From d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 15 四月 2025 13:30:35 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyLiftThread.java | 244 +++++++++++++++++++++++++++++++++---------------
1 files changed, 168 insertions(+), 76 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyLiftThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyLiftThread.java
index 1f91941..0be1c20 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyLiftThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyLiftThread.java
@@ -10,18 +10,21 @@
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
+import com.zy.asrs.wcs.core.domain.dto.BasLiftStaDto;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.service.BasLiftService;
+import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
+import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
-import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
@@ -29,7 +32,6 @@
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
-import java.text.SimpleDateFormat;
import java.util.*;
@Slf4j
@@ -41,27 +43,11 @@
private LiftProtocol liftProtocol;
private SiemensS7Net siemensS7Net;
private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();
- private List<Sta> staList = new ArrayList<>();
+ private List<BasLiftStaDto> staList = new ArrayList<>();
public NyLiftThread(Device device, RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
-
- //鍒濆鍖栫珯鐐�
- BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
- BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
- .eq(BasLift::getDeviceId, device.getId()));
- List<Sta> staList = JSON.parseArray(basLift.getSta(), Sta.class);
- this.staList = staList;
- for (Sta sta : staList) {
- LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
- liftStaProtocol.setStaNo(sta.getStaNo());//绔欑偣鍙�
- liftStaProtocol.setLev(sta.getLev());//绔欑偣妤煎眰
- String locNo = Utils.getLocNo(sta.getRow(), sta.getBay(), sta.getLev());
- liftStaProtocol.setLocNo(locNo);//绔欑偣搴撲綅鍙�
- liftStaProtocol.setLiftNo(basLift.getLiftNo());//鎻愬崌鏈哄彿
- liftStaProtocols.add(liftStaProtocol);
- }
}
@Override
@@ -82,9 +68,9 @@
try {
readStatus();
- //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓篺alse
+ //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
if (liftProtocol.getRun()) {
- liftProtocol.setPakMk(false);
+ liftProtocol.setPakMk(true);
}
} catch (Exception e) {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栨彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
@@ -93,6 +79,24 @@
private void readStatus() {
try {
+ if (liftStaProtocols.isEmpty()) {
+ //鍒濆鍖栫珯鐐�
+ BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
+ .eq(BasLift::getDeviceId, device.getId()));
+ List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
+ this.staList = staList;
+ for (BasLiftStaDto sta : staList) {
+ LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
+ liftStaProtocol.setStaNo(sta.getStaNo());//绔欑偣鍙�
+ liftStaProtocol.setLev(sta.getLev());//绔欑偣妤煎眰
+ String locNo = Utils.getLocNo(sta.getRow(), sta.getBay(), sta.getLev());
+ liftStaProtocol.setLocNo(locNo);//绔欑偣搴撲綅鍙�
+ liftStaProtocol.setLiftNo(basLift.getLiftNo());//鎻愬崌鏈哄彿
+ liftStaProtocols.add(liftStaProtocol);
+ }
+ }
+
//鑾峰彇鎻愬崌鏈烘暟鎹�
OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
if (result1.IsSuccess) {
@@ -132,7 +136,7 @@
//鏈夊皬杞�
liftProtocol.setHasCar(status2[6]);
//璁惧鏁呴殰
- liftProtocol.setErrorCode(String.valueOf(status2[7]));
+ liftProtocol.setErrorCode(status2[7]?"1":"0");
//鐩殑鍦板潃
liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
//宸插畬鎴愪换鍔″彿
@@ -142,10 +146,16 @@
liftProtocol.setLev((int) lev);
//************琛ュ厖鎵╁睍瀛楁*************
- InnerLiftExtend liftExtend = JSON.parseObject(JSON.toJSONString(liftProtocol.getExtend()), InnerLiftExtend.class);
+ InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend();
//浠诲姟鍙�
liftExtend.setLiftTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2)));
liftProtocol.setExtend(liftExtend);
+
+ boolean ready = true;
