| src/main/java/com/zy/asrs/mapper/WrkMastMapper.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/SiemensDevpThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/SteThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/resources/mapper/WrkMastMapper.xml | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -60,6 +60,8 @@ WrkMast selectWorking(@Param("crnNo")Integer crnNo); WrkMast selectWorking1(@Param("crnNo")Integer crnNo, @Param("wrkNo")Integer wrkNo); // work log ------------------------------------------------------- @Insert("insert into asr_wrk_mast_log select * from asr_wrk_mast where wrk_no=#{workNo}") int saveWrkMastLog(Integer workNo); src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -114,8 +114,14 @@ } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { //20230201. 2号堆垛机有出库任务时，禁止新板入库 if (staProtocol.isLoading() && staProtocol.getWorkNo() == 9995) { if (staProtocol.getWorkNo() == 9995) { if ( inSta.getStaNo()==103 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { //有出库任务，退库到入库口 staProtocol.setWorkNo((short) 9999); @@ -135,12 +141,6 @@ continue; } } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); @@ -1097,7 +1097,7 @@ .last(" and wrk_sts>11 and io_type in (103,107) ")); if(!Cools.isEmpty(one)){ News.error("MainServiceImpl 1099行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！"); return false; continue; } } @@ -1133,13 +1133,13 @@ if(one.getWrkSts() > 10 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getSourceLocNo()) || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getSourceLocNo()) || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getSourceLocNo()))){ return false; continue; } //存在移库任务，且在移回中，且移库目标库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔 if(one.getWrkSts() < 11 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getLocNo()) || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getLocNo()) || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getLocNo()))){ return false; continue; } } @@ -1151,6 +1151,10 @@ continue; } WrkMast two = wrkMastMapper.selectWorking1(slave.getId(), wrkMast.getWrkNo()); if (two != null) {//2号机有在执行任务时，禁止生成移库工作档 continue; } else { String[] shallowlocs = Utils.getShallowLocs(wrkMast.getSourceLocNo()); if(!Cools.isEmpty(shallowlocs)){ for(String shallowLocNo : shallowlocs){ @@ -1182,6 +1186,9 @@ .last(" and wrk_sts in (12,13,14,15,16)")); if(one2==null) { moveLocForDeepLoc(slave, shallowLoc); // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); } else { News.error("浅库位阻塞时，且浅库位存在作业中出库任务！工作号={}", one2.getWrkNo()); } @@ -1206,6 +1213,7 @@ News.error("做了浅库位阻塞处理后反复判断，浅库位状态不为O ===>> 浅库位库位状态为入库预约！出库库位={},浅库位号={}", wrkMast.getSourceLocNo(), shallowLoc.getLocNo()); flag = true; break; } } } } @@ -1624,6 +1632,7 @@ String locNo = Utils.append(row, bay, lev); String[] deeplocs = Utils.getDeepLocs(locNo); if(!Cools.isEmpty(deeplocs)){ boolean ret = false; for(String deepLocNo : deeplocs) { LocMast deepLoc = locMastService.selectById(deepLocNo); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(deepLocNo); @@ -1667,12 +1676,40 @@ throw new CoolException("更新移库回库目标库位状态失败"); } } ret = true; break; // } else { // LocMast curLoc = locMastService.selectById(locNo); // if(curLoc != null && curLoc.getLocSts().equals("O")){ // // } } } if(ret == false && !flag){//深库位都不为O LocMast curLoc = locMastService.selectById(locNo); if(curLoc != null && curLoc.getLocSts().equals("O")){ //修改移库工作档 wrkMast.setSourceLocNo(wrkMast.getLocNo()); wrkMast.setIoPri((double)9999); wrkMast.setWrkSts(2L); wrkMast.setLocNo(locNo); wrkMast.setSteNo(0); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 17.移库完成 => 2.移库再入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } if(curLoc.getLocSts().equals("O")){ curLoc.setLocSts("S"); // S.入库预约 curLoc.setModiTime(new Date()); if (!locMastService.updateById(curLoc)) { News.error("双深库位 --- 更新目标库位状态失败！ 