#

luxiaotao1123

2020-08-25 eeae7a50e3c0c8ee1a4ed1c4169a7cd2656eb943

#

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

@@ -1,10 +1,12 @@
package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
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.core.ThreadHandler;
@@ -94,11 +96,11 @@
        OperateResult connect = melsecMcNet.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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            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());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            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());
        }
        melsecMcNet.ConnectClose();
        return result;
@@ -112,29 +114,61 @@
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }
            crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content);
            crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content);
            crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content);
            crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content);

            /* 方法1 */
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D2231", (short) 62);
            if (result.IsSuccess) {
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
//               crnProtocol.setTaskFinish(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
                crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
                crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
                crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
                crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
                crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
                crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58));

            } else {
                throw new CoolException("堆垛机plc状态信息失败");
            }
            /* 方法2 */
//            crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content);
//            crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content);
//            crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content);
////            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//            crnProtocol.setLoaded(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content);
//            crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content);
        } 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()));
@@ -163,26 +197,41 @@
            return;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        OperateResult result = melsecMcNet.Write("DB8.0", array);
        if (result.IsSuccess) {
        /* 方法 1 */
        do {
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }

            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), 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)));
//            readStatus();
        } else {
            System.out.println(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }

        } while (false);


        System.out.println(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()));
        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());



        /* 方法 2 */
//        melsecMcNet.Write("D2218", command.getAckFinish());
//        melsecMcNet.Write("D2217", command.getTaskNo());
//        melsecMcNet.Write("D2216", command.getTaskMode());
//        melsecMcNet.Write("D2214", command.getSourcePosX());
//        melsecMcNet.Write("D2212", command.getSourcePosY());
//        melsecMcNet.Write("D2210", command.getSourcePosZ());
//        melsecMcNet.Write("D2208", command.getDestinationPosX());
//        melsecMcNet.Write("D2204", command.getDestinationPosY());
//        melsecMcNet.Write("D2202", command.getDestinationPosZ());

    }

    @Override