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luxiaotao1123

2022-03-03 ea8833f7c9fa7e6cda12319a79af8ffcda1f9e25

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

New file
@@ -0,0 +1,52 @@
package com.zy.core.enums;

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
    ;

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

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

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

}

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

@@ -1,11 +1,8 @@
package com.zy.core.model.command;

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

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

/**
 * 穿梭车命令报文
@@ -14,96 +11,75 @@
@Data
public class SteCommand {

    // 堆垛机号
    private Integer crnNo = 0;

    // 任务完成确认位
    private Short ackFinish = 0;
    // 穿梭车号
    private Integer steNo = 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
     */
    // 作业类型
    private Short taskMode = 0;

    @JSONField(serialize = false)
    private CrnTaskModeType taskModeType;
    private SteTaskModeType taskModeType;

    // 源位置排号
    private Short sourcePosX = 0;
    // 排
    private Integer row;

    // 源位置列号
    private Short sourcePosY = 0;
    // 列
    private Integer bay;

    // 源位置层号
    private Short sourcePosZ = 0;
    // 层
    private Integer lev;

    // 源站
    private Short sourceStaNo = 0;
    // 起始设备号
    private Integer startSsbm;

    // 源巷道
    private Short sourceLane = 0;
    // 目的设备号
    private Integer endSsbm;

    // 目标位置排号
    private Short destinationPosX = 0;
    // 控制模式 0=脱机 1=联机
    private Integer controlMode;

    // 目标位置列号
    private Short destinationPosY = 0;
    // 开启信号 1-启动
    private Integer open;

    // 目标位置层号
    private Short destinationPosZ = 0;
    // 初始化
    private Integer init;

    // 目标站
    private Short destinationStaNo = 0;
    // 复位信号 1=复位
    private Integer reset;

    // 目标巷道
    private Short destinationLane = 0;
    // 删除指令 1=删除
    private Integer delete;

    // 任务确认 0：未确认 1：已确认
    private Short command = 0;
    // 托盘间距 中间托盘之间距离 单位毫米
    private Integer space;

    // 间距确认
    private Integer spaceYes;

    // 排修改
    private Integer rowModify;

    // 列修改
    private Integer bayModify;

    // 层修改
    private Integer levModify;

    // 修改确认
    private Integer modifyYes;


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

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

@@ -2,7 +2,8 @@

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
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;
@@ -35,7 +36,7 @@
@Slf4j
public class SteThread implements Runnable, ThreadHandler {

    private MelsecMcNet melsecMcNet;
    private SiemensS7Net siemensS7Net;
    private SteSlave slave;
    private SteProtocol steProtocol;
    private short heartBeatVal = 1;
@@ -49,11 +50,6 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
//        try {
//            Thread.sleep(2000);
//        } catch (InterruptedException e) {
//            e.printStackTrace();
//        }
        while (true) {
            try {
                int step = 1;
@@ -76,7 +72,7 @@
                        if (null == command) {
                            command = new SteCommand();
                        }
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setCrnNo(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
@@ -130,15 +126,17 @@
    @Override
    public boolean connect() {
        boolean result = false;
        melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
        OperateResult connect = melsecMcNet.ConnectServer();
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensS7Net.setRack(slave.getRack().byteValue());
        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }
//        melsecMcNet.ConnectClose();
@@ -155,38 +153,26 @@
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
            OperateResultExOne<byte[]> result = siemensS7Net.Read("D20", (short) 70);
            if (result.IsSuccess) {
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                }
                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));
                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));

                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 (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) {
                        SteCommand steCommand = new SteCommand();
                        steCommand.setAckFinish((short)1);
@@ -203,17 +189,17 @@
                basCrnp.setCrnErr(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                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());
                    log.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "堆垛机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}穿梭车plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            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());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取穿梭车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("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }

@@ -224,7 +210,7 @@
     */
    private boolean write(SteCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            log.error("穿梭车写入命令为空");
            return false;
        }
        command.setCrnNo(slave.getId());
@@ -239,11 +225,11 @@
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
        OperateResult result = melsecMcNet.Write("D0", array);
        OperateResult result = siemensS7Net.Write("D0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = melsecMcNet.Write("D9", commandFinish);
            result = siemensS7Net.Write("D9", commandFinish);
        }

        try {
@@ -251,7 +237,7 @@
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    command.getCrnNo(),    // 穿梭车[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
@@ -270,19 +256,19 @@
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            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}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            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;
        }
    }

    @Override
    public void close() {
        melsecMcNet.ConnectClose();
        siemensS7Net.ConnectClose();
    }

    /**
@@ -294,7 +280,7 @@
        } else {
            heartBeatVal = 1;
        }
        OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
        OperateResult write = siemensS7Net.Write("D10", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
        }