四向穿梭车通讯协议代码部分

Junjie

2023-03-24 d867d8d14b00e20ecfb00e349611ea62c4853c78

四向穿梭车通讯协议代码部分

 src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java

@@ -36,7 +36,7 @@
    private String command = "";

    // 速度
    private Double speed = 0.0D;
    private Short speed = 0;

    // 作业标记
    private String pakMk = "-";

 src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java

@@ -48,7 +48,7 @@
    /**
     * 当前速度
     */
    public Double speed;
    public Short speed;

    /**
     * 充电状态

 src/main/java/com/zy/common/utils/CommonUtils.java

@@ -1,5 +1,7 @@
package com.zy.common.utils;

import com.core.common.RadixTools;

import java.math.BigDecimal;

/**
@@ -27,4 +29,15 @@
        }
    }

    //int转short数组
    public static short[] intToShorts(int num) {
        //先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        byte[] bytes = RadixTools.intToBytes(num);
        byte[] tmp1 = {bytes[0], bytes[1]};
        short byteToShort = RadixTools.byteToShort(tmp1);
        byte[] tmp2 = {bytes[2], bytes[3]};
        short byteToShort2 = RadixTools.byteToShort(tmp2);
        return new short[]{byteToShort2, byteToShort};
    }

}

 src/main/java/com/zy/core/enums/ShuttleStatusType.java

@@ -6,24 +6,24 @@
 */
public enum ShuttleStatusType {

    IDLE(false, "空闲"),
    BUSY(true, "忙"),
    IDLE((short)0, "空闲"),
    BUSY((short)1, "忙"),
    ;

    public Boolean id;
    public Short id;
    public String desc;

    ShuttleStatusType(Boolean id,String desc) {
    ShuttleStatusType(Short id,String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static ShuttleStatusType get(Boolean id) {
    public static ShuttleStatusType get(Short id) {
        if (null == id) {
            return null;
        }
        for (ShuttleStatusType type : ShuttleStatusType.values()) {
            if (type.id.equals(id.booleanValue())) {
            if (type.id.equals(id.shortValue())) {
                return type;
            }
        }

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

@@ -28,22 +28,22 @@
    /**
     * 控制指令字
     */
    private Integer commandWord;
    private Short commandWord;

    /**
     * 启始二维编号
     */
    private String startCodeNum;
    private Short startCodeNum;

    /**
     * 中间二维编号
     */
    private String middleCodeNum;
    private Short middleCodeNum;

    /**
     * 目标二维编号
     */
    private String distCodeNum;
    private Short distCodeNum;

    /**
     * 起点到目标点的距离长度
@@ -58,12 +58,12 @@
    /**
     * 小车运行方向
     */
    private Integer runDirection;
    private Short runDirection;

    /**
     * 托盘顶升
     */
    private Integer palletLift;
    private Short palletLift;

    /**
     * 小车强制移动距离
@@ -73,26 +73,26 @@
    /**
     * 充电开关
     */
    private Integer chargeSwitch;
    private Short chargeSwitch;

    /**
     * 小车IO控制
     */
    private byte IOControl;
    private Short IOControl;

    /**
     * 小车运行速度
     */
    private Integer runSpeed;
    private Short runSpeed;

    /**
     * 小车雷达备用
     */
    private Integer radarTmp;
    private Short radarTmp;

    /**
     * 指令结束位
     */
    private Integer commandEnd;
    private Short commandEnd;

}

 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java

@@ -37,82 +37,11 @@
    public Short lev;

    /**
     * 控制指令字
     */
    private Integer commandWord;

    /**
     * 启始二维编号
     */
    private Integer startCodeNum;

    /**
     * 中间二维编号
     */
    private Integer middleCodeNum;

    /**
     * 目标二维编号
     */
    private Integer distCodeNum;

    /**
     * 起点到目标点的距离长度
     */
    private Integer startToDistDistance;

    /**
     * 中间点到目标点的距离长度
     */
    private Integer middleToDistDistance;

    /**
     * 小车运行方向
     */
    private Integer runDirection;

    /**
     * 托盘顶升
     */
    private Integer palletLift;

    /**
     * 小车强制移动距离
     */
    private Integer forceMoveDistance;

    /**
     * 充电开关
     */
    private Integer chargeSwitch;

    /**
     * 小车IO控制
     */
    private Integer IOControl;

    /**
     * 小车运行速度
     */
    private Integer runSpeed;

    /**
     * 小车雷达备用
     */
    private Integer radarTmp;

    /**
     * 指令结束位
     */
    private Integer commandEnd;


    /**
     * 小车忙状态位
     * true: 忙
     * false: 空闲
     * 1: 忙
     * 0: 空闲
     */
    private Boolean busyStatus;
    private Short busyStatus;

