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luxiaotao1123

2022-03-14 e73873f9406fb991c48cf7b0bc911e2a9103e7c7

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

New file
@@ -0,0 +1,41 @@
package com.zy.core.enums;

public enum SteHisTaskStatusType {

    INIT(0, "初始"),
    COMPLETE(1, "执行完成"),
    REMOVE(2, "删除"),
    ;

    public Integer id;
    public String desc;
    SteHisTaskStatusType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static SteHisTaskStatusType get(Short id) {
        if (null == id) {
            return null;
        }
        for (SteHisTaskStatusType type : SteHisTaskStatusType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static SteHisTaskStatusType get(SteHisTaskStatusType type) {
        if (null == type) {
            return null;
        }
        for (SteHisTaskStatusType statusType : SteHisTaskStatusType.values()) {
            if (statusType == type) {
                return statusType;
            }
        }
        return null;
    }

}

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

@@ -2,27 +2,29 @@

public enum SteTaskModeType {

    INIT(0),    // 初始
    OUT_LEFT(1),    // 左出库
    OUT_RIGHT(2),    // 右出库
    IN_LEFT(3),    // 左入库
    IN_RIGHT(4),    // 右入库
    MOVE_LEFT(5),    // 左移库
    MOVE_RIGHT(6),    // 右移库
    GO_ORIGIN(7),    // 回原点
    BACK_ORIGIN(8),      // 回反原点
    TO_A(9),        // A点
    TO_B(10),       // B点
    FIT_LEFT(11),   // 左搬移
    FIT_RIGHT(12),      // 右搬移
    CHARGE(13),         // 充电
    CHECK_LEFT(14),     // 左盘点
    CHECK_RIGHT(15),    // 右盘点
    INIT(0, "初始"),    // 初始
    OUT_LEFT(1, "左出库"),    // 左出库
    OUT_RIGHT(2, "右出库"),    // 右出库
    IN_LEFT(3, "左入库"),    // 左入库
    IN_RIGHT(4, "右入库"),    // 右入库
    MOVE_LEFT(5, "左移库"),    // 左移库
    MOVE_RIGHT(6, "右移库"),    // 右移库
    GO_ORIGIN(7, "回原点"),    // 回原点
    BACK_ORIGIN(8, "回反原点"),      // 回反原点
    TO_A(9, "A点"),        // A点
    TO_B(10, "B点"),       // B点
    FIT_LEFT(11, "左搬移"),   // 左搬移
    FIT_RIGHT(12, "右搬移"),      // 右搬移
    CHARGE(13, "充电"),         // 充电
    CHECK_LEFT(14, "左盘点"),     // 左盘点
    CHECK_RIGHT(15, "右盘点"),    // 右盘点
    ;

    public Integer id;
    SteTaskModeType(Integer id) {
    public String desc;
    SteTaskModeType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static SteTaskModeType get(Short id) {

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

@@ -1,7 +1,8 @@
package com.zy.core.model.protocol;

import com.zy.asrs.entity.BasCrnp;
import com.zy.core.enums.*;
import com.zy.asrs.entity.BasSte;
import com.zy.core.enums.SteHisTaskStatusType;
import com.zy.core.enums.SteStatusType;
import lombok.Data;

/**
@@ -29,10 +30,18 @@
     */
    public Short status;

    /**
     * 状态枚举
     */
    public SteStatusType statusType;

    /**
     * 正在执行任务
     */
    public Boolean execute;

    /**
     * 任务完成，等待WCS确认
     */
    public Boolean waiting;


    /**
     * 异常码1
@@ -49,6 +58,16 @@
     * 电池电量
     */
    public Short charge;

    /**
     * 满电
     */
    public Boolean fullCharge;

    /**
     * 低电量
     */
    public Boolean lowCharge;

    /**
     * 电池馈电     0，正常，1馈电
@@ -118,8 +137,11 @@

    /**
     * 过账指令状态
     * 0初始 1执行完成 2删除
     */
    public Short hisTaskStatus;

    public SteHisTaskStatusType hisTaskStatusType;

    /**
     * 盘点数量
@@ -166,6 +188,16 @@
        this.status = SteStatusType.get(type).id.shortValue();
    }

    public void setHisTaskStatus(Short hisTaskStatus){
        this.hisTaskStatus = hisTaskStatus;
        this.hisTaskStatusType = SteHisTaskStatusType.get(hisTaskStatus);
    }

    public void setHisTaskStatus(SteHisTaskStatusType type){
        this.hisTaskStatusType = type;
        this.hisTaskStatus = SteHisTaskStatusType.get(type).id.shortValue();
    }

    /**
     * 最近一次入出库类型
     *       I:入库
@@ -174,11 +206,11 @@
    private String lastIo = "I";


    public BasCrnp toSqlModel(BasCrnp basCrnp){
    public BasSte toSqlModel(BasSte basSte){
        if (alarm!=null) {
            basCrnp.setCrnErr(alarm.longValue());
            basSte.setSteErr(alarm.longValue());
        }
        basCrnp.setWrkNo(taskNo);
        return basCrnp;
        basSte.setWrkNo(taskNo);
        return basSte;
    }
}

