvProtocol.setChainReverse1(statusErr[27]); // 链条后退 1 rgvProtocol.setInverterAlarm(statusErr[28]); // 变频器报警 rgvProtocol.setLeftOverlimit2(statusErr[29]); // 左超限 2 rgvProtocol.setRightOverlimit2(statusErr[30]); // 右超限 2 rgvProtocol.setLeftAtPosition2(statusErr[31]); // 左到位 2 rgvProtocol.setRightAtPosition2(statusErr[32]); // 右到位 2 rgvProtocol.setCargoSpeedReduction(statusErr[33]); // 货物减速 rgvProtocol.setConveyorInverterAlarm2(statusErr[34]); // 输送变频器报警 2 rgvProtocol.setRightConveyor2(statusErr[35]); // 右输送 2 rgvProtocol.setLeftConveyor2(statusErr[36]); // 左输送 2 if(rgvProtocol.getStatus1() == 99){ rgvProtocol.setErrorMk(true);//若存在异常触发写入 }else{ rgvProtocol.setWriteMk(true);//无异常后才能继续写入 rgvProtocol.setErrorMk(false); rgvProtocol.setRgvNo(slave.getId()); rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing()); rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng()); rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0)); rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4)); if (rgvProtocol.getRgvPosDestination()==0L){ rgvProtocol.setRgvPosDestination(rgvProtocol.getRgvPos()); } rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 8)); // rgvProtocol.setStatus((short)1); //作业启动中 解决任务下发后小车状态未更新，小车状态不及时 if (this.wrkSign == 1 && rgvProtocol.getStatus()!=(short)1){ this.wrkSign = 0; } if (this.wrkSign == 1){ rgvProtocol.setStatus((short)110); } // BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class); rgvProtocol.setTaskNo((long)siemensNet.getByteTransform().TransInt32(result.Content, 10)); rgvProtocol.setRgvNo((int)siemensNet.getByteTransform().TransInt16(result.Content, 14)); rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 16)); // rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20)); // rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28)); // rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40)); // rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48)); // OperateResultExOne<byte[]> result11 = siemensNet.Read("DB100.12", (short) 1); boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, 18, 2); rgvProtocol.setLoaded(status[0]? (short)1:(short)0); rgvProtocol.setErr1(status[8]); rgvProtocol.setErr2(status[9]); rgvProtocol.setErr3(status[10]); rgvProtocol.setErr4(status[11]); rgvProtocol.setErr5(status[12]); rgvProtocol.setErr6(status[13]); rgvProtocol.setErr7(status[14]); rgvProtocol.setErr8(status[15]); // System.out.println("读线程"+ slave.getId()+"---"+JSON.toJSONString(rgvProtocol)); // System.out.println("读线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()+"小车数据："+JSON.toJSONString(rgvProtocol)); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId())); // // 工位1复位信号 // if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING) // || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) { // if (resetFlag1) { // RgvCommand rgvCommand = new RgvCommand(); // rgvCommand.setAckFinish1((short)1); // if (write(rgvCommand)) { // resetFlag1 = false; // } // } // } if (rgvProtocol.getAlarm$()!=0){ RgvErrCache.updateRgvErr(slave.getId(),rgvProtocol.getAlarmM()); } try { // 根据实时信息更新数据库 BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class); BasRgv basRgv = new BasRgv(); BasRgv basRgv = basRgvService.selectById(slave.getId()); if (!Cools.isEmpty(basRgv)) { rgvProtocol.setStatusEnable(basRgv.getStatus() == 1); } else { rgvProtocol.setStatusEnable(false); } // BasRgv basRgv = new BasRgv(); basRgv.setRgvNo(slave.getId()); basRgv.setRgvSts((int)rgvProtocol.getMode()); if(rgvProtocol.isWriteMk() && rgvProtocol.isErrorMk()){ try { // 日志记录异常情况 BasRgvErrorLog basRgvErrorLogs; basRgvErrorLogs = rgvProtocol.toSqlModelError(); BasRgvErrorLogService basRgvErrorLogService = SpringUtils.getBean(BasRgvErrorLogService.class); basRgvErrorLogService.insert(basRgvErrorLogs); rgvProtocol.setWriteMk(false); } catch (Exception ignore) { log.error(ignore.getMessage()); basRgv.setRgvSts((int) rgvProtocol.getMode()); if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))) { log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV plc数据库更新失败"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } } if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){ log.error("RGV 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){ System.out.println(ignore); } catch (Exception ignore) { } // 更新缓存 RgvStatusCache.updateRgvStatus(rgvProtocol); } else { initRgv(); OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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())); // log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); connectRgv = false; // OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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())); log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "读取RGV plc状态信息失败"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } } } catch (Exception e) { e.printStackTrace(); OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); // log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); // e.printStackTrace(); // OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "读取RGV plc状态信息失败"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } initRgv(); } } /** * 小车工位写入写入数据 * 写入数据 */ private boolean