    /**
     * 小车忙状态位枚举
@@ -123,82 +52,82 @@
     * 当前二维码
     * 0为空
     */
    private String currentCode;
    private Short currentCode;

    /**
     * 电池电量百分比
     */
    private Double batteryPower;
    private Short batteryPower;

    /**
     * 电池温度
     */
    private Double batteryTemp;
    private Short batteryTemp;

    /**
     * 错误编号
     */
    private Integer errorCode;
    private Short errorCode;

    /**
     * Plc输出状态IO
     */
    private byte plcOutputStatusIO;
    private Short plcOutputStatusIO;

    /**
     * 错误信息码
     */
    private Integer statusErrorCode;
    private Short statusErrorCode;

    /**
     * PLC输入状态
     */
    private byte plcInputStatus;
    private Short plcInputStatus;

    /**
     * 当前或者之前读到的二维码值
     */
    private String currentOrBeforeCode;
    private Short currentOrBeforeCode;

    /**
     * 读到的二维码X方向偏移量
     */
    private Integer codeOffsetX;
    private Short codeOffsetX;

    /**
     * 读到的二维码Y方向偏移量
     */
    private Integer codeOffsetY;
    private Short codeOffsetY;

    /**
     * 当前的电压值
     */
    private Double currentVoltage;
    private Short currentVoltage;

    /**
     * 当前的模拟量值
     */
    private Integer currentAnalogValue;
    private Short currentAnalogValue;

    /**
     * 当前的升降伺服速度
     */
    private Double currentLiftServoSpeed;
    private Short currentLiftServoSpeed;

    /**
     * 当前的行走伺服速度
     */
    private Double currentMoveServoSpeed;
    private Short currentMoveServoSpeed;

    /**
     * 当前的升降伺服负载率
     */
    private Double currentLiftServoLoad;
    private Short currentLiftServoLoad;

    /**
     * 当前的行走伺服负载率
     */
    private Double currentMoveServoLoad;
    private Short currentMoveServoLoad;

    /**
     * 作业标记
@@ -281,13 +210,13 @@
     */
    private boolean goOHpAvoidErr;

    public void setBusyStatus(Boolean status) {
    public void setBusyStatus(Short status) {
        this.busyStatus = status;
        this.busyStatusType = ShuttleStatusType.get(status);
    }

    public void setBusyStatus(ShuttleStatusType type) {
        this.busyStatus = type.id.booleanValue();
        this.busyStatus = type.id.shortValue();
        this.busyStatusType = type;
    }


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

@@ -10,6 +10,7 @@
import com.core.common.DateUtils;
import com.core.common.RadixTools;
import com.core.exception.CoolException;
import com.zy.common.utils.CommonUtils;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -28,6 +29,7 @@

import java.text.MessageFormat;
import java.util.Date;
import java.util.Random;

/**
 * 四向穿梭车线程
@@ -102,60 +104,58 @@

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("0", (short) 17);
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
            if (result.IsSuccess) {
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                }

                //----------设置四向穿梭车状态-----------
                //----------读取四向穿梭车状态-----------
                //获取数据
                byte[] content = result.Content;
                //小车忙状态位
                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
                //当前二维码
                shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
                //电池电量百分比
                shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
                //电池温度
                shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                //PLC输入状态
                shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
                //当前或者之前读到的二维码值
                shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
                //读到的二维码X方向偏移量
                shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
                //读到的二维码Y方向偏移量
                shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
                //当前的电压值
                shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
                //当前的模拟量值
                shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
                //当前的升降伺服速度
                shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
                //当前的行走伺服速度
                shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
                //当前的升降伺服负载率
                shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
                //当前的行走伺服负载率
                shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));

                //--------控制字--------
                //控制指令字
                shuttleProtocol.setCommandWord(modbusTcpNet.getByteTransform().TransUInt16(content, 0));
                //启始二维编号
                shuttleProtocol.setStartCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 2));
                //中间二维编号
                shuttleProtocol.setMiddleCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 4));
                //目标二维编号
                shuttleProtocol.setDistCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 6));
                //起点到目标点的距离长度
                shuttleProtocol.setStartToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 8));
                //中间点到目标点的距离长度
                shuttleProtocol.setMiddleToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 12));
                //小车运行方向
                shuttleProtocol.setRunDirection(modbusTcpNet.getByteTransform().TransUInt16(content, 16));
                //托盘顶升
                shuttleProtocol.setPalletLift(modbusTcpNet.getByteTransform().TransUInt16(content,18));
                //小车强制移动距离
                shuttleProtocol.setForceMoveDistance(modbusTcpNet.getByteTransform().TransInt32(content, 20));
                //充电开关
                shuttleProtocol.setChargeSwitch(modbusTcpNet.getByteTransform().TransUInt16(content,24));
                //小车IO控制
                shuttleProtocol.setIOControl(modbusTcpNet.getByteTransform().TransUInt16(content,26));
                //小车运行速度
                shuttleProtocol.setRunSpeed(modbusTcpNet.getByteTransform().TransUInt16(content,28));
                //小车雷达备用
                shuttleProtocol.setRadarTmp(modbusTcpNet.getByteTransform().TransUInt16(content,30));
                //指令结束位
                shuttleProtocol.setCommandEnd(modbusTcpNet.getByteTransform().TransUInt16(content,32));
                ///读取四向穿梭车状态-end


