From 92ec713a3abf41da205f3a4eaaf3f3479ee588e7 Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期三, 28 一月 2026 08:11:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java | 333 ++++++++++++++++++++++++++++++
src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java | 3
src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java | 186 ++++++++++++++++
src/main/java/com/zy/core/network/ZyCrnV2ConnectDriver.java | 102 +++++++++
4 files changed, 621 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/network/ZyCrnV2ConnectDriver.java b/src/main/java/com/zy/core/network/ZyCrnV2ConnectDriver.java
new file mode 100644
index 0000000..e3aff04
--- /dev/null
+++ b/src/main/java/com/zy/core/network/ZyCrnV2ConnectDriver.java
@@ -0,0 +1,102 @@
+package com.zy.core.network;
+
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.core.ThreadHandler;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.network.api.ZyCrnConnectApi;
+import com.zy.core.network.entity.ZyCrnStatusEntity;
+import com.zy.core.network.fake.ZyCrnFakeConnect;
+import com.zy.core.network.real.ZyCrnRealConnect;
+import com.zy.core.network.real.ZyCrnV2RealConnect;
+import lombok.extern.slf4j.Slf4j;
+
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 杩炴帴椹卞姩
+ */
+@Slf4j
+public class ZyCrnV2ConnectDriver implements ThreadHandler{
+
+ private boolean connected = false;
+ private DeviceConfig deviceConfig;
+ private ZyCrnConnectApi zyCrnConnectApi;
+ private volatile boolean closed = false;
+ private ScheduledExecutorService executor;
+
+ public ZyCrnV2ConnectDriver(DeviceConfig deviceConfig) {
+ this.deviceConfig = deviceConfig;
+ }
+
+ @Override
+ public void run() {
+
+ }
+
+ @Override
+ public boolean connect() {
+ if (deviceConfig.getFake() == 0) {
+ zyCrnConnectApi = new ZyCrnV2RealConnect(deviceConfig);
+ }else {
+ zyCrnConnectApi = new ZyCrnFakeConnect(deviceConfig);
+ }
+
+ boolean connect = zyCrnConnectApi.connect();
+ connected = connect;
+ return connect;
+ }
+
+ @Override
+ public void close() {
+ closed = true;
+ ScheduledExecutorService ex = executor;
+ if (ex != null) {
+ try { ex.shutdownNow(); } catch (Exception ignore) {}
+ }
+ if (zyCrnConnectApi != null) {
+ zyCrnConnectApi.disconnect();
+ zyCrnConnectApi = null;
+ }
+ connected = false;
+ }
+
+ public void start() {
+ executor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
+ @Override
+ public Thread newThread(Runnable r) {
+ Thread t = new Thread(r);
+ t.setName("CrnV2Connect-" + deviceConfig.getDeviceNo());
+ t.setDaemon(true);
+ return t;
+ }
+ });
+ executor.scheduleAtFixedRate(() -> {
+ if (closed || Thread.currentThread().isInterrupted()) {
+ return;
+ }
+ try {
+ if (!connected) {
+ connect();
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }, 0, 1000, TimeUnit.MILLISECONDS);
+ }
+
+ public ZyCrnStatusEntity getStatus() {
+ if (zyCrnConnectApi == null) {
+ return null;
+ }
+ return zyCrnConnectApi.getStatus();
+ }
+
+ public CommandResponse sendCommand(CrnCommand command) {
+ return zyCrnConnectApi.sendCommand(command);
+ }
+
+}
diff --git a/src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java b/src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java
new file mode 100644
index 0000000..93c2eb4
--- /dev/null
+++ b/src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java
@@ -0,0 +1,186 @@
+package com.zy.core.network.real;
+
+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.core.common.DateUtils;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.core.News;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.network.api.ZyCrnConnectApi;
+import com.zy.core.network.entity.ZyCrnStatusEntity;
+
+import java.text.MessageFormat;
+import java.util.Date;
+
+public class ZyCrnV2RealConnect implements ZyCrnConnectApi {
+
+ private SiemensS7Net siemensNet;
+ private DeviceConfig deviceConfig;
+
+ public ZyCrnV2RealConnect(DeviceConfig deviceConfig) {
+ this.deviceConfig = deviceConfig;
+ }
+
+ public boolean connect() {
+ boolean connected = false;
+ siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
+ OperateResult connect = siemensNet.ConnectServer();
+ if(connect.IsSuccess){
+ connected = true;
+ OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
+ News.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
+ News.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ }
+// siemensNet.ConnectClose();
+ return connected;
+ }
+
+ @Override
+ public boolean disconnect() {
+ siemensNet.ConnectClose();
+ return true;
+ }
+
+ @Override
+ public ZyCrnStatusEntity getStatus() {
+ try {
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
+ if (result.IsSuccess) {
+ ZyCrnStatusEntity crnStatus = new ZyCrnStatusEntity();
+ crnStatus.setCrnNo(deviceConfig.getDeviceNo());