write(RgvCommand command) throws InterruptedException { if (null == command) { log.error("RGV写入命令为空"); return false; } OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39); if (result1.IsSuccess){ RgvCommand one = new RgvCommand(); one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位 one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站 one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态 one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号 News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } byte[] writeBytes = new byte[14]; command.setRgvNo(slave.getId()); if(specialSites.contains(command.getTargetPosition())){ command.setTargetPosition(StaPosition.get(command.getTargetPosition())); } writeInt32(writeBytes, 0, command.getWrkTaskPri()); writeInt32(writeBytes, 4, command.getTargetPosition()); writeInt16(writeBytes, 8, (short)command.getTaskStatus()); writeInt32(writeBytes, 10, command.getTaskNo()); OperateResult result = siemensNet.Write("DB100.0", writeBytes); private boolean write(TaskProtocol taskProtocol) throws InterruptedException { if (null == taskProtocol) { log.error("RGV写入命令为空 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); if (!result.IsSuccess){ News.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(2,command)); Thread.sleep(100); readStatus(); return false; } //RGV任务写入后，回读一次，看是否成功 Thread.sleep(400); try { OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14); if (resultRead.IsSuccess){ RgvCommand one = new RgvCommand(); one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位 one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站 one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态 one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号 if ( !command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskStatus().equals(one.getTaskStatus()) || !command.getWrkTaskPri().equals(one.getWrkTaskPri()) || !command.getTargetPosition().equals(one.getTargetPosition()) ) { try{ News.error("RGV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("Rgv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.Rgv, slave.getId(), new Task(2, command)); Thread.sleep(100); readStatus(); return false; }else { News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvErr", slave.getId(), "RGV写入命令为空"); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } }catch (Exception e){ News.error("RGV命令地址写入后回读出错"); return false; } // convertRow(command); // taskProtocol.setRgvNo(slave.getId()); // Long[] array = new Long[11]; OperateResult result41 = siemensNet.Write("DB100.12.0", false); // array[0] = taskProtocol.getAckFinish1(); // array[1] = taskProtocol.getTaskNo(); // array[2] = taskProtocol.getTaskMode(); // array[4] = command.getDestinationStaNo(); // array[10] = taskProtocol.getCommand(); int taskStatus = taskProtocol.getTaskStatus(); if (result.IsSuccess) { //任务下发确认 Thread.sleep(300); //任务下发次数 int writeCount2 = 0; do { writeCount2++; Short commandFinish = 1; result = siemensNet.Write("DB100.34.0", commandFinish); if(result.IsSuccess){ //RGV任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2); if (resultRead.IsSuccess) { commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); if (commandFinish !=1){ News.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 News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); break; } }else { News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次"); } } else { News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次"); } }while (writeCount2<5); } OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTargetPosition().intValue()); OperateResult result1 = siemensNet.Write("DB100.4", (short) taskStatus); OperateResult result2 = siemensNet.Write("DB100.6", taskProtocol.getTaskNo().intValue()); OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 执行方向（面朝轨道 定位值左小右大） true:左 false:右 Thread.sleep(20L); OperateResult result4 = siemensNet.Write("DB100.12.0", true); this.wrkSign = 1; // log.info("任务下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()); // if (taskProtocol.getAckFinish1() == 0) { // short commandFinish = 3; //工位1、2任务同时写入 // Thread.sleep(100L); // result = siemensNet.Write("DB100.20", commandFinish); // } try { // 日志记录 BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class); BasRgvOpt basRgvOpt = new BasRgvOpt( command.getTaskNo(), command.getRgvNo(), taskProtocol.getTaskNo().intValue(), taskProtocol.getTaskNo().intValue(), slave.getId(), new Date(), command.getTaskStatus().toString(), command.getTargetPosition(), command.getWrkTaskPri(), new Date() String.valueOf(taskProtocol.getTaskStatus()), null, null, null, result.IsSuccess ? 