                //---------状态字---------
//                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransUInt16(content,32));

                ///设置四向穿梭车状态-end
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                //读取四向穿梭车设备信息，提供查询
                //.....

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

                // 根据实时信息更新数据库
                //.....


            }else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
@@ -173,34 +173,52 @@
            return false;
        }

        //判断小车是否在充电
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        if (devpThread.charge1){

        }

        command.setShuttleNo(slave.getId());
        OperateResult result = null;
        // 开始任务
        //...
        short[] array = new short[17];
        //控制指令字
        array[0] = command.getCommandWord();
        //启始二维编号
        array[1] = command.getStartCodeNum();
        //中间二维编号
        array[2] = command.getMiddleCodeNum();
        //目标二维编号
        array[3] = command.getDistCodeNum();

        //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
        array[4] = startToDistDistances[0];
        array[5] = startToDistDistances[1];

        try {
            // 日志记录
            if (!command.getComplete() && command.getTaskMode() != 0) {
                //日志记录保存到数据库中
                //.....
            }
        } catch (Exception ignore) {}
        //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
        array[6] = middleToDistDistances[0];
        array[7] = middleToDistDistances[1];

        //小车运行方向
        array[8] = command.getRunDirection();
        //托盘顶升
        array[9] = command.getPalletLift();

        //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
        array[10] = forceMoveDistances[0];
        array[11] = forceMoveDistances[1];

        //充电开关
        array[12] = command.getChargeSwitch();
        //小车IO控制
        array[13] = command.getIOControl();
        //小车运行速度
        array[14] = command.getRunSpeed();
        //小车雷达备用
        array[15] = command.getRadarTmp();
        //指令结束位
        array[16] = command.getCommandEnd();

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            // 维护数据库排列层
//            if (!steProtocol.getWaiting()) {
//                if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) {
//                    this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());
//                }
//            }

            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
@@ -218,9 +236,9 @@
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
        shuttleProtocol.setShuttleNo(slave.getId().shortValue());
        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
        shuttleProtocol.setCurrentCode("0");
//        shuttleProtocol.setShuttleNo(slave.getId().shortValue());
//        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
//        shuttleProtocol.setCurrentCode("0");
    }

    /******************************************************************************************/
@@ -234,42 +252,23 @@
        ShuttleThread thread = new ShuttleThread(slave);
        thread.connect();
        thread.readStatus();
        System.out.println(JSON.toJSONString(thread.shuttleProtocol));

        // 任务作业
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        Random random = new Random();
//        int taskNo = random.nextInt(9090);
//        command.setTaskNo(taskNo); // 工作号
//        command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 任务模式
//        thread.write(command);

        // 任务完成
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        command.setComplete(Boolean.TRUE); // 任务模式
//        thread.write(command);

        // 控制模式
//        SteCommand command = new SteCommand();
//        command.setControlMode((short) 1);
//        thread.write(command);

        // 复位信号
//        SteCommand command = new SteCommand();
//        command.setReset(Boolean.TRUE);
//        thread.write(command);

        // 删除指令
//        SteCommand command = new SteCommand();
//        command.setDelete(Boolean.TRUE);
//        thread.write(command);

        // 穿梭车运行禁止
//        SteCommand command = new SteCommand();
//        command.setRun((short)0);
//        thread.write(command);
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 0);
        command.setStartCodeNum((short) 12323);
        command.setMiddleCodeNum((short) 22323);
        command.setDistCodeNum((short) 29999);
        command.setStartToDistDistance(109999);
        command.setMiddleToDistDistance(5000);
        command.setRunDirection((short) 1);
        command.setPalletLift((short) 2);
        command.setForceMoveDistance(3000);
        command.setChargeSwitch((short) 2);
        command.setIOControl((short) 0);
        command.setRunSpeed((short) 0);
        command.setRadarTmp((short) 0);
        command.setCommandEnd((short) 1);
        thread.write(command);

    }
}