+ crnStatus.setMode((int) siemensNet.getByteTransform().TransInt16(result.Content, 0));
+ crnStatus.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result.Content, 2));
+ crnStatus.setStatus((int) siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ crnStatus.setBay((int) siemensNet.getByteTransform().TransInt16(result.Content, 6));
+ crnStatus.setLevel((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ crnStatus.setForkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ crnStatus.setLiftPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ crnStatus.setWalkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ crnStatus.setLoaded((int) siemensNet.getByteTransform().TransInt16(result.Content, 16));
+ crnStatus.setAlarm((int) siemensNet.getByteTransform().TransInt16(result.Content, 18));
+ crnStatus.setTemp1((int) siemensNet.getByteTransform().TransInt16(result.Content, 24));
+ crnStatus.setTemp2((int) siemensNet.getByteTransform().TransInt16(result.Content, 26));
+ crnStatus.setXSpeed((double) siemensNet.getByteTransform().TransSingle(result.Content, 28));
+ crnStatus.setYSpeed((double) siemensNet.getByteTransform().TransSingle(result.Content, 32));
+ crnStatus.setZSpeed((double) siemensNet.getByteTransform().TransSingle(result.Content, 36));
+ crnStatus.setXDistance((double) siemensNet.getByteTransform().TransSingle(result.Content, 40));
+ crnStatus.setYDistance((double) siemensNet.getByteTransform().TransSingle(result.Content, 44));
+ crnStatus.setXDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 48));
+ crnStatus.setYDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 52));
+
+ return crnStatus;
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
+ News.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
+ News.error("璇诲彇鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ }
+ return null;
+ }
+
+ @Override
+ public CommandResponse sendCommand(CrnCommand command) {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ if (null == command) {
+ News.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ response.setMessage("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return response;
+ }
+
+ int writeAck = 0;
+ boolean commandResult = false;
+ do {
+ OperateResultExOne<byte[]> commandReadResult = siemensNet.Read("DB100.0", (short) 2);
+ if (commandReadResult.IsSuccess) {
+ short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0);
+ if (commandRead == 1) {
+ Thread.sleep(500);
+ }else {
+ commandResult = true;
+ break;
+ }
+ writeAck++;
+ }
+ } while (writeAck < 5);
+
+ if (!commandResult) {
+ response.setMessage("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}" + command.getCrnNo() + "浠诲姟鐘舵�佷綅寮傚父");
+ return response;
+ }
+
+ short[] array = new short[9];
+ array[0] = (short) 0;
+ array[1] = command.getTaskNo().shortValue();
+ array[2] = command.getTaskMode().shortValue();
+ array[3] = command.getSourcePosX().shortValue();
+ array[4] = command.getSourcePosY().shortValue();
+ array[5] = command.getSourcePosZ().shortValue();
+ array[6] = command.getDestinationPosX().shortValue();
+ array[7] = command.getDestinationPosY().shortValue();
+ array[8] = command.getDestinationPosZ().shortValue();
+
+ OperateResult result = siemensNet.Write("DB100.0", array);
+ if (!result.IsSuccess) {
+ response.setMessage("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}" + command.getCrnNo() + "浠诲姟鐘舵�佷綅寮傚父");
+ return response;
+ }
+
+ int idx = 0;
+ do {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
+ if (resultRead.IsSuccess) {
+ short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
+ short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
+ short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
+ short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
+ short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
+ short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
+ short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
+ short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
+ if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
+ result = siemensNet.Write("DB100.0", array);
+ } else {
+ break;
+ }
+ }
+ idx++;
+ Thread.sleep(500);
+ } while (idx < 5);
+
+ OperateResult confirmResult = siemensNet.Write("DB100.18", (short) 1);
+ if (!confirmResult.IsSuccess) {
+ News.error("鍫嗗灈鏈哄啓鍏ョ‘璁ゆ暟鎹け璐� ===>> [id:{}]", command.getCrnNo());
+ response.setMessage("鍫嗗灈鏈哄啓鍏ョ‘璁ゆ暟鎹け璐�");
+ return response;
+ }
+
+ if (result != null && result.IsSuccess) {
+ News.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
+ response.setResult(true);
+ response.setMessage("鍛戒护涓嬪彂鎴愬姛");
+ } else {
+ News.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}]", command.getCrnNo());
