From 1776f84639c7b6d747de68e6a34c36e1169cdec0 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期三, 15 一月 2025 16:05:14 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RgvThread.java | 236 ++++++++++++++---------------------------------------------
1 files changed, 56 insertions(+), 180 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 3c0703b..b367363 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -11,6 +11,7 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.utils.NumUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -68,17 +69,9 @@
case 1:
readStatus();
break;
- // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
+ //宸ヤ綅1鍐欏叆鏁版嵁
case 2:
write((RgvCommand) task.getData());
- break;
- //宸ヤ綅1鍐欏叆鏁版嵁
- case 4:
- write1((RgvCommand) task.getData());
- break;
- //宸ヤ綅2鍐欏叆鏁版嵁
- case 5:
- write2((RgvCommand) task.getData());
break;
// 澶嶄綅
case 3:
@@ -92,33 +85,7 @@
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short)0); // 婧愮珯
command.setDestinationStaNo1((short)0); // 鐩爣绔�
- command.setTaskNo2((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo2((short)0); // 婧愮珯
- command.setDestinationStaNo2((short)0); // 鐩爣绔�
- command.setCommand((short)0);
- write(command);
- break;
- // 鍥炲師鐐� 閬胯
- case 9:
- RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
- if (null == commandAvoidanceXY) {
- commandAvoidanceXY = new RgvCommand();
- }
- commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
- commandAvoidanceXY.setTaskNo1((short) 32222); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
- commandAvoidanceXY.setTaskMode1(RgvTaskModeType.X_MOVE); // 浠诲姟妯″紡
- commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
- commandAvoidanceXY.setDestinationStaNo1(slave.getId()==1? (short) 101:(short)116); // 鐩爣绔�
- commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
- commandAvoidanceXY.setTaskMode2(RgvTaskModeType.X_MOVE); // 浠诲姟妯″紡
- commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
- commandAvoidanceXY.setDestinationStaNo2(slave.getId()==1? (short) 101:(short)117); // 鐩爣绔�
- commandAvoidanceXY.setCommand((short)0);
- write(commandAvoidanceXY);
+ write3(command);
break;
default:
break;
@@ -138,13 +105,14 @@
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
}
+ rgvProtocol.setRgvNo(slave.getId());
rgvProtocol.setMode((short) -1);
rgvProtocol.setStatus((short)-1);
rgvProtocol.setTaskNo1((short)0);
rgvProtocol.setStatus1((short)-1);
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
- rgvProtocol.setRgvPos((short)0);
+ rgvProtocol.setRgvPos(0L);
rgvProtocol.setTaskNo2((short)0);
rgvProtocol.setStatus2((short)-1);
rgvProtocol.setLoaded2((short)0);
@@ -179,58 +147,27 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
+ OperateResultExOne<byte[]> resultV = siemensNet.Read("DB20.16", (short) 2);
+ OperateResultExOne<byte[]> resultE = siemensNet.Read("DB20.26", (short) 2);
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
rgvProtocol.setRgvNo(slave.getId());
}
- rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
- rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- rgvProtocol.setRgvPos(RouteUtils.RgvPosSta(slave.getId(),siemensNet.getByteTransform().TransInt16(result.Content, 10)));
- rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
- rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
- rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
- rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
- rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
- rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
- rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
-// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
-// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
-// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
-
+ rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
+ rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 6));
+ rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
+ rgvProtocol.setInstantaneousSpeed(Double.valueOf(siemensNet.getByteTransform().TransInt16(resultV.Content, 0)));
+ rgvProtocol.setEndStaM(siemensNet.getByteTransform().TransInt16(resultE.Content, 0));
+// rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
OutputQueue.RGV.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()), slave.getId()));
-
- // 宸ヤ綅1澶嶄綅淇″彿
- if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag1) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish1((short)1);
- if (write(rgvCommand)) {
- resetFlag1 = false;
- }
- }
- }
-
- // 宸ヤ綅2澶嶄綅淇″彿
- if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag2) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish2((short)1);
- if (write(rgvCommand)) {
- resetFlag2 = false;
- }
- }
- }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -242,7 +179,9 @@
