From 9ea4fda8bd24942bedd72de72c2983cbaed6af65 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 31 三月 2026 17:08:51 +0800
Subject: [PATCH] #出入库模式
---
src/main/java/com/zy/core/network/real/ZyStationV4RealConnect.java | 294 +++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 258 insertions(+), 36 deletions(-)
diff --git a/src/main/java/com/zy/core/network/real/ZyStationV4RealConnect.java b/src/main/java/com/zy/core/network/real/ZyStationV4RealConnect.java
index d65f7e4..482eea7 100644
--- a/src/main/java/com/zy/core/network/real/ZyStationV4RealConnect.java
+++ b/src/main/java/com/zy/core/network/real/ZyStationV4RealConnect.java
@@ -6,7 +6,7 @@
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
@@ -18,11 +18,13 @@
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
+import com.zy.core.model.protocol.StationTaskBufferItem;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
+import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.Date;
@@ -34,8 +36,40 @@
@Slf4j
public class ZyStationV4RealConnect implements ZyStationConnectApi {
+ private static final int TASK_AREA_LENGTH = 48;
+ private static final int TASK_AREA_SLOT_SIZE = 12;
+ private static final int TASK_AREA_SLOT_COUNT = 3;
+ private static final String[] CONVEYOR_COMMON_ALARM_MESSAGES = {
+ "鎬ュ仠",
+ "浣庝綅鏂矾鍣ㄦ柇寮�",
+ "浣庝綅鍙橀鍣ㄦ晠闅�",
+ "杈撻�佽繍琛岃秴鏃�",
+ "椤跺崌杩愯瓒呮椂",
+ "鐢宠浠诲姟瓒呮椂",
+ "鎵樼洏绐佸嚭鎶ヨ",
+ "浠诲姟杩愯瓒呮椂",
+ "FWD鏃嬭浆闄愪綅鎶ヨ",
+ "REV鏃嬭浆闄愪綅鎶ヨ",
+ "鎵爜妫�楠屽紓甯�",
+ "瀹夊叏闂ㄦ墦寮�鎶ヨ",
+ "浠诲姟閲嶅鎶ヨ",
+ "鍏ョ珯杩囩▼涓墠缃潯浠跺紓甯�",
+ "鍏ョ珯鍓嶇疆鏉′欢绛夊緟瓒呮椂",
+ "鍑虹珯杩囩▼涓墠缃潯浠跺紓甯�",
+ "鍑虹珯鍓嶇疆鏉′欢绛夊緟瓒呮椂",
+ "楂樹綅鏂矾鍣ㄦ柇寮�",
+ "楂樹綅鍙橀鍣ㄦ晠闅�",
+ "椤跺崌闄愪綅淇″彿寮傚父",
+ "鍏ョ珯杩愯涓紝涓婄珯鍚屾杩愯璇锋眰娑堝け",
+ "鍑虹珯瀹屾垚鍚庯紝浠嶇劧妫�娴嬪埌鎵樼洏",
+ "鍏ョ珯瀹屾垚鍚庯紝娌℃湁妫�娴嬪埌鎵樼洏",
+ "涓嬬珯绔欏彿寮傚父",
+ "璺緞鏌ヨ寮傚父"
+ };
+
private List<ZyStationStatusEntity> statusList;
private List<StationObjModel> barcodeOriginList;
+ private List<StationObjModel> inStationOriginList;
private SiemensS7Net siemensNet;
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
@@ -83,7 +117,7 @@
}
BasDevp basDevp = basDevpService
- .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
+ .getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
if (basDevp == null) {
return Collections.emptyList();
}
@@ -93,6 +127,7 @@
statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
}
barcodeOriginList = basDevp.getBarcodeStationList$();
+ inStationOriginList = sortStationObjModelsByStationId(basDevp.getInStationList$());
}
if (siemensNet == null) {
@@ -101,6 +136,7 @@
OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 10));
if (result.IsSuccess) {
+ byte[] taskBufferRaw = readTaskBufferRaw();
for (int i = 0; i < statusList.size(); i++) {
ZyStationStatusEntity statusEntity = statusList.get(i); // 绔欑偣缂栧彿
statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 10)); // 宸ヤ綔鍙�
@@ -131,8 +167,10 @@
