| src/main/java/com/zy/asrs/controller/ForkLiftController.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/controller/ShuttleController.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/action/ForkLiftAction.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/action/ShuttleAction.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/enums/RedisKeyType.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/ForkLiftSlave.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/resources/application.yml | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/controller/ForkLiftController.java
@@ -164,7 +164,7 @@ @RequestMapping(value = "/command/query") public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo); Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } @@ -176,13 +176,13 @@ @RequestMapping(value = "/command/rollback") public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo , @RequestParam("commandStep") Integer commandStep) { Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo); Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); redisCommand.setCommandStep(commandStep); redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand)); redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); } @@ -191,7 +191,7 @@ public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo , @RequestParam("commandStep") Integer commandStep , @RequestParam("complete") Integer complete) { Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo); Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } @@ -200,14 +200,14 @@ List<ForkLiftCommand> commands = assignCommand.getCommands(); ForkLiftCommand command = commands.get(commandStep); command.setComplete(complete != 0); redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand)); redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); } //重启任务(命令) @RequestMapping(value = "/command/restart") public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo); Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } @@ -232,11 +232,11 @@ //删除任务(命令) @RequestMapping(value = "/command/del") public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo); Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } redisUtil.del(RedisKeyType.LIFT.key + wrkNo); redisUtil.del(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo); return R.ok(); }
@@ -81,7 +81,7 @@ shuttleData.put("moveAdvancePath", null);//穿梭车预计路径 if (shuttleProtocol.getTaskNo() != 0) { //存在任务，获取指令 Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo()); Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo()); if (object != null) { ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class); shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//穿梭车预计路径 @@ -165,7 +165,7 @@ @RequestMapping(value = "/command/query") public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo); Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } @@ -177,13 +177,13 @@ @RequestMapping(value = "/command/rollback") public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo , @RequestParam("commandStep") Integer commandStep) { Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo); Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class); redisCommand.setCommandStep(commandStep); redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand)); redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); } @@ -192,7 +192,7 @@ public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo , @RequestParam("commandStep") Integer commandStep , @RequestParam("complete") Integer complete) { Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo); Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } @@ -201,14 +201,14 @@ List<ShuttleCommand> commands = assignCommand.getCommands(); ShuttleCommand command = commands.get(commandStep); command.setComplete(complete != 0); redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand)); redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); } //重启任务(命令) @RequestMapping(value = "/command/restart") public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo); Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } @@ -230,11 +230,11 @@ //删除任务(命令) @RequestMapping(value = "/command/del") public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo); Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } redisUtil.del(RedisKeyType.SHUTTLE.key + wrkNo); redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo); return R.ok(); }
@@ -50,7 +50,7 @@ redisCommand.setCommandStep(0);//命令执行步序 redisCommand.setAssignCommand(assignCommand);//命令 //任务数据保存到redis if (redisUtil.set(RedisKeyType.FORK_LIFT.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) { if (redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) { forkLiftThread.setSyncTaskNo(assignCommand.getTaskNo().intValue()); return true; } @@ -58,7 +58,7 @@ } public synchronized boolean executeWork(Integer liftNo, Integer taskNo) { Object obj = redisUtil.get(RedisKeyType.FORK_LIFT.key + taskNo); Object obj = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + taskNo); if (obj == null) { return false; } @@ -125,7 +125,7 @@ //更新redis数据 redisCommand.setCommandStep(commandStep); // 更新redis数据 redisUtil.set(RedisKeyType.FORK_LIFT.key + taskNo, JSON.toJSONString(redisCommand)); redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + taskNo, JSON.toJSONString(redisCommand)); } return true; src/main/java/com/zy/core/action/ShuttleAction.java
@@ -61,7 +61,7 @@ redisCommand.setCommandStep(0);//命令执行步序 redisCommand.setAssignCommand(assignCommand);//命令 //任务数据保存到redis if (redisUtil.set(RedisKeyType.SHUTTLE.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) { if (redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) { shuttleThread.setSyncTaskNo(assignCommand.getTaskNo()); return true; } @@ -69,7 +69,7 @@ } public synchronized boolean executeWork(Integer shuttleNo, Integer taskNo) { Object obj = redisUtil.get(RedisKeyType.SHUTTLE.key + taskNo); Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo); if (obj == null) { return false; } @@ -192,7 +192,7 @@ if(updateCommand) { // 更新redis数据 redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect)); redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect)); } if (!command.getComplete()) { @@ -226,7 +226,7 @@ } //删除redis redisUtil.del(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo()); redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo()); return false;//禁止再下发命令 } } @@ -264,7 +264,7 @@ //更新redis数据 redisCommand.setCommandStep(commandStep); //任务数据保存到redis redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand)); redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand)); return true; }
@@ -2,9 +2,10 @@ public enum RedisKeyType { SHUTTLE("shuttle_wrk_no_"), LIFT("lift_wrk_no_"), FORK_LIFT("fork_lift_wrk_no_"), SHUTTLE_WORK_FLAG("shuttle_wrk_no_"), SHUTTLE_FLAG("shuttle_"), FORK_LIFT_WORK_FLAG("fork_lift_wrk_no_"), FORK_LIFT_FLAG("fork_lift_"), MAP("realtimeBasMap_"), BASIC_MAP("basicMap_"), ; src/main/java/com/zy/core/model/ForkLiftSlave.java
