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 | 134 ++++++++++++++++++++++++++++----------------
1 files changed, 84 insertions(+), 50 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 7b75405..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
@@ -14,13 +14,16 @@
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.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
@@ -45,22 +48,6 @@
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<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);
- }
}
@Override
@@ -92,6 +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) {
@@ -131,7 +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
@@ -145,6 +150,12 @@
//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 {
@@ -251,19 +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);
@@ -272,32 +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
@@ -306,14 +334,7 @@
}
@Override
- public boolean isIdle(ExecuteSupport support) {
- if (null != support) {
- Boolean judgement = support.judgement();
- if (judgement != null && !judgement) {
- return true;
- }
- }
-
+ 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()
@@ -374,20 +395,30 @@
}
@Override
- public boolean commandFinished(Integer taskNo) {
- return false;
+ 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 LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
+ 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.equals(LiftCommandModeType.PALLET_INOUT)) {
- taskMode = 1;
+ if (mode.equals(LiftCommandModeType.PALLET_IN)) {
+ taskMode = 3;
+ } else if (mode.equals(LiftCommandModeType.PALLET_OUT)) {
+ taskMode = 4;
}
// 寮�濮嬩换鍔�
@@ -404,29 +435,32 @@
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, LiftCommandModeType mode) {
+ 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, LiftCommandModeType mode) {
+ 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) {
+ public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
return null;
}
@Override
- public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
+ public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {
return null;
}
--
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