statusEntity.setPalletHeight(palletHeight);//楂樹綆淇″彿
statusEntity.setError(0);//榛樿鏃犳姤璀�
+ statusEntity.setErrorMsg("");
statusEntity.setTaskWriteIdx((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 10 + 8));//浠诲姟鍙啓鍖�
+ fillTaskBufferStatus(taskBufferRaw, i, statusEntity);
}
}
@@ -163,7 +201,7 @@
}
}
- // 鎶ヨ淇℃伅
+ // 鏉＄爜绔欐姤璀︿俊鎭�
OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.2", (short) (barcodeOriginList.size() * 2));
if (result4.IsSuccess) {
for (int i = 0; i < barcodeOriginList.size(); i++) {
@@ -201,12 +239,35 @@
sb.append("鎵爜寮傚父;");
}
- if(sb.length() > 0) {
- barcodeEntity.setError(1);
- }else {
- barcodeEntity.setError(0);
+ applyAlarmMessage(barcodeEntity, sb.toString());
+ }
+ }
+
+ // 杈撻�佺珯鐐归�氱敤鎶ヨ淇℃伅
+ OperateResultExOne<byte[]> result5 = siemensNet.Read("DB25.0", (short) (statusList.size() * 4));
+ if (result5.IsSuccess) {
+ for (int i = 0; i < statusList.size(); i++) {
+ ZyStationStatusEntity statusEntity = statusList.get(i); // 绔欑偣缂栧彿
+ boolean[] status1 = siemensNet.getByteTransform().TransBool(result5.Content, i * 4, 1);
+ boolean[] status2 = siemensNet.getByteTransform().TransBool(result5.Content, i * 4 + 1, 1);
+ boolean[] status3 = siemensNet.getByteTransform().TransBool(result5.Content, i * 4 + 2, 1);
+ boolean[] status4 = siemensNet.getByteTransform().TransBool(result5.Content, i * 4 + 3, 1);
+
+ String alarmMsg = buildConveyorCommonAlarmMessage(status1, status2, status3, status4);
+ applyAlarmMessage(statusEntity, mergeAlarmMessages(statusEntity.getErrorMsg(), alarmMsg));
+ }
+ }
+
+ // 鍑哄叆搴撴ā寮�
+ OperateResultExOne<byte[]> result6 = siemensNet.Read("DB167.2", (short) (inStationOriginList.size() * 2));
+ if (result6.IsSuccess) {
+ for (int i = 0; i < inStationOriginList.size(); i++) {
+ ZyStationStatusEntity inStationEntity = findStatusEntityByInStationIdx(i);
+ if (inStationEntity == null) {
+ continue;
}
- barcodeEntity.setErrorMsg(sb.toString());
+ Integer ioMode = normalizeIoMode((int) siemensNet.getByteTransform().TransInt16(result6.Content, i * 2));
+ inStationEntity.setIoMode(ioMode);
}
}
@@ -221,19 +282,30 @@
return commandResponse;
}
- int taskWriteIdx = getTaskWriteIdx(command.getStationId());
- if (taskWriteIdx == -1) {
+ getStatus(deviceNo);
+
+ int stationIdx = findIndex(command.getStationId());
+ if (stationIdx == -1) {
+ commandResponse.setMessage("鍛戒护涓嬪彂澶辫触锛屾湭鎵惧埌绔欑偣鐘舵��");
+ return commandResponse;
+ }
+
+ ZyStationStatusEntity statusEntity = statusList.get(stationIdx);
+ Integer taskWriteIdx = statusEntity == null ? null : statusEntity.getTaskWriteIdx();
+ if (taskWriteIdx == null || taskWriteIdx <= 0) {
+ commandResponse.setMessage("鍛戒护涓嬪彂澶辫触锛屽綋鍓嶆棤鍙敤浠诲姟鍐欏叆鍖�");
+ return commandResponse;
+ }
+
+ int useTaskWriteIdx = getTaskWriteIdx(stationIdx, taskWriteIdx);
+ if (useTaskWriteIdx == -1) {
commandResponse.setMessage("鍛戒护涓嬪彂瓒呮椂锛屾棤娉曟壘鍒板彲鐢ㄤ笅鍙戝尯鍩�");