+ if (!liftProtocol.getModel() || liftProtocol.getRun()) {
+ ready = false;
+ }
+ liftProtocol.setReady(ready);//灏辩华鐘舵��
}else {
@@ -211,6 +221,31 @@
liftProtocol.setDeviceDataLog(System.currentTimeMillis());
}
+ //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
+ .eq(BasLift::getLiftNo, device.getDeviceNo())
+ .eq(BasLift::getHostId, device.getHostId()));
+ if (basLift == null) {
+ basLift = new BasLift();
+ //鎻愬崌鏈哄彿
+ basLift.setLiftNo(Integer.valueOf(device.getDeviceNo()));
+ basLift.setStatus(1);
+ basLift.setDeleted(0);
+ basLift.setHostId(device.getHostId());
+ basLift.setDeviceId(device.getId());
+ basLiftService.save(basLift);
+ }
+ //浠诲姟鍙�
+ basLift.setTaskNo(liftProtocol.getTaskNo().intValue());
+ //淇敼鏃堕棿
+ basLift.setUpdateTime(new Date());
+ //璁惧鐘舵��
+ basLift.setProtocol(JSON.toJSONString(liftProtocol));
+ if (basLiftService.updateById(basLift)) {
+ OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), device.getDeviceNo()));
+ }
+
} catch (Exception e) {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栨彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
}
@@ -227,19 +262,21 @@
}
@Override
- public boolean move(LiftCommand command) {
+ public CommandResponse move(LiftCommand command) {
return write(command);
}
@Override
- public boolean palletInOut(LiftCommand command) {
+ public CommandResponse palletInOut(LiftCommand command) {
return write(command);
}
- private boolean write(LiftCommand command) {
+ private CommandResponse write(LiftCommand command) {
+ CommandResponse response = new CommandResponse(false);
if (null == command) {
News.error("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
- return false;
+ response.setMessage("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
+ return response;
}
List<Short> shorts = JSON.parseArray(command.getBody(), Short.class);
@@ -248,32 +285,47 @@
array[i] = shorts.get(i);
}
+ LiftDispatcher liftDispatcher = SpringUtils.getBean(LiftDispatcher.class);
+
+ Integer origin = command.getOriginLev();
+ Integer target = command.getTargetLev();
+ if (command.getMode() == 2) {
+ origin = liftDispatcher.getLiftLevOffset(this.device.getId().intValue(), liftProtocol.getLev());
+ target = liftDispatcher.getLiftLevOffset(this.device.getId().intValue(), command.getTargetLev());
+ }
+
+ array[1] = origin.shortValue();
+ array[2] = target.shortValue();
+
OperateResult result = siemensS7Net.Write("DB83.0", array);
if (result != null && result.IsSuccess) {
liftProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", device.getId(), JSON.toJSON(command));
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), device.getId(), JSON.toJSON(command)));
- return true;
+ response.setMessage(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), device.getId(), JSON.toJSON(command)));
+ response.setResult(true);
+ return response;
} else {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戝啓鍏ユ彁鍗囨満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}],娆℃暟锛歿}", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", device.getId(), device.getIp(), device.getPort());
- return false;
+ response.setMessage(MessageFormat.format("銆恵0}銆戝啓鍏ユ彁鍗囨満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}],娆℃暟锛歿}", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
+ return response;
}
}
@Override
- public boolean lock(LiftCommand command) {
- return true;
+ public CommandResponse lock(LiftCommand command) {
+ return new CommandResponse(true);
}
@Override
- public boolean unlock(LiftCommand command) {
- return true;
+ public CommandResponse unlock(LiftCommand command) {
+ return new CommandResponse(true);
}
@Override
- public boolean reset(LiftCommand command) {
- return false;
+ public CommandResponse reset(LiftCommand command) {
+ return new CommandResponse(false);
}
@Override
@@ -282,19 +334,15 @@
}
@Override
- public boolean isIdle(ExecuteSupport support) {
- if (null != support) {
- if (!support.judgement()) {
- return false;