if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
log.error("RGV plc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
}
- } catch (Exception ignore){}
+ } catch (Exception ignore) {
+
+ }
} else {
initRgv();
@@ -258,94 +197,32 @@
}
/**
- * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
+ * 宸ヤ綅1鍐欏叆鏁版嵁
*/
private boolean write(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
-// convertRow(command);
- command.setRgvNo(slave.getId());
- short[] array = new short[11];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
- array[2] = command.getTaskMode1();
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
- array[5] = command.getAckFinish2();
- array[6] = command.getTaskNo2();
- array[7] = command.getTaskMode2();
- array[8] = command.getSourceStaNo2();
- array[9] = command.getDestinationStaNo2();
- array[10] = command.getCommand();
- OperateResult result = siemensNet.Write("DB100.0", array);
- if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
- short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
- Thread.sleep(100L);
- result = siemensNet.Write("DB100.20", commandFinish);
- }
-
- try {
- // 鏃ュ織璁板綍
- BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1().intValue(),
- command.getTaskNo2().intValue(),
- command.getRgvNo(),
- new Date(),
- command.getTaskModeType1().toString(),
- command.getSourceStaNo1().intValue(),
- command.getDestinationStaNo1().intValue(),
- command.getSourceStaNo2().intValue(),
- command.getDestinationStaNo2().intValue(),
- null,
- new Date(),
- null
- );
- bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
-
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
- return true;
- } else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
-
- /**
- * 宸ヤ綅1鍐欏叆鏁版嵁
- */
- private boolean write1(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
-
-// siemensNet.Write("DB100.20", command.getCommand());
+ siemensNet.Write("DB24.10.0", false);
+ siemensNet.Write("DB24.10.1", false);
command.setRgvNo(slave.getId());
short[] array = new short[5];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
- array[2] = command.getTaskMode1();//浠诲姟妯″紡
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
-// siemensNet.Write("DB100.20", 0);
+ array[0] = command.getRgvNo().shortValue();
+ array[1] = command.getSourceStaNo1();
+ array[2] = command.getDestinationStaNo1();
+ array[3] = command.getTaskMode1();//浠诲姟妯″紡
+ array[4] = command.getTaskNo1();
- OperateResult result = siemensNet.Write("DB100.0", array);
+ OperateResult result = siemensNet.Write("DB24.0", array);
- if (command.getAckFinish1() == 0) {
- short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
+ if (command.getAckFinish1().equals((short)0)) {
Thread.sleep(100L);
- result = siemensNet.Write("DB100.20", commandFinish);
+ result = siemensNet.Write("DB24.10.0", true);
+ } else {
+ siemensNet.Write("DB24.10.1", true);
}
try {
@@ -380,31 +257,30 @@
return false;
}
}
-
- /**
- * 宸ヤ綅2鍐欏叆鏁版嵁
- */
- private boolean write2(RgvCommand command) throws InterruptedException {
+ private boolean write3(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
+ siemensNet.Write("DB24.10.0", false);
+ siemensNet.Write("DB24.10.1", false);
+
command.setRgvNo(slave.getId());
- short[] array = new short[6];
- array[0] = command.getAckFinish2();//浠诲姟瀹屾垚纭浣�
- array[1] = command.getTaskNo2();//浠诲姟鍙�
- array[2] = command.getTaskMode2();//浠诲姟妯″紡
- array[3] = command.getSourceStaNo2();//婧愮珯
- array[4] = command.getDestinationStaNo2();//鐩爣绔�
- array[5] = command.getCommand();//浠诲姟涓嬪彂纭
+ short[] array = new short[5];
+ array[0] = command.getRgvNo().shortValue();
+ array[1] = command.getSourceStaNo1();
+ array[2] = command.getDestinationStaNo1();
+ array[3] = command.getTaskMode1();//浠诲姟妯″紡
+ array[4] = command.getTaskNo1();
- OperateResult result = siemensNet.Write("DB100.10", array);
-
- if (command.getAckFinish2() == 0) {
- short commandFinish = 2; //宸ヤ綅2浠诲姟鍐欏叆
+// OperateResult result = siemensNet.Write("DB24.0", array);
+ OperateResult result = null;
+ if (command.getAckFinish1().equals((short)0)) {
Thread.sleep(100L);
- result = siemensNet.Write("DB100.20", commandFinish);
+ result = siemensNet.Write("DB24.10.0", true);
+ } else {
+ siemensNet.Write("DB24.10.1", true);
}
try {
@@ -430,12 +306,12 @@
if (result != null && result.IsSuccess) {
Thread.sleep(200);
this.readStatus();
- log.info("RGV 宸ヤ綅2鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅2鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
+ log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅1鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
return true;
} else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
}
--
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