return commandResponse;
}
- int stationIdx = findIndex(command.getStationId());
+ int taskBaseOffset = stationIdx * TASK_AREA_LENGTH + (useTaskWriteIdx * TASK_AREA_SLOT_SIZE);
- short[] data = new short[2];
- data[0] = (short) 0;
- data[1] = command.getTargetStaNo().shortValue();
-
- OperateResult writeTaskNo = siemensNet.Write("DB13." + (stationIdx * 48 + (taskWriteIdx * 12)), command.getTaskNo());
+ OperateResult writeTaskNo = siemensNet.Write("DB13." + taskBaseOffset, command.getTaskNo());
if (!writeTaskNo.IsSuccess) {
log.error("鍐欏叆杈撻�佺嚎鍛戒护澶辫触銆傜珯鐐圭紪鍙�={}锛岀珯鐐规暟鎹�={}", command.getTaskNo(), JSON.toJSON(command));
commandResponse.setResult(false);
@@ -241,16 +313,54 @@
return commandResponse;
}
- OperateResult writeData = siemensNet.Write("DB13." + (stationIdx * 48 + (taskWriteIdx * 12 + 4)), data);
- if (!writeData.IsSuccess) {
+ OperateResult writeTarget = siemensNet.Write("DB13." + (taskBaseOffset + 6), command.getTargetStaNo().shortValue());
+ if (!writeTarget.IsSuccess) {
log.error("鍐欏叆杈撻�佺嚎鍛戒护澶辫触銆傜珯鐐圭紪鍙�={}锛岀珯鐐规暟鎹�={}", command.getTaskNo(), JSON.toJSON(command));
commandResponse.setResult(false);
- commandResponse.setMessage("鍛戒护涓嬪彂澶辫触锛屽啓鍏ユ暟鎹尯鍩熷け璐�");
+ commandResponse.setMessage("鍛戒护涓嬪彂澶辫触锛屽啓鍏ョ洰鏍囪澶囧彿澶辫触");
return commandResponse;
}
log.info("鍐欏叆杈撻�佺嚎鍛戒护鎴愬姛銆備换鍔″彿={}锛岀珯鐐规暟鎹�={}", command.getTaskNo(), JSON.toJSON(command));
commandResponse.setResult(true);
+ return commandResponse;
+ }
+
+ @Override
+ public CommandResponse clearTaskBufferSlot(Integer deviceNo, Integer stationId, Integer slotIdx) {
+ CommandResponse commandResponse = new CommandResponse(false);
+ if (stationId == null) {
+ commandResponse.setMessage("绔欑偣鍙蜂负绌�");
+ return commandResponse;
+ }
+ if (slotIdx == null || slotIdx <= 0 || slotIdx > TASK_AREA_SLOT_COUNT) {
+ commandResponse.setMessage("缂撳瓨鍖烘Ы浣嶆棤鏁�");
+ return commandResponse;
+ }
+
+ getStatus(deviceNo);
+
+ int stationIdx = findIndex(stationId);
+ if (stationIdx < 0) {
+ commandResponse.setMessage("鏈壘鍒扮珯鐐圭姸鎬�");
+ return commandResponse;
+ }
+
+ int slotBaseOffset = stationIdx * TASK_AREA_LENGTH + slotIdx * TASK_AREA_SLOT_SIZE;
+ CommandResponse clearTaskNo = sendOriginCommand("DB13." + slotBaseOffset, new short[]{0, 0});
+ if (clearTaskNo == null || !Boolean.TRUE.equals(clearTaskNo.getResult())) {
+ commandResponse.setMessage(clearTaskNo == null ? "娓呯┖浠诲姟鍙峰け璐�" : clearTaskNo.getMessage());
+ return commandResponse;
+ }
+
+ CommandResponse clearTarget = sendOriginCommand("DB13." + (slotBaseOffset + 6), new short[]{0});
+ if (clearTarget == null || !Boolean.TRUE.equals(clearTarget.getResult())) {
+ commandResponse.setMessage(clearTarget == null ? "娓呯┖鐩爣绔欏け璐�" : clearTarget.getMessage());
+ return commandResponse;
+ }
+
+ commandResponse.setResult(true);
+ commandResponse.setMessage("缂撳瓨鍖烘Ы浣嶆竻鐞嗘垚鍔�");