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
+ response.setResult(false);
+ response.setMessage("鍛戒护涓嬪彂澶辫触");
+ }
+
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return response;
+ }
+}
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
index 6796d38..b680358 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
@@ -275,9 +275,6 @@
crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
crnCommand.setAckFinish(0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
- crnCommand.setSourcePosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
- crnCommand.setSourcePosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
- crnCommand.setSourcePosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java
new file mode 100644
index 0000000..ac6d3b4
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java
@@ -0,0 +1,333 @@
+package com.zy.core.thread.impl;
+
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.*;
+import com.zy.asrs.service.BasCrnpErrLogService;
+import com.zy.asrs.service.BasCrnpOptService;
+import com.zy.asrs.service.BasCrnpService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.CrnTaskModeType;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.network.DeviceConnectPool;
+import com.zy.core.network.ZyCrnV2ConnectDriver;
+import com.zy.core.network.entity.ZyCrnStatusEntity;
+import com.zy.core.thread.CrnThread;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.Date;
+
+/**
+ * 鍫嗗灈鏈虹嚎绋�
+ */
+@Data
+@Slf4j
+public class ZySiemensCrnV2Thread implements Runnable, CrnThread {
+
+ private DeviceConfig deviceConfig;
+ private RedisUtil redisUtil;
+ private ZyCrnV2ConnectDriver zyCrnConnectDriver;
+ private CrnProtocol crnProtocol;
+ private int deviceLogCollectTime = 200;
+
+ public ZySiemensCrnV2Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
+ this.redisUtil = redisUtil;
+ }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+ this.connect();
+ this.initCrn();
+
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
+ readStatus();
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("CrnThread Fail", e);
+ }
+ }
+ });
+ readThread.start();
+
+ Thread processThread = new Thread(() -> {
+ while (true) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
+ if (task != null) {
+ step = task.getStep();
+ }
+ if (step == 2) {
+ sendCommand((CrnCommand) task.getData());
+ }
+
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("CrnProcess Fail", e);
+ }
+ }
+ });
+ processThread.start();
+ }
+
+ /**
+ * 鍒濆鍖栧爢鍨涙満鐘舵��
+ */
+ private void initCrn() {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ crnProtocol.setCrnNo(deviceConfig.getDeviceNo());
+ }
+ crnProtocol.setMode(-1);
+ crnProtocol.setTaskNo(0);
+ crnProtocol.setStatus(-1);
+ crnProtocol.setBay(0);
+ crnProtocol.setLevel(0);
+ crnProtocol.setForkPos(-1);
+ crnProtocol.setLiftPos(-1);
+ crnProtocol.setWalkPos(0);
+ crnProtocol.setLoaded(0);
+ crnProtocol.setAlarm(0);
+ crnProtocol.setXSpeed(0D);
+ crnProtocol.setYSpeed(0D);
+ crnProtocol.setZSpeed(0D);
+ crnProtocol.setXDistance(0D);
+ crnProtocol.setYDistance(0D);
+ crnProtocol.setXDuration(0D);
+ crnProtocol.setYDuration(0D);
+
+ BasCrnpService basCrnpService = null;
+ try {
+ basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ }catch (Exception e){
+
+ }
+ if (basCrnpService != null) {
+ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
+ if(basCrnp == null) {
+ basCrnp = new BasCrnp();
+ basCrnp.setCrnNo(deviceConfig.getDeviceNo());
+ basCrnp.setStatus(1);
+ basCrnp.setInEnable("N");
+ basCrnp.setOutEnable("N");
+ basCrnp.setMaxInTask(5);
+ basCrnp.setMaxOutTask(5);
+ basCrnp.setCreateTime(new Date());
+ basCrnpService.insert(basCrnp);
+ }
+ }
+ }
+
+ @Override
+ public boolean connect() {
+ zyCrnConnectDriver = new ZyCrnV2ConnectDriver(deviceConfig);
+ zyCrnConnectDriver.start();
+ DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
+ return true;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
+ if (crnStatus == null) {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
+ return;
+ }
+
+ crnProtocol.setMode(crnStatus.getMode());
+ crnProtocol.setTaskNo(crnStatus.getTaskNo());
+ crnProtocol.setStatus(crnStatus.getStatus());
+ crnProtocol.setBay(crnStatus.getBay());
+ crnProtocol.setLevel(crnStatus.getLevel());
+ crnProtocol.setForkPos(crnStatus.getForkPos());
+ crnProtocol.setLiftPos(crnStatus.getLiftPos());
+ crnProtocol.setWalkPos(crnStatus.getWalkPos());
+ crnProtocol.setLoaded(crnStatus.getLoaded());
+ crnProtocol.setAlarm(crnStatus.getAlarm());
+ crnProtocol.setTemp1(crnStatus.getTemp1());
+ crnProtocol.setTemp2(crnStatus.getTemp2());
+ crnProtocol.setTemp3(crnStatus.getTemp3());
+ crnProtocol.setTemp4(crnStatus.getTemp4());