@@ -11,6 +11,10 @@ @Data public class ForkLiftSlave extends Slave { private Integer rack; private Integer slot; //提升机站点 private List<Sta> sta = new ArrayList<>();
@@ -1,11 +1,14 @@ package com.zy.core.model.protocol; import com.core.common.Cools; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasLiftErr; import com.zy.asrs.service.BasLiftErrService; import com.zy.common.utils.RedisUtil; import com.zy.core.enums.ForkLiftIoModeType; import com.zy.core.enums.ForkLiftProtocolStatusType; import com.zy.core.enums.ForkLiftTaskModeType; import com.zy.core.enums.RedisKeyType; import lombok.Data; import lombok.extern.slf4j.Slf4j; @@ -30,6 +33,11 @@ * 任务号 */ private Integer taskNo = 0; /** * PLC任务号 */ private Integer wrkNo; /** * 任务状态 @@ -159,6 +167,25 @@ return basLiftErr.getErrName(); } public Integer getTaskNo() { RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); if (null != redisUtil) { Object o = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + this.liftNo); if (!Cools.isEmpty(o)) { this.taskNo = Integer.parseInt(String.valueOf(o)); } } return this.taskNo == null ? 0 : this.taskNo; } public synchronized void setSyncTaskNo(Integer taskNo) { RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); if (null != redisUtil) { redisUtil.set(RedisKeyType.FORK_LIFT_FLAG.key + this.liftNo, taskNo); this.taskNo = taskNo; } } @Override public ForkLiftProtocol clone() { try { src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -195,7 +195,7 @@ public Integer getTaskNo() { RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); if (null != redisUtil) { Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + this.shuttleNo); Object o = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo); if (!Cools.isEmpty(o)) { this.taskNo = Integer.parseInt(String.valueOf(o)); } @@ -206,7 +206,7 @@ public synchronized void setSyncTaskNo(Integer taskNo) { RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); if (null != redisUtil) { redisUtil.set(RedisKeyType.SHUTTLE.key + this.shuttleNo, taskNo); redisUtil.set(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo, taskNo); this.taskNo = taskNo; } } src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -106,7 +106,7 @@ continue; } Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + slave.getId()); Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId()); if (object == null) { continue; } @@ -713,7 +713,7 @@ ArrayList<NavigateNode> path = new ArrayList<>(); if (shuttleProtocol.getTaskNo() != 0) { //存在任务，获取指令 Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo()); Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo()); if (object != null) { ShuttleRedisCommand redisCommand = null; try { src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -1,6 +1,8 @@ package com.zy.core.thread.impl; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.mapper.EntityWrapper; @@ -14,9 +16,12 @@ import com.zy.common.ExecuteSupport; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.action.ForkLiftAction; import com.zy.core.action.ShuttleAction; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.ForkLiftProtocolStatusType; import com.zy.core.enums.ForkLiftTaskModeType; import com.zy.core.enums.RedisKeyType; import com.zy.core.model.CommandResponse; import com.zy.core.model.ForkLiftSlave; import com.zy.core.model.command.ForkLiftCommand; @@ -56,7 +61,21 @@ @Override public boolean connect() { return false; boolean result = false; siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500, slave.getIp()); siemensS7Net.setRack(slave.getRack().byteValue()); siemensS7Net.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensS7Net.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】货叉提升机连接成功 ===>> [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.info("货叉提升机连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } else { OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】货叉提升机连接失败！！！ ===>> [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("货叉提升机连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } // siemensS7Net.ConnectClose(); return result; } @Override @@ -72,9 +91,28 @@ try { read(); Thread.sleep(200); execute(); } catch (Exception e) { e.printStackTrace(); } } } private void execute() { ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class); if (forkLiftAction == null) { return; } Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId()); if (object == null) { return; } Integer taskNo = Integer.valueOf(String.valueOf(object)); if (taskNo != 0) { //存在任务需要执行 boolean result = forkLiftAction.executeWork(slave.getId(), taskNo); } } @@ -109,8 +147,8 @@ //----------读取提升机状态----------- //模式 forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0)); //任务号 forkLiftProtocol.setTaskNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4)); //PLC任务号 forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4)); //任务状态 forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8)); //任务模式 @@ -194,22 +232,59 @@ @Override public CommandResponse pickAndPut(ForkLiftCommand command) { return null; CommandResponse response = new CommandResponse(false); short[] array = new short[4]; array[0] = command.getTaskNo();//任务号 array[1] = command.getMode();//任务模式 array[2] = command.getPick();//取货数据 array[3] = command.getPut();//放货数据 OperateResult result = siemensS7Net.Write("DB103.0", array); if (result.IsSuccess) { OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm()); if (result2.IsSuccess) { response.setResult(true); } } return response; } @Override public CommandResponse shuttleSwitch(ForkLiftCommand command) { return null; CommandResponse response = new CommandResponse(false); short[] array = new short[4]; array[0] = command.getTaskNo();//任务号 array[1] = command.getMode();//任务模式 array[2] = command.getPick();//取货数据 array[3] = command.getPut();//放货数据 OperateResult result = siemensS7Net.Write("DB103.0", array); if (result.IsSuccess) { OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm()); if (result2.IsSuccess) { response.setResult(true); } } return response; } @Override public CommandResponse reset(ForkLiftCommand command) { return null; CommandResponse response = new CommandResponse(false); return response; } @Override public boolean isIdle() { return false; if (this.forkLiftProtocol.getTaskNo() == null || this.forkLiftProtocol.getProtocolStatus() == null ) { return false; } boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id && this.forkLiftProtocol.getTaskNo() == 0; return res; } @Override @@ -229,12 +304,13 @@ @Override public boolean setSyncTaskNo(Integer taskNo) { return false; this.forkLiftProtocol.setSyncTaskNo(taskNo); return true; } @Override public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) { return 0; return taskNo; } @Override src/main/resources/application.yml
@@ -163,6 +163,8 @@ id: 1 ip: 10.10.10.131 port: 102 rack: 0 slot: 0 staRow: 13 staBay: 22 sta[0]:
