From 00d9f3f5cf3b046cb42098c9bc13f2313a435f53 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 27 六月 2023 10:32:50 +0800
Subject: [PATCH] 提升机搬运前判断目标站是否可入
---
src/main/java/com/zy/core/thread/LiftThread.java | 132 ++++++++++++++++++++++++-------------------
1 files changed, 74 insertions(+), 58 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 70151e9..2504792 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -6,6 +6,7 @@
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
+import com.core.common.RadixTools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasLift;
@@ -21,7 +22,6 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.DevpSlave;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
@@ -128,35 +128,37 @@
//浣嶇疆鍒拌揪鍙嶉
liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
- byte by = modbusTcpNet.getByteTransform().TransByte(content, 5);
- int[] datas = CommonUtils.byteToBits(by);
- //鍑嗗灏辩华
- liftProtocol.setReady(CommonUtils.intToBoolean(datas[0]));
- //杩愯涓�
- liftProtocol.setRunning(CommonUtils.intToBoolean(datas[1]));
- //鑱旀満/鍗曟満
- liftProtocol.setMode(CommonUtils.intToBoolean(datas[2]));
- //杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas[3]));
- //杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas[4]));
- //杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas[5]));
- //杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas[6]));
- //杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas[7]));
- //杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[8]));
- //鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[9]));
- //骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas[10]));
- //骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas[11]));
- //骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas[12]));
+ byte b1 = modbusTcpNet.getByteTransform().TransByte(content, 5);
+ byte b2 = modbusTcpNet.getByteTransform().TransByte(content, 4);
+ int[] datas1 = CommonUtils.byteToBits(b1);
+ int[] datas2 = CommonUtils.byteToBits(b2);
+ //鍑嗗灏辩华
+ liftProtocol.setReady(CommonUtils.intToBoolean(datas1[0]));
+ //杩愯涓�
+ liftProtocol.setRunning(CommonUtils.intToBoolean(datas1[1]));
+ //鑱旀満/鍗曟満
+ liftProtocol.setMode(CommonUtils.intToBoolean(datas1[2]));
+ //杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
+ liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas1[3]));
+ //杈撻�佺嚎姝ｈ浆鍙嶉
+ liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas1[4]));
+ //杈撻�佺嚎鍙嶈浆鍙嶉
+ liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas1[5]));
+ //杈撻�佺嚎鐢垫満杩囪浇
+ liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas1[6]));
+ //杈撻�佺嚎鏈鍏夌數鏈夎揣
+ liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas1[7]));
+ //杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
+ liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[0]));
+ //鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
+ liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[1]));
+ //骞冲彴浣嶇疆鍋忓樊鎶ヨ
+ liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas2[2]));
+ //骞冲彴鎵煩鍋忓樊鎶ヨ
+ liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas2[3]));
+ //骞冲彴鍥涘悜杞︽娴�
+ liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas2[4]));
//鏈氨缁姸鎬�
liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
@@ -275,6 +277,20 @@
array[29] = command.getLiftLockShortValue();
}
+ if (array[2] == 0) {
+ // 寮�濮嬩换鍔�
+ short[] tmp = new short[2];
+ tmp[0] = array[0];
+ tmp[1] = array[1];
+ array = tmp;
+ }
+
+ try {
+ Thread.sleep(1000);//鍛戒护涓嬪彂鍓嶄紤鐪�1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+
OperateResult result = modbusTcpNet.Write("41088", array);;
if (result != null && result.IsSuccess) {
News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
@@ -347,9 +363,6 @@
return false;
}
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- liftProtocol.setPakMk(false);
-
Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
if (o == null) {
return false;
@@ -392,6 +405,24 @@
News.info("鎻愬崌鏈哄懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
liftProtocol.setWrkTime(new Date());//鏇存柊宸ヤ綔鏃堕棿
+ //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+ liftProtocol.setPakMk(false);
+
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
+ if (liftOptService != null) {
+ BasLiftOpt opt = new BasLiftOpt(
+ redisCommand.getWrkNo().intValue(),
+ redisCommand.getLiftNo().intValue(),
+ new Date(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command)
+ );
+ liftOptService.insert(opt);
+ }
+
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
if (commandStep < size - 1) {
//鏇存柊redis鏁版嵁
@@ -402,27 +433,12 @@
redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
}else {
//宸叉墽琛屽畬鎴�
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
- if (liftOptService != null) {
- BasLiftOpt opt = new BasLiftOpt(
- redisCommand.getWrkNo().intValue(),
- redisCommand.getLiftNo().intValue(),
- new Date(),
- null,
- null,
- null,
- JSON.toJSONString(assignCommand)
- );
- liftOptService.insert(opt);
- }
//鍒犻櫎redis
redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
//瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
- News.info("鎻愬崌鏈轰换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
-
+ News.info("鎻愬崌鏈轰换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
}
}
@@ -458,11 +474,11 @@
command.setRun((short) 1);//鍗囬檷
Short position = LiftLevType.getRealLev(lev);//鑾峰彇鎻愬崌鏈哄疄闄呮ゼ灞傛暟鍊�
command.setDistPosition(position);
- command.setSpeed((short) 200);
- command.setHeight2((short) 180);
- command.setHeight3((short) 1645);
- command.setHeight4((short) (2 * 1645));
- command.setHeight5((short) (3 * 1645));
+// command.setSpeed((short) 200);
+// command.setHeight2((short) 180);
+// command.setHeight3((short) 1645);
+// command.setHeight4((short) (2 * 1645));
+// command.setHeight5((short) (3 * 1645));
return command;
}
@@ -476,11 +492,11 @@
command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
command.setTaskNo(taskNo);//浠诲姟鍙�
command.setDistPosition(position);//鐩爣妤煎眰
- command.setSpeed((short) 200);
- command.setHeight2((short) 180);
- command.setHeight3((short) 1645);
- command.setHeight4((short) 3290);
- command.setHeight5((short) 4945);
+// command.setSpeed((short) 200);
+// command.setHeight2((short) 180);
+// command.setHeight3((short) 1645);
+// command.setHeight4((short) 3290);
+// command.setHeight5((short) 4945);
return command;
}
--
Gitblit v1.9.1