- }
- }
+ public boolean isIdle(MotionCtgType flag) {
// 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂�
if (this.liftProtocol.getModel()
&& !this.liftProtocol.getRun()
&& this.liftProtocol.getReady()
&& this.liftProtocol.getPakMk()
&& this.liftProtocol.getErrorCode().equals("0")
- && this.liftProtocol.getProtocolStatus().equals(LiftProtocolStatusType.IDLE)
+ && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
+ || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
) {
return true;
}
@@ -302,15 +350,75 @@
}
@Override
- public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
+ public boolean isDeviceIdle() {
+ return isDeviceIdle(null);
+ }
+
+ @Override
+ public boolean isDeviceIdle(ExecuteSupport support) {
+ if (null != support) {
+ Boolean judgement = support.judgement();
+ if (judgement != null && !judgement) {
+ return true;
+ }
+ }
+
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂�
+ if (this.liftProtocol.getModel()
+ && !this.liftProtocol.getRun()
+ && this.liftProtocol.getReady()
+ && this.liftProtocol.getErrorCode().equals("0")
+ ) {
+ return true;
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean setProtocolStatus(LiftProtocolStatusType status) {
+ this.liftProtocol.setProtocolStatus(status);
+ return true;
+ }
+
+ @Override
+ public synchronized boolean setSyncTaskNo(Integer taskNo) {
+ this.liftProtocol.setTaskNo(taskNo);
+ return true;
+ }
+
+ @Override
+ public boolean isLock(ExecuteSupport support) {
+ if (support != null) {
+ return support.judgement();
+ }
+ return true;
+ }
+
+ @Override
+ public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
+ int deviceTaskNo = taskNo;
+ try {
+ deviceTaskNo = Utils.getTaskNo("LIFT_TASK_NO");
+ } catch (Exception e) {
+ return taskNo;
+ }
+ return deviceTaskNo;
+ }
+
+ @Override
+ public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
/**
* 浠诲姟绫诲瀷
- * 1=绉绘墭鐩橈紱鍗囬檷鏈哄皢婧愮珯鍙版墭鐩樼Щ鍒扮洰鏍囩珯鍙�
- * 2=绉诲皬杞︼紝鍗囬檷鏈虹Щ鍒扮洰鏍囧眰锛岀瓑寰�
+ 1=绉绘墭鐩橈紱鍗囬檷鏈哄皢婧愮珯鍙版墭鐩樼Щ鍒扮洰鏍囩珯鍙�
+ 2=鎹㈠眰锛屽崌闄嶆満绉诲埌鐩爣灞傦紝绛夊緟
+ 3=鍏ュ簱鎵樼洏,鍗囬檷鏈哄皢婧愮珯鍙版墭鐩樼Щ鍒扮洰鏍囧眰鏁帮紱
+ 4=鍑哄簱鎵樼洏锛屽崌闄嶆満灏嗘簮绔欏彴鎵樼洏绉诲埌鐩爣绔欏彴
*/
short taskMode = 2;
- if (mode == null) {
- taskMode = mode.shortValue();
+ if (mode.equals(LiftCommandModeType.PALLET_IN)) {
+ taskMode = 3;
+ } else if (mode.equals(LiftCommandModeType.PALLET_OUT)) {
+ taskMode = 4;
}
// 寮�濮嬩换鍔�
@@ -327,32 +435,33 @@
LiftCommand command = new LiftCommand();
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(array));
- command.setMode(LiftCommandModeType.MOVE.id);
+ command.setMode(mode.id);
command.setOriginLev(sourceLev);
command.setTargetLev(targetLev);
- return command;
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ return list;
}
@Override
- public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer mode) {
- return getMoveCommand(taskNo, sourceLev, targetLev, 2);
+ public List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
+ return getMoveCommand(taskNo, sourceLev, targetLev, mode);
}
@Override
- public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, Integer mode) {
- return getMoveCommand(taskNo, sourceLev, targetLev, 1);
+ public List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
+ return getMoveCommand(taskNo, sourceLev, targetLev, mode);
}
@Override
- public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {
- LiftCommand command = new LiftCommand();
- return command;
+ public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
+ return null;
}
@Override
- public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
- LiftCommand command = new LiftCommand();
- return command;
+ public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {
+ return null;
}
@Override
@@ -478,23 +587,6 @@
* 鎻愬崌鏈哄彿
*/
private Integer liftNo;
-
- }
-
- @Data
- public static class Sta {
-
- // 鎻愬崌鏈虹珯鐐瑰彿
- private Integer staNo;
-
- //杈撻�佺珯鐐规帓
- private Integer row;
-
- //杈撻�佺珯鐐瑰垪
- private Integer bay;
-
- // 灞�
- private Integer lev;
}
--
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