+ crnProtocol.setXSpeed(crnStatus.getXSpeed());
+ crnProtocol.setYSpeed(crnStatus.getYSpeed());
+ crnProtocol.setZSpeed(crnStatus.getZSpeed());
+ crnProtocol.setXDistance(crnStatus.getXDistance());
+ crnProtocol.setYDistance(crnStatus.getYDistance());
+ crnProtocol.setXDuration(crnStatus.getXDuration());
+ crnProtocol.setYDuration(crnStatus.getYDuration());
+
+ OutputQueue.CRN.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()), deviceConfig.getDeviceNo()));
+
+ if (crnProtocol.getAlarm() > 0) {
+ crnProtocol.setLastCommandTime(-1L);
+ }
+
+ if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
+ crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ }
+
+ if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
+ deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.Crn));
+ deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
+ deviceDataLog.setCreateTime(new Date());
+
+ redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
+ //鏇存柊閲囬泦鏃堕棿
+ crnProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ try {
+ BasCrnpErrLogService errLogService = SpringUtils.getBean(BasCrnpErrLogService.class);
+ if (errLogService != null) {
+ String errFlagKey = RedisKeyType.DEVICE_ERR_ACTIVE_CRN.key + crnProtocol.getCrnNo();
+ Object active = redisUtil.get(errFlagKey);
+ if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
+ if (active == null) {
+ BasCrnpErrLog log = new BasCrnpErrLog();
+ log.setWrkNo(crnProtocol.getTaskNo());
+ log.setStartTime(new Date());
+ log.setCrnNo(crnProtocol.getCrnNo());
+ log.setBarcode(crnProtocol.getBarcode());
+ log.setErrCode(crnProtocol.getAlarm());
+ log.setStatus(1);
+ log.setCreateTime(new Date());
+ log.setSystemStatus(JSON.toJSONString(crnProtocol));
+ errLogService.insert(log);
+ if (log.getId() != null) {
+ redisUtil.set(errFlagKey, log.getId(), 60 * 60 * 24);
+ }
+ }
+ } else {
+ if (active != null) {
+ Long id = Long.valueOf(String.valueOf(active));
+ BasCrnpErrLog update = new BasCrnpErrLog();
+ update.setId(id);
+ update.setEndTime(new Date());
+ update.setStatus(2);
+ update.setUpdateTime(new Date());
+ errLogService.updateById(update);
+ redisUtil.del(errFlagKey);
+ }
+ }
+ }
+ } catch (Exception ignore) {}
+ }
+
+ @Override
+ public void close() {
+ if (zyCrnConnectDriver != null) {
+ zyCrnConnectDriver.close();
+ }
+ }
+
+ @Override
+ public CrnProtocol getStatus() {
+ return this.crnProtocol;
+ }
+
+ @Override
+ public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX(Utils.getRow(sourceLocNo)); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(Utils.getBay(sourceLocNo)); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo)); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand(1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish(0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+ crnCommand.setSourcePosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setSourcePosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setSourcePosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosX(Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand(1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public CrnCommand getResetCommand(Integer crnNo) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(0); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish(1); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 浠诲姟妯″紡
+ crnCommand.setSourcePosX(0); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(0); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(0); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(0); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(0); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(0); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand(1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public synchronized CommandResponse sendCommand(CrnCommand command) {
+ this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ CommandResponse response = null;
+ try {
+ response = zyCrnConnectDriver.sendCommand(command);
+ return response;
+ } finally {
+ String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
+ String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
+ BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
+ ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
+ BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
+ command.getTaskNo().intValue(),
+ command.getCrnNo(),
+ new Date(),
+ String.valueOf(command.getTaskMode()),
+ sourceLocNo,
+ targetLocNo,
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(statusEntity),
+ 1,
+ JSON.toJSONString(response)
+ );
+ if (bean != null) {
+ bean.insert(basCrnpOpt);
+ }
+ }
+ }
+}
--
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