#

lsh

2023-03-07 daeda3ceebf1dafb388437423a983451720661a5

#

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -408,7 +408,6 @@
                    if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
                        wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
                        if (null == wrkMast) {
                            News.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo());
                            continue;
                        }
                    } else {
@@ -734,7 +733,9 @@
            }

            // 置顶任务
            wrkMast.setIoPri((double) 9999);
            if (wrkMast.getIoPri()<8000){
                wrkMast.setIoPri(wrkMast.getIoPri()+9000d);
            }
            wrkMastMapper.updateById(wrkMast);

                // 目标库位 ===>> 最外层库位
@@ -949,7 +950,9 @@
                }

                // 置顶任务
                wrkMast.setIoPri((double) 9998);
                if (wrkMast.getIoPri()<8000){
                    wrkMast.setIoPri(wrkMast.getIoPri()+8999d);
                }
                wrkMastMapper.updateById(wrkMast);

                // 最外层库位，直接堆垛机出库
@@ -2586,14 +2589,18 @@
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, 1);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (null == wrkCharge) {
            if (steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()){
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(1); // 穿梭车编号
                steCommand.setTaskNo(10060); // 工作号
                steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
                if (!MessageQueue.offer(SlaveType.Ste, 1, new Task(2, steCommand))) {
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
            try{
                if (steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()){
                    SteCommand steCommand = new SteCommand();
                    steCommand.setSteNo(1); // 穿梭车编号
                    steCommand.setTaskNo(10060); // 工作号
                    steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
                    if (!MessageQueue.offer(SlaveType.Ste, 1, new Task(2, steCommand))) {
                        News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                    }
                }
            }catch (Exception e){
                return;
            }
            return;
        }

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

@@ -78,10 +78,8 @@
            sb.append("目标站：").append(command.getStaNo()).append("\n");
            if (!command.isEmptyMk()) {
                for (MatDto matDto : command.getMatDtos()) {
                    sb.append(matDto.getOrderNo()).append("\n");
                    sb.append(matDto.getMatnr()).append("\n");
                    sb.append(matDto.getModel()).append("\n");
                    sb.append(matDto.getTotal()).append("/").append(matDto.getCount()).append("\n");
                    sb.append("物料编码：").append(matDto.getMatnr()).append("\n");
                    sb.append("数量：").append(matDto.getCount()).append("\n");
                }
            }
            sb.append("\n");

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

@@ -255,12 +255,40 @@
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result=null;
        //任务下发次数
        int writeCount = 0;
        do {
            result = siemensNet.Write("DB100.0", array);
            if(result.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensNet.Read("DB100.0", (short) 20);
                if(readResult.IsSuccess){
                    short ackFinish = siemensNet.getByteTransform().TransInt16(readResult.Content, 0);
                    short taskNo = siemensNet.getByteTransform().TransInt16(readResult.Content, 2);
                    if(command.getTaskNo().equals(taskNo) && command.getAckFinish().equals(ackFinish)){
                        //任务命令写入成功
                        log.info("写入堆垛机命令后返回成功，并且回读成功。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        log.error("写入堆垛机命令后返回成功，但是读取任务值不一致。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
                    }
                } else {
                    writeCount++;
                    log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
                }
            }
            else {
                writeCount++;
                log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
            }
        }while (writeCount<5);

        if (command.getAckFinish() == 0) {
                short commandFinish = 1;
                Thread.sleep(300);
                result = siemensNet.Write("DB100.18", commandFinish);
            short commandFinish = 1;
            Thread.sleep(300);
            result = siemensNet.Write("DB100.18", commandFinish);
        }

        try {

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

@@ -166,49 +166,49 @@
            }
        }

        // 充电信号位
        // 充电信号位1
        Thread.sleep(50);
        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB102.109", (short)1);
        if (result3.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result3.Content, 0, 1);
            charge0 = status[0];
        OperateResultExOne<byte[]> result32 = siemensS7Net.Read("DB102.109", (short)1);
        if (result32.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result32.Content, 0, 1);
            charge0 = status[0];  //1:可以充电   0：可能离线 可能在充电
        }
        // 充电信号位
        // 充电信号位2
        Thread.sleep(50);
        OperateResultExOne<byte[]> result31 = siemensS7Net.Read("DB100.201", (short)1);
        if (result3.IsSuccess) {
        if (result31.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result31.Content, 0, 1);
            charge1 = status[0];
        }