1 : 0, null, new Date(), null ); bean.insert(basRgvOpt); } catch (Exception ignore) { log.error(ignore.getMessage()); } readStatus(); if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); // Thread.sleep(50); // this.readStatus(); log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol)); log.error("RGV 命令下发 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); try{ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("rgvWrite", slave.getId(), "RGV 命令下发"+JSON.toJSON(taskProtocol)); } catch (Exception e2){ // log.error("e2:"+e2.getMessage()); } OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol))); return true; } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV 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RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } private boolean write2(RgvCommand command) throws InterruptedException { if (null == command) { log.error("RGV写入命令为空"); return false; } OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39); if (result1.IsSuccess){ RgvCommand one = new RgvCommand(); one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位 one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站 one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态 one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号 News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } byte[] writeBytes = new byte[36]; command.setRgvNo(slave.getId()); if(specialSites.contains(command.getTargetPosition())){ command.setTargetPosition(StaPosition.get(command.getTargetPosition())); } writeInt32(writeBytes, 0, command.getWrkTaskPri()); writeInt32(writeBytes, 4, command.getTargetPosition()); writeInt16(writeBytes, 8, (short)command.getTaskStatus()); writeInt32(writeBytes, 10, command.getTaskNo()); writeBool(writeBytes, 34, 0, command.getCommand()); OperateResult result = siemensNet.Write("DB100.0", writeBytes); if (!result.IsSuccess){ News.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(2,command)); Thread.sleep(100); readStatus(); return false; } private boolean writeDelRgvTask() throws InterruptedException { // OperateResult result = siemensNet.Write("DB100.12.0", false); OperateResult result0 = siemensNet.Write("DB100.0", (int) 0); OperateResult result1 = siemensNet.Write("DB100.4", (short) 0); OperateResult result2 = siemensNet.Write("DB100.6", (int) 0); OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 执行方向（面朝轨道 定位值左小右大） true:左 false:右 log.info("任务完成下发线程,小车号"+ slave.getId()+"时间戳："+System.currentTimeMillis()); //RGV任务写入后，回读一次，看是否成功 Thread.sleep(400); try { OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14); if (resultRead.IsSuccess){ RgvCommand one = new RgvCommand(); one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位 one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站 one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态 one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号 if ( !command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskStatus().equals(one.getTaskStatus()) || !command.getWrkTaskPri().equals(one.getWrkTaskPri()) || !command.getTargetPosition().equals(one.getTargetPosition()) ) { try{ News.error("RGV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("Rgv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.Rgv, slave.getId(), new Task(2, command)); Thread.sleep(100); readStatus(); return false; }else { News.info("RGV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("RGV命令地址写入后回读出错"); } if (result.IsSuccess) { //任务下发确认 Thread.sleep(300); //任务下发次数 int writeCount2 = 0; do { writeCount2++; Short commandFinish = 1; result = siemensNet.Write("DB100.34.0", commandFinish); if(result.IsSuccess){ //RGV任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2); if (resultRead.IsSuccess) { commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); if (commandFinish !=1){ News.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 News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); break; } }else { News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次"); } } else { News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次"); } }while (writeCount2<5); } try { // 日志记录 BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class); BasRgvOpt basRgvOpt = new BasRgvOpt( command.getTaskNo(), command.getRgvNo(), 0, 0, slave.getId(), new Date(), command.getTaskStatus().toString(), command.getTargetPosition(), command.getWrkTaskPri(), new Date() String.valueOf(0), null, null, null, result.IsSuccess ? 1 : 0, null, new Date(), null ); bean.insert(basRgvOpt); } catch (Exception ignore) { log.error(ignore.getMessage()); } if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); // Thread.sleep(200); // this.readStatus(); log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null")); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON("null"))); return true; } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV 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RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } public static void writeInt32(byte[] buffer, int index, int value) { buffer[index] = (byte)((value >> 24) & 0xFF); buffer[index + 1] = (byte)((value >> 16) & 0xFF); buffer[index + 2] = (byte)((value >> 8) & 0xFF); buffer[index + 3] = (byte)(value & 0xFF); /** * 清除作业启动中 */ @Override public void setWrkSign() { this.wrkSign = 0; } public static void writeInt16(byte[] buffer, int index, short value) { buffer[index] = (byte)((value >> 8) & 0xFF); // 高字节 buffer[index + 1] = (byte)(value & 0xFF); // 低字节 } public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) { if (value) { buffer[byteIndex] |= (1 << bitIndex); } else { buffer[byteIndex] &= ~(1 << bitIndex); } } public Integer getRgvPosI(Integer pos) { if (pos == null) return 0; // key: 站点号 value: 基准物理位置 Map<Integer, Integer> posMap = new HashMap<>(); posMap.put(1004, 6534); posMap.put(1007, 33634); posMap.put(1010, 75174); posMap.put(1014, 102124); posMap.put(1018, 138224); posMap.put(1021, 178034); posMap.put(1024, 219684); posMap.put(1028, 246724); posMap.put(1031, 288194); posMap.put(1035, 315204); int tolerance = 50; // 允许误差范围 for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) { int site = entry.getKey(); int basePos = entry.getValue(); if (Math.abs(pos - basePos) <= tolerance) { return site; } } return 0; // 没匹配到站点 public void setDelRgvTask() { delRgvTask = true; } @Override public void close() { siemensNet.ConnectClose(); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { RgvSlave slave = new RgvSlave(); slave.setId(1); slave.setIp("192.168.6.9"); slave.setRack(0); slave.setSlot(0); RgvThread rgvThread = new RgvThread(slave); rgvThread.connect(); rgvThread.readStatus(); System.out.println(JSON.toJSONString(rgvThread.rgvProtocol)); Thread.sleep(3000L); } } src/main/java/com/zy/core/thread/RoboticArmThread.java
@@ -154,4 +154,11 @@ } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/java/com/zy/core/thread/ScaleThread.java
@@ -134,4 +134,12 @@ return true; } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -831,4 +831,11 @@ } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -1021,4 +1021,11 @@ // // } /** * 清除作业启动中 */ @Override public void setWrkSign() { } } src/main/resources/application.yml
@@ -253,133 +253,239 @@ row: 18 bay: 52 lev: 2 # RGV穿梭车1 rgv[0]: id: 1 ip: 10.10.10.190 port: 502 rack: 0 slot: 0 #RGV入库取货站点 rgvInTStn[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1042 staNo2: 1043 rgvInTStn[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1105 staNo2: 1104 rgvInTStn[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1038 rgvInTStn[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1036 #RGV入库放货站点 rgvInPStn[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1004 rgvInPStn[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1014 rgvInPStn[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1018 rgvInPStn[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1028 rgvInPStn[4]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1035 #RGV出库取货站点 rgvOutTStn[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1007 staNo2: 1005 rgvOutTStn[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1010 staNo2: 1008 rgvOutTStn[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1021 staNo2: 1019 rgvOutTStn[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1024 staNo2: 1022 rgvOutTStn[4]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1031 staNo2: 1029 #RGV出库放货站点 rgvOutPStn[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1106 rgvOutPStn[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1041 rgvOutPStn[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1036 # RGV穿梭车2 rgv[1]: id: 2 ip: 10.10.10.193 ip: 27.172.2.70 port: 502 rack: 0 slot: 0 #RGV入库取货站点 rgvInTStn[0]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2037 #RGV入库放货站点 rgvInPStn[0]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2006 rgvInPStn[1]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2012 rgvInPStn[2]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2018 rgvInPStn[3]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2024 rgvInPStn[4]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2030 #RGV出库取货站点 rgvOutTStn[0]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2003 staNo2: 2001 rgvOutTStn[1]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2009 staNo2: 2007 rgvOutTStn[2]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2015 staNo2: 2013 rgvOutTStn[3]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2021 staNo2: 2019 rgvOutTStn[4]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2027 staNo2: 2025 #RGV出库放货站点 rgvOutPStn[0]: devpPlcId: ${wcs-slave.devp[1].id} staNo: 2031 otherId: 1 carBodyJiaoMing: 2800 carBodyKunPeng: 13500 #RGV源站点 rgvInSta[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1004 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1005 directionOther: false rgvInSta[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1014 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1016 directionOther: true rgvInSta[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1020 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1021 directionOther: false rgvInSta[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1003 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1003 directionOther: false rgvInSta[4]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1007 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1007 directionOther: false rgvInSta[5]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1013 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1013 directionOther: false rgvInSta[6]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1018 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1018 directionOther: false rgvInSta[7]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1019 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1019 directionOther: false #RGV目标站点 