return commandResponse;
}
@@ -299,28 +409,67 @@
return null;
}
- private int getTaskWriteIdx(int stationId) {
- int useIdx = -1;
+ private ZyStationStatusEntity findStatusEntityByInStationIdx(Integer idx) {
+ Integer stationId = findInStationIdByOrder(inStationOriginList, idx);
- int stationIdx = findIndex(stationId);
- if (stationIdx != -1) {
- ZyStationStatusEntity statusEntity = statusList.get(stationIdx);
-
- Integer taskWriteIdx = statusEntity.getTaskWriteIdx();
- if (taskWriteIdx > 0) {
- OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationId * 48), (short) 48);
- if (resultTask.IsSuccess) {
- int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, taskWriteIdx * 12);
- int startPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * 12 + 4);
- int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * 12 + 6);
- if (taskNo == 0 && startPoint == 0 && targetPoint == 0) {
- useIdx = taskWriteIdx;
- }
- }
+ for (ZyStationStatusEntity zyStationStatusEntity : statusList) {
+ if(zyStationStatusEntity.getStationId().equals(stationId)) {
+ return zyStationStatusEntity;
}
}
+ return null;
+ }
+ private int getTaskWriteIdx(int stationIdx, Integer taskWriteIdx) {
+ int useIdx = -1;
+ if (stationIdx < 0 || taskWriteIdx == null || taskWriteIdx <= 0) {
+ return useIdx;
+ }
+ OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationIdx * TASK_AREA_LENGTH), (short) TASK_AREA_LENGTH);
+ if (resultTask.IsSuccess) {
+ int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE);
+ int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE + 6);
+ if (taskNo == 0 && targetPoint == 0) {
+ useIdx = taskWriteIdx;
+ }
+ }
return useIdx;
+ }
+
+ private byte[] readTaskBufferRaw() {
+ int totalLength = statusList == null ? 0 : statusList.size() * TASK_AREA_LENGTH;
+ if (totalLength <= 0) {
+ return null;
+ }
+ OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13.0", (short) totalLength);
+ if (!resultTask.IsSuccess || resultTask.Content == null || resultTask.Content.length < totalLength) {
+ return null;
+ }
+ return resultTask.Content;
+ }
+
+ private void fillTaskBufferStatus(byte[] taskBufferRaw, int stationIdx, ZyStationStatusEntity statusEntity) {
+ if (statusEntity == null || stationIdx < 0 || taskBufferRaw == null) {
+ statusEntity.setTaskBufferItems(new ArrayList<>());
+ return;
+ }
+ List<StationTaskBufferItem> itemList = new ArrayList<>();
+ int stationOffset = stationIdx * TASK_AREA_LENGTH;
+ if (stationOffset + TASK_AREA_LENGTH > taskBufferRaw.length) {
+ statusEntity.setTaskBufferItems(itemList);
+ return;
+ }
+ for (int slotIdx = 1; slotIdx <= TASK_AREA_SLOT_COUNT; slotIdx++) {
+ int offset = stationOffset + (slotIdx * TASK_AREA_SLOT_SIZE);
+ int taskNo = siemensNet.getByteTransform().TransInt32(taskBufferRaw, offset);