        // 外形检测 - 102
        Thread.sleep(50);
        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB102.129", (short)1);
        if (result4.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
            StaProtocol staProtocol = station.get(102);
            staProtocol.setFrontErr(status[0]);
            staProtocol.setBackErr(status[1]);
            staProtocol.setHighErr(status[2]);
            staProtocol.setLeftErr(status[3]);
            staProtocol.setRightErr(status[4]);
            staProtocol.setWeightErr(status[5]);
            staProtocol.setBarcodeErr(status[6]);
        }
        // 外形检测 - 203
        Thread.sleep(50);
        OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB102.130", (short)1);
        if (result5.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result5.Content, 0, 1);
            StaProtocol staProtocol = station.get(202);
            staProtocol.setFrontErr(status[0]);
            staProtocol.setBackErr(status[1]);
            staProtocol.setHighErr(status[2]);
            staProtocol.setLeftErr(status[3]);
            staProtocol.setRightErr(status[4]);
            staProtocol.setWeightErr(status[5]);
            staProtocol.setBarcodeErr(status[6]);
        }
//        // 外形检测 - 102
//        Thread.sleep(50);
//        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB102.129", (short)1);
//        if (result4.IsSuccess) {
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
//            StaProtocol staProtocol = station.get(102);
//            staProtocol.setFrontErr(status[0]);
//            staProtocol.setBackErr(status[1]);
//            staProtocol.setHighErr(status[2]);
//            staProtocol.setLeftErr(status[3]);
//            staProtocol.setRightErr(status[4]);
//            staProtocol.setWeightErr(status[5]);
//            staProtocol.setBarcodeErr(status[6]);
//        }
//        // 外形检测 - 203
//        Thread.sleep(50);
//        OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB102.130", (short)1);
//        if (result5.IsSuccess) {
//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result5.Content, 0, 1);
//            StaProtocol staProtocol = station.get(202);
//            staProtocol.setFrontErr(status[0]);
//            staProtocol.setBackErr(status[1]);
//            staProtocol.setHighErr(status[2]);
//            staProtocol.setLeftErr(status[3]);
//            staProtocol.setRightErr(status[4]);
//            staProtocol.setWeightErr(status[5]);
//            staProtocol.setBarcodeErr(status[6]);
//        }

        if (result.IsSuccess && result1.IsSuccess) {

@@ -273,20 +273,74 @@
            return;
        }
        int index = staNos.indexOf(staProtocol.getSiteId());
        OperateResult write = siemensS7Net.Write("DB100." + index*4, staProtocol.getWorkNo());    // 工作号
        Thread.sleep(500);
        OperateResult write1 = siemensS7Net.Write("DB100." + (index*4+2), staProtocol.getStaNo());    // 目标站
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, staProtocol.getWorkNo());    // 工作号
//        Thread.sleep(500);
//        OperateResult write1 = siemensS7Net.Write("DB100." + (index*4+2), staProtocol.getStaNo());    // 目标站

        if (!write.IsSuccess || !write1.IsSuccess) {
        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        while(writeCount < 5){
            writeResult = siemensS7Net.Write("DB100." + index*4, array);    // 工作号、目标站
            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*4, (short)4);
                if(readResult.IsSuccess){
                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 2);
                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
                        //任务命令写入成功
                        writeFlag = true;
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            News.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
            read();//读取1次设备状态
            return;
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            News.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

            Integer siteId = staProtocol.getSiteId();
            staProtocol = station.get(siteId);
            if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
                staProtocol.setPakMk(true);
            }
        }
    }


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

@@ -301,7 +301,7 @@
        }
        //判断小车是否在充电
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        if (!devpThread.charge0 || devpThread.charge1){
        if (devpThread.charge1){
            // led 异常显示
            LedThread ledThread1 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
            LedThread ledThread2 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
@@ -313,6 +313,18 @@
            }
            News.error("穿梭车正在充电");
            return false;
        }else if (!devpThread.charge0){
            // led 异常显示
            LedThread ledThread1 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
            LedThread ledThread2 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
            LedThread ledThread3 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
            if (ledThread1 != null && ledThread2 != null && ledThread3 != null) {
                MessageQueue.offer(SlaveType.Led, 1, new Task(3, "穿梭车可能在离线充电，检查电控柜穿梭车是否充电桩在线"));
                MessageQueue.offer(SlaveType.Led, 2, new Task(3, "穿梭车可能在离线充电，检查电控柜穿梭车是否充电桩在线"));
                MessageQueue.offer(SlaveType.Led, 3, new Task(3, "穿梭车可能在离线充电，检查电控柜穿梭车是否充电桩在线"));
            }
            News.error("穿梭车可能在离线充电，检查电控柜穿梭车是否充电桩在线");
            return false;
        }
        command.setSteNo(slave.getId());
        OperateResult result = null;

 src/main/resources/application.yml

@@ -8,7 +8,7 @@
    name: @pom.build.finalName@
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    url: jdbc:sqlserver://localhost:1433;databasename=szfzasrs
    url: jdbc:sqlserver://10.10.10.209:1433;databasename=szfzasrs
    username: sa
#    password: Zoneyung@zy56$
    password: sa@123
@@ -35,12 +35,12 @@
  enable: false

wms:
  url: localhost:8081/szfzwms
  url: 10.10.10.209:8080/szfzwms

erp:
  db:
    driver_class_name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    ur: jdbc:sqlserver://10.20.46.23:1433;databasename=POY_ASRS
    ur: jdbc:sqlserver://10.10.10.209:1433;databasename=POY_ASRS
    username: poy-asrs
    password: Poy@2022