待移转浅库位：" + curLoc.getLocNo()); throw new CoolException("更新移库回库目标库位状态失败"); } } LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if(sourceLoc.getLocSts().equals("R") || sourceLoc.getLocSts().equals("D")){ sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新移库回库目标库位状态失败"); } } } } } @@ -1810,6 +1847,64 @@ if (wrkMast.getWrkSts() == 3L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } else { //2023-4-20， 最外层库位，搬走小车直接移库 // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库 Integer steNo = this.hasCar(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == 0) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo()); } } // 小车搬走 if (wrkMast.getWrkSts() == 3L) { this.carMoveOut(wrkMast, steNo, crnProtocol); } // 没有小车 } else { // 当前入库库位组没有小车 堆垛机则去站点取货入库 // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2 // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == 0) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo()); } return; } } } } } @@ -2501,7 +2596,7 @@ // 充电任务 WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo()); if (wrkCharge == null) { News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); News.error("堆垛机处于等待确认且任务完成状态，但未找到充电工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } else { // 小车搬至指定库位完成 @@ -2761,6 +2856,36 @@ News.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 入库 ===>> 迁出小车 完成 } else if (wrkMast.getWrkSts() == 5) { // 5.迁出小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { News.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } } if (wrkMast.getWrkSts() == 16) { Date now = new Date(); @@ -2946,10 +3071,11 @@ News.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo()); } if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0 && steProtocol.getStatus() == 10) { if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) { News.info("ste[id={}] 执行工作档完成，任务号={}, 穿梭车状态={}", steProtocol.getSteNo(), steProtocol.getTaskNo(), steProtocol.getStatus()); if (steProtocol.getTaskNo() == 9999) { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 9999 成功！！，工作号={}", steProtocol.getSteNo(), 9999); } else { // 查询是否有待入库的任务 WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue()); @@ -2966,6 +3092,7 @@ News.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 21.准备充电 ===>> 22.小车待搬 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } else if (wrkCharge.getWrkSts() == 25) { // 25.小车去充电 ===>> 26.等待充电 @@ -2974,6 +3101,7 @@ News.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 25.小车去充电 ===>> 26.等待充电 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } else if (wrkCharge.getWrkSts() == 32) { // 32.小车走行 ===>> 33.小车待搬 @@ -2982,6 +3110,7 @@ News.error("修改演示任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 25.小车去充电 ===>> 26.等待充电 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } else if (wrkCharge.getWrkSts() == 36) { // 36.小车走行 ===>> 37.演示完成 @@ -2990,9 +3119,13 @@ News.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 36.小车走行 ===>> 37.演示完成 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } } }else{ News.info("ste[id={}] 执行工作档完成，任务号={}, 穿梭车状态={}，工作档状态={}", steProtocol.getSteNo(), steProtocol.getTaskNo(), steProtocol.getStatus(), wrkMast.getWrkSts()); } if (wrkMast == null) { continue; } @@ -3002,9 +3135,10 @@ wrkMast.setWrkSts(3L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo()); News.error("ste[id={}] 修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 2.设备上走 => 3.小车待搬 成功！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; case 8: @@ -3015,6 +3149,7 @@ News.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 8.小车搬入库 => 9.入库完成 成功！！工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; case 11: @@ -3045,6 +3180,7 @@ News.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 11.生成出库ID => 12.小车待搬 成功！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; case 14: @@ -3055,6 +3191,7 @@ News.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 14.小车搬出库 => 15.等待吊车 成功！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; } @@ -3679,6 +3816,7 @@ News.error("修改充电任务状态 26.等待充电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("修改充电任务状态 26.等待充电 ===> 28.完成充电 成功！！