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luxiaotao1123

2022-03-03 ba55cbe0d61d473039a2d486d5a6fe26e4b6bf73

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 src/main/java/com/zy/core/model/command/SteCommand.java

New file
@@ -0,0 +1,109 @@
package com.zy.core.model.command;

import com.alibaba.fastjson.annotation.JSONField;
import com.zy.core.enums.CrnTaskModeType;
import lombok.Data;

import java.util.Calendar;
import java.util.Date;

/**
 * 穿梭车命令报文
 * Created by vincent on 2020/8/11
 */
@Data
public class SteCommand {

    // 堆垛机号
    private Integer crnNo = 0;

    // 任务完成确认位
    private Short ackFinish = 0;

    // 任务号
    private Short taskNo = 0;

    /**
     * 任务模式：
     * 0 = 无
     * 1 = 入库   源和目标都发
     * 2 = 出库   源和目标都发
     * 3 = 库位移转 源和目标都发
     * 4 = 站位移转 源和目标都发
     * 5 = 回原点  不用发
     * 6 = 去反原点 目标发
     * 7 = 坐标移行 目标发
     * 90 = 设置时间
     * 99 = 取消当前任务
     */
    private Short taskMode = 0;

    @JSONField(serialize = false)
    private CrnTaskModeType taskModeType;

    // 源位置排号
    private Short sourcePosX = 0;

    // 源位置列号
    private Short sourcePosY = 0;

    // 源位置层号
    private Short sourcePosZ = 0;

    // 源站
    private Short sourceStaNo = 0;

    // 源巷道
    private Short sourceLane = 0;

    // 目标位置排号
    private Short destinationPosX = 0;

    // 目标位置列号
    private Short destinationPosY = 0;

    // 目标位置层号
    private Short destinationPosZ = 0;

    // 目标站
    private Short destinationStaNo = 0;

    // 目标巷道
    private Short destinationLane = 0;

    // 任务确认 0：未确认 1：已确认
    private Short command = 0;

    public void setTaskMode(Short taskMode){
        this.taskMode = taskMode;
        this.taskModeType = CrnTaskModeType.get(taskModeType);
    }

    public void setTaskMode(CrnTaskModeType type) {
        this.taskModeType = type;
        this.taskMode = CrnTaskModeType.get(type).id.shortValue();
    }

    public static void main(String[] args) {
        Date date = new Date();
        Calendar cal = Calendar.getInstance();
        cal.setTime(date);

        System.out.println(cal.get(Calendar.YEAR));
        //默认从0-11
        System.out.println(cal.get(Calendar.MONTH)+1);
        System.out.println(cal.get(Calendar.DATE));
        int hour = cal.get(Calendar.HOUR_OF_DAY);
        System.out.println("时");
        System.out.println(hour);
        int minute = cal.get(Calendar.MINUTE);
        System.out.println("分");
        System.out.println(minute);
        int second = cal.get(Calendar.SECOND);
        System.out.println("秒");
        System.out.println(second);
        int mm = cal.get(Calendar.DAY_OF_WEEK) - 1; // 星期：0(日)～6(六)
        System.out.println("礼拜");
        System.out.println(mm);
    }
}

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

@@ -17,11 +17,9 @@
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.SteProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -70,13 +68,13 @@
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        write((SteCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        CrnCommand command = (CrnCommand) task.getData();
                        SteCommand command = (SteCommand) task.getData();
                        if (null == command) {
                            command = new CrnCommand();
                            command = new SteCommand();
                        }
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
@@ -159,40 +157,40 @@
//            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                }
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
                crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
                crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
                crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));
                steProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                steProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
                steProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                steProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                steProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                steProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                steProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                steProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                steProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
                steProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                steProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                steProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                steProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                steProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                steProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
                steProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
                steProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
                steProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
                steProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
                steProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
                steProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));

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

                // 复位信号
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                if (steProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),steProtocol.getTaskNo());
                    if (resetFlag) {
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                        SteCommand steCommand = new SteCommand();
                        steCommand.setAckFinish((short)1);
                        if (write(steCommand)) {
                            resetFlag = false;
                        }
                    }
@@ -202,9 +200,9 @@
                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
                basCrnp.setCrnErr(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                if (!basCrnpService.updateById(steProtocol.toSqlModel(basCrnp))){
                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

@@ -216,7 +214,7 @@
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
            initSte();
        }

    }
@@ -224,7 +222,7 @@
    /**
     * 写入数据
     */
    private boolean write(CrnCommand command){
    private boolean write(SteCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
@@ -307,16 +305,16 @@
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.3.39");
        slave.setPort(5015);
        slave.setRack(0);
        slave.setSlot(0);
        SteThread melsecCrnThread = new SteThread(slave);
        melsecCrnThread.connect();
        melsecCrnThread.readStatus();
        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
//        CrnSlave slave = new CrnSlave();
//        slave.setId(1);
//        slave.setIp("192.168.3.39");
//        slave.setPort(5015);
//        slave.setRack(0);
//        slave.setSlot(0);
//        SteThread melsecCrnThread = new SteThread(slave);
//        melsecCrnThread.connect();
//        melsecCrnThread.readStatus();
//        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();