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

@@ -4,11 +4,12 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.service.BasSteService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -39,6 +40,10 @@
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    private Integer lastRow;
    private Integer lastBay;
    private Integer lastLev;

    public SteThread(SteSlave slave) {
        this.slave = slave;
    }
@@ -62,24 +67,6 @@
                    // 写入数据
                    case 2:
                        write((SteCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        SteCommand command = (SteCommand) task.getData();
                        if (null == command) {
                            command = new SteCommand();
                        }
//                        command.setSteNo(slave.getId()); // 穿梭车编号
//                        command.setTaskNo((short) 0); // 工作号
//                        command.setAckFinish((short) 1);  // 任务完成确认位
//                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
//                        command.setSourcePosX((short)0);     // 源库位排
//                        command.setSourcePosY((short)0);     // 源库位列
//                        command.setSourcePosZ((short)0);     // 源库位层
//                        command.setDestinationPosX((short)0);     // 目标库位排
//                        command.setDestinationPosY((short)0);     // 目标库位列
//                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    default:
                        break;
@@ -146,26 +133,44 @@
     */
    private void readStatus(){
        try {
//            if (this.slave.getId() == 1 && flag1.equals(0)) {
//                Thread.sleep(3000);
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = siemensS7Net.Read("V20", (short) 70);
            if (result.IsSuccess) {
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                }
//                steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
//                steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
//                steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
//                steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
//                steProtocol.setLevel(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
//                steProtocol.setForkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 10));
//                steProtocol.setLiftPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 12));
//                steProtocol.setWalkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
//                steProtocol.setLoaded(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
//                steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
//                steProtocol.setSteNo();
//                steProtocol.setMode();
//                steProtocol.setStatus();
//                steProtocol.setExecute();
//                steProtocol.setWaiting();
//                steProtocol.setAlarm();
//                steProtocol.setAlarm0();
//                steProtocol.setCharge();
//                steProtocol.setFullCharge();
//                steProtocol.setLowCharge();
//                steProtocol.setFeed();
//                steProtocol.setLoca();
//                steProtocol.setCloser();
//                steProtocol.setSpeed();
//                steProtocol.setPos();
//                steProtocol.setLoad();
//                steProtocol.setTrack();
//                steProtocol.setTaskNo();
//                steProtocol.setTaskType();
//                steProtocol.setRow();
//                steProtocol.setBay();
//                steProtocol.setLev();
//
//                steProtocol.setHisTaskNo();
//                steProtocol.setHisTaskStatus();
//                steProtocol.setCheckQty();
//                steProtocol.setReady();
//                steProtocol.setChargeNo();
//
//                steProtocol.setHeart();
//                steProtocol.setCrnStopRun();
//                steProtocol.setCrnStopFork();
//                steProtocol.setCrnAllowRun();

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

@@ -174,7 +179,7 @@
                    if (resetFlag) {
                        SteCommand steCommand = new SteCommand();
//                        steCommand.setAckFinish((short)1);
                        if (write(steCommand)) {
                        if (write(steCommand) && confirmPos()) {
                            resetFlag = false;
                        }
                    }
@@ -182,11 +187,10 @@


                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnErr(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(steProtocol.toSqlModel(basCrnp))){
                BasSteService service = SpringUtils.getBean(BasSteService.class);
                BasSte basSte = new BasSte();
                basSte.setSteNo(slave.getId());
                if (!service.updateById(steProtocol.toSqlModel(basSte))){
                    log.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

@@ -207,13 +211,12 @@
     * 写入数据
     */
    private boolean write(SteCommand command){
        return true;
//        if (null == command) {
//            log.error("穿梭车写入命令为空");
//            return false;
//        }
//        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        if (null == command) {
            log.error("穿梭车写入命令为空");
            return false;
        }
        command.setSteNo(slave.getId());
        short[] array = new short[10];
//        array[0] = command.getAckFinish();
//        array[1] = command.getTaskNo();
//        array[2] = command.getTaskMode();
@@ -224,15 +227,15 @@
//        array[7] = command.getDestinationPosY();
//        array[8] = command.getDestinationPosZ();
//        array[9] = command.getCommand();
//        OperateResult result = siemensS7Net.Write("D0", array);
//
        OperateResult result = siemensS7Net.Write("D0", array);

//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            result = siemensS7Net.Write("D9", commandFinish);
//        }
//
//        try {
//            // 日志记录

        try {
            // 日志记录
//            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
//            BasCrnOpt basCrnOpt = new BasCrnOpt(
//                    command.getTaskNo().intValue(),    // 任务号
@@ -252,17 +255,46 @@
//                    null    // 修改人员
//            );
//            bean.insert(basCrnOpt);
//        } catch (Exception ignore) {}
//
//        if (result.IsSuccess) {
//            log.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
            // 维护数据库排列层
//            this.modifyPos();

            log.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    public void modifyPos(Integer row, Integer bay, Integer lev) {
        this.lastRow = row;
        this.lastBay = bay;
        this.lastLev = lev;
    }

    public boolean confirmPos() {
        if (this.lastRow != null && this.lastRow != 0) {
            if (this.lastBay != null && this.lastBay != 0) {
                if (this.lastLev != null && this.lastLev != 0) {
                    BasSteService service = SpringUtils.getBean(BasSteService.class);
                    BasSte basSte = service.selectById(slave.getId());
                    if (basSte != null) {
                        if (service.updatePos(this.lastRow, this.lastBay, this.lastLev) > 0) {
                            return true;
                        } else {
                            log.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
                        }
                    }

                }
            }
        }
        return false;
    }

    @Override