，工作号={}", wrkCharge.getWrkNo()); } } } else { src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -88,7 +88,8 @@ break; // 写数据 ID+目标站 case 2: write((StaProtocol)task.getData(), 0); // write((StaProtocol)task.getData(), 0); write((StaProtocol)task.getData()); Thread.sleep(300); read(); break; @@ -120,7 +121,7 @@ OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } siemensS7Net.ConnectClose(); // siemensS7Net.ConnectClose(); return result; } @@ -180,7 +181,7 @@ } //读条码 Thread.sleep(100); Thread.sleep(200); OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.100",(short)(barcodeSize*8)); if (result2.IsSuccess) { for (int i = 0; i < barcodeSize; i++) { @@ -194,7 +195,7 @@ } // 充电信号位 Thread.sleep(100); Thread.sleep(200); OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB102.50", (short)1); if (result3.IsSuccess) { boolean[] status = siemensS7Net.getByteTransform().TransBool(result3.Content, 0, 1); @@ -232,8 +233,122 @@ /** * 写入 ID+目标站 =====> 单站点写入 */ private void write(StaProtocol staProtocol) throws InterruptedException { if (null == staProtocol) { return; } int index = staNos.indexOf(staProtocol.getSiteId()); OperateResult writeId,writeDest; // //任务ID下发次数 int idCount = 0; boolean idFlag = false; while(idCount < 5){ writeId = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo()); // 工作号 if(writeId.IsSuccess){ Thread.sleep(200); OperateResultExOne<byte[]> readId = siemensS7Net.Read("DB100." + index*2, (short)2); if(readId.IsSuccess){ short workNo = siemensS7Net.getByteTransform().TransInt16(readId.Content, 0); if(staProtocol.getWorkNo().equals(workNo)){ //工作号写入成功 idFlag = true; break; } else {//返回结果是成功了，但是真实值不相同 idCount++; OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号后返回成功，但是读取工作号值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}", slave.getId(), JSON.toJSON(staProtocol),idCount)); log.error("写入输送线工作号后返回成功，但是读取工作号值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), idCount); } } else { idCount++; OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号后读取工作号失败。输送线plc编号={1}，站点数据={2},写入次数={3}", slave.getId(), JSON.toJSON(staProtocol), idCount)); log.error("写入输送线工作号后读取工作号失败{}。输送线plc编号={}，站点数据={},写入次数={}", readId.Message, slave.getId(), JSON.toJSON(staProtocol), idCount); } } else { idCount++; OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号失败。输送线plc编号={1}，站点数据={2},写入次数={3}", slave.getId(), JSON.toJSON(staProtocol),idCount)); log.error("写入输送线工作号失败{}。输送线plc编号={}，站点数据={},写入次数={}", writeId.Message, slave.getId(), JSON.toJSON(staProtocol), idCount); } Thread.sleep(200); } //写ID尝试了5次还是失败了 if(!idFlag){ staProtocol = station.get(staProtocol.getSiteId()); if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) { staProtocol.setPakMk(true); } OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol))); log.error("写入输送线工作号尝试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; } //任务目标站下发次数 int destCount = 0; boolean destFlag = false; while(destCount < 5){ writeDest = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo()); // 目标站 if(writeDest.IsSuccess){ Thread.sleep(200); OperateResultExOne<byte[]> readDest = siemensS7Net.Read("DB101." + index*2, (short)2); if(readDest.IsSuccess){ short staNo = siemensS7Net.getByteTransform().TransInt16(readDest.Content, 0); if(staProtocol.getStaNo().equals(staNo)){ //目标站写入成功 destFlag = true; break; } else {//返回结果是成功了，但是真实值不相同 destCount++; OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站后返回成功，但是读取目标站值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}", slave.getId(), JSON.toJSON(staProtocol),destCount)); log.error("写入输送线目标站后返回成功，但是读取目标站值不一致。输送线plc编号={}，{},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), destCount); } } else { destCount++; OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站后读取目标站失败。输送线plc编号={1}，站点数据={2},写入次数={3}", slave.getId(), JSON.toJSON(staProtocol), destCount)); log.error("写入输送线目标站后读取目标站失败{}。输送线plc编号={}，站点数据={}，写入次数={}", readDest.Message, slave.getId(), JSON.toJSON(staProtocol), destCount); } } else { destCount++; OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站失败。输送线plc编号={1}，站点数据={2},写入次数={3}", slave.getId(), JSON.toJSON(staProtocol),destCount)); log.error("写入输送线目标站失败{}。