+ int targetPoint = siemensNet.getByteTransform().TransInt16(taskBufferRaw, offset + 6);
+ StationTaskBufferItem item = new StationTaskBufferItem();
+ item.setSlotIdx(slotIdx);
+ item.setTaskNo(taskNo);
+ item.setTargetStaNo(targetPoint);
+ itemList.add(item);
+ }
+ statusEntity.setTaskBufferItems(itemList);
}
private int findIndex(Integer stationId) {
@@ -333,4 +482,77 @@
return -1;
}
+ static String buildConveyorCommonAlarmMessage(boolean[] status1, boolean[] status2, boolean[] status3, boolean[] status4) {
+ StringBuilder sb = new StringBuilder();
+ appendConveyorCommonAlarmMessages(sb, status1, 0);
+ appendConveyorCommonAlarmMessages(sb, status2, 8);
+ appendConveyorCommonAlarmMessages(sb, status3, 16);
+ appendConveyorCommonAlarmMessages(sb, status4, 24);
+ return sb.toString();
+ }
+
+ static String mergeAlarmMessages(String currentMsg, String appendMsg) {
+ String current = currentMsg == null ? "" : currentMsg;
+ String append = appendMsg == null ? "" : appendMsg;
+ if (append.isEmpty()) {
+ return current;
+ }
+ if (current.isEmpty()) {
+ return append;
+ }
+ if (!current.endsWith(";")) {
+ current += ";";
+ }
+ return current + append;
+ }
+
+ static Integer normalizeIoMode(Integer rawMode) {
+ if (rawMode == null) {
+ return null;
+ }
+ if (rawMode == 1 || rawMode == 2) {
+ return rawMode;
+ }
+ return null;
+ }
+
+ static Integer findInStationIdByOrder(List<StationObjModel> inStationOriginList, Integer orderIdx) {
+ if (inStationOriginList == null || orderIdx == null || orderIdx < 0 || orderIdx >= inStationOriginList.size()) {
+ return null;
+ }
+ StationObjModel stationObjModel = inStationOriginList.get(orderIdx);
+ return stationObjModel == null ? null : stationObjModel.getStationId();
+ }
+
+ static List<StationObjModel> sortStationObjModelsByStationId(List<StationObjModel> stationObjModels) {
+ if (stationObjModels == null) {
+ return Collections.emptyList();
+ }
+ stationObjModels.sort(Comparator.comparing(StationObjModel::getStationId, Comparator.nullsLast(Integer::compareTo)));
+ return stationObjModels;
+ }
+
+ private static void appendConveyorCommonAlarmMessages(StringBuilder sb, boolean[] status, int startIdx) {
+ if (status == null) {
+ return;
+ }
+ int limit = Math.min(status.length, 8);
+ for (int i = 0; i < limit; i++) {
+ int alarmIdx = startIdx + i;
+ if (!status[i] || alarmIdx >= CONVEYOR_COMMON_ALARM_MESSAGES.length) {
+ continue;
+ }
+ sb.append(CONVEYOR_COMMON_ALARM_MESSAGES[alarmIdx]).append(";");
+ }
+ }
+
+ private static void applyAlarmMessage(ZyStationStatusEntity statusEntity, String alarmMsg) {
+ if (statusEntity == null) {
+ return;
+ }
+ String message = alarmMsg == null ? "" : alarmMsg;
+ statusEntity.setError(message.isEmpty() ? 0 : 1);
+ statusEntity.setErrorMsg(message);
+ }
+
}
--
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