rgvOutSta[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1002 direction: true staNoOther: 1002 directionOther: false rgvOutSta[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1009 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1009 directionOther: false rgvOutSta[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1001 direction: false staNoOther: 1001 directionOther: false rgvOutSta[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1006 direction: false staNoOther: 1006 directionOther: false rgvOutSta[4]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1008 direction: false staNoOther: 1008 directionOther: false rgvOutSta[5]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1017 direction: false staNoOther: 1017 directionOther: false rgvSuperSta[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1001 direction: false staNoOther: 1001 directionOther: false rgvSuperSta[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1002 direction: false staNoOther: 1002 directionOther: false # RGV穿梭车2 rgv[0]: id: 1 ip: 27.172.2.71 port: 502 rack: 0 slot: 0 otherId: 2 carBodyJiaoMing: 2800 carBodyKunPeng: 13500 #RGV源站点 rgvInSta[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1004 direction: true staNoOther: 1005 directionOther: false rgvInSta[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1014 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1016 directionOther: true rgvInSta[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1020 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1021 directionOther: false rgvInSta[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1003 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1003 directionOther: false rgvInSta[4]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1007 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1007 directionOther: false rgvInSta[5]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1013 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1013 directionOther: false rgvInSta[6]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1018 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1018 directionOther: false rgvInSta[7]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1019 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: false staNoOther: 1019 directionOther: false #RGV目标站点 rgvOutSta[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1023 direction: true staNoOther: 1023 directionOther: false rgvOutSta[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1009 #执行方向（面朝轨道 定位值左小右大） true:左 false:右 direction: true staNoOther: 1009 directionOther: false rgvOutSta[2]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1022 direction: false staNoOther: 1022 directionOther: false rgvOutSta[3]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1006 direction: false staNoOther: 1006 directionOther: false rgvOutSta[4]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1008 direction: false staNoOther: 1008 directionOther: false rgvOutSta[5]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1017 direction: false staNoOther: 1017 directionOther: false rgvSuperSta[0]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1023 direction: false staNoOther: 1023 directionOther: false rgvSuperSta[1]: devpPlcId: ${wcs-slave.devp[0].id} staNo: 1022 direction: false staNoOther: 1022 directionOther: false # 输送线1 devp[0]: id: 1 src/main/resources/mapper/DeviceErrorMapper.xml
New file @@ -0,0 +1,59 @@ <?xml version="1.0" encoding="UTF-8"?> <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd"> <mapper namespace="com.zy.asrs.mapper.DeviceErrorMapper"> <!-- 通用查询映射结果 --> <resultMap id="BaseResultMap" type="com.zy.asrs.entity.DeviceError"> <id column="id" property="id" /> <result column="device" property="device" /> <result column="msg" property="msg" /> <result column="device_id" property="deviceId" /> <result column="create_time" property="createTime" /> <result column="appe_time" property="appeTime" /> <result column="device_plc_id" property="devicePlcId" /> </resultMap> <sql id="batchSeq"> <if test="id != null and id != 0"> and id = #{id} </if> <if test="device != null and device != ''"> and device = #{device} </if> <if test="deviceId != null and deviceId != 0"> and device_id = #{deviceId} </if> <if test="devicePlcId != null and devicePlcId != 0"> and device_plc_id = #{devicePlcId} </if> </sql> <select id="selectByDeviceAndDeviceId" resultMap="BaseResultMap"> select top 1 * from wcs_device_error where "device" = #{device} and "device_id" = #{deviceId} </select> <delete id="deleteByDeviceAndDeviceId"> delete from wcs_device_error where "device" = #{device} and "device_id" = #{deviceId} </delete> <select id="selectDeviceErrorList" resultMap="BaseResultMap"> SELECT * FROM ( SELECT ROW_NUMBER() over(order by create_time DESC) as row,* FROM ( SELECT * FROM wcs_device_error ) t WHERE 1=1 <include refid="batchSeq"></include> ) a WHERE a.row BETWEEN ((#{pageNumber}-1)*#{pageSize}+1) and (#{pageNumber}*#{pageSize}) </select> <select id="selectDeviceErrorListTotal" resultType="Long"> SELECT count(1) FROM wcs_device_error WHERE 1=1 <include refid="batchSeq"></include> </select> </mapper>