输送线plc编号={}，站点数据={},写入次数={}", writeDest.Message, slave.getId(), JSON.toJSON(staProtocol), destCount); } Thread.sleep(200); } //写目标站尝试了5次还是失败了 if(!destFlag){ staProtocol = station.get(staProtocol.getSiteId()); if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) { staProtocol.setPakMk(true); } OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol))); log.error("写入输送线目标站尝试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; } 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)); } /** * 写入 ID+目标站 =====> 单站点写入 */ private void write(StaProtocol staProtocol, int times) throws InterruptedException { if (null == staProtocol || times > 2) { if (null == staProtocol || times > 3) { return; } int index = staNos.indexOf(staProtocol.getSiteId()); @@ -242,9 +357,9 @@ OperateResult write1 = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo()); // 目标站 if (!write.IsSuccess || !write1.IsSuccess) { MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol)); // MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol)); 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，重新添加任务到队列。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol)); News.error("写入输送线站点数据失败==>>{}--{}，重新添加任务到队列。输送线plc编号={}，站点数据={}", write.Message, write1.Message, slave.getId(), JSON.toJSON(staProtocol)); times++; write(staProtocol, times); // staProtocol = station.get(staProtocol.getSiteId()); @@ -327,16 +442,7 @@ slave.setRack(0); slave.setSlot(0); SiemensDevpThread devpThread = new SiemensDevpThread(slave); SiemensS7Net siemensS7Net = devpThread.getSiemensS7Net(); siemensS7Net.setRack(slave.getRack().byteValue()); siemensS7Net.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensS7Net.ConnectServer(); if(connect.IsSuccess){ News.info("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } else { News.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } siemensS7Net.ConnectClose(); devpThread.connect(); // 写 // StaProtocol staProtocol = devpThread.getStation().get(1); // staProtocol.setWorkNo((short) 232); src/main/java/com/zy/core/thread/SteThread.java
@@ -67,8 +67,8 @@ // 写入数据 case 2: write((SteCommand) task.getData()); Thread.sleep(200); readStatus(); // Thread.sleep(200); // readStatus(); break; default: break; @@ -122,7 +122,7 @@ /** * 读取状态 */ private void readStatus(){ private synchronized void readStatus(){ try { OperateResultExOne<byte[]> result = siemensS7Net.Read("V800", (short) 70); if (result.IsSuccess) { @@ -183,13 +183,15 @@ // 复位信号 if (steProtocol.getWaiting()) { News.error("-------------------------------------------第一步、[穿梭车号：{}, 工作号：{}]==>> 状态为{}，等待WCS确认！！", slave.getId(),steProtocol.getTaskNo(),steProtocol.getStatus()); News.info("-------------第一步、[穿梭车号：{}, 工作号：{}]==>> 状态为{}，等待WCS确认！！{}", slave.getId(),steProtocol.getTaskNo(),steProtocol.getStatus(), resetFlag); if (resetFlag) { SteCommand steCommand = new SteCommand(); steCommand.setComplete(true); if (write(steCommand) && confirmPos()) { resetFlag = false; News.info("第二步、发送复位命令成功 resetFlag = false,[穿梭车号：{}, 工作号：{}]==>> 状态为{}，等待WCS确认！！{}", slave.getId(),steProtocol.getTaskNo(),steProtocol.getStatus(), resetFlag); } } } @@ -227,7 +229,7 @@ /** * 写入数据 */ private boolean write(SteCommand command){ private synchronized boolean write(SteCommand command){ if (null == command) { News.error("穿梭车写入命令为空"); return false; @@ -333,19 +335,19 @@ if (result1.IsSuccess) { short taskNo = siemensS7Net.getByteTransform().TransInt16(result1.Content, 0); short taskType = siemensS7Net.getByteTransform().TransInt16(result1.Content, 2); readStatus(); // readStatus(); News.info("穿梭板任务下发成功后休眠200ms立即回读写入数据，穿梭板ID={}, 任务号={}, 作业类型={}",slave.getId(), taskNo, taskType); News.info("穿梭板任务下发成功后休眠200ms立即回读穿梭板状态，穿梭板ID={}, 任务号={}, 穿梭板状态={}",slave.getId(), steProtocol.getTaskNo(),steProtocol.getStatus()); } resetFlag = false; return true; } else { OutputQueue.STE.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())); News.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); //写入失败后，重新添加commanddao 任务队列中,并立即回读一次设备状态 MessageQueue.offer(SlaveType.Ste, slave.getId(), new Task(2, command)); readStatus(); // MessageQueue.offer(SlaveType.Ste, slave.getId(), new Task(2, command)); // readStatus(); initSte(); return false; src/main/resources/mapper/WrkMastMapper.xml
@@ -136,6 +136,12 @@ select top 1 * from dbo.asr_wrk_mast where 1=1 and (wrk_sts=7 or wrk_sts=16) and crn_no=#{crnNo} order by io_time,wrk_no </select> <select id="selectWorking1" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where 1=1 and wrk_no!=#{wrkNo} and ((wrk_sts>11 and wrk_sts < 17) or (wrk_sts=11 and ste_no is not null and ste_no>0)) and crn_no=#{crnNo} order by io_time,wrk_no </select> <select id="selectPakin" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where 1=1
