From 1f290b785adec6e9409adf2c9241bdd01eacf0ee Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 25 七月 2023 09:02:58 +0800
Subject: [PATCH] 捡料
---
src/main/java/com/zy/core/thread/LiftThread.java | 510 +++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 374 insertions(+), 136 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 34ea0c1..d2dfb3a 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -5,39 +5,37 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
-import com.core.common.Cools;
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;
import com.zy.asrs.entity.BasLiftOpt;
-import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.BasLiftOptService;
import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.service.BasShuttleOptService;
-import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.utils.Utils;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.RedisUtil;
+import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.LiftAssignCommand;
-import com.zy.core.model.command.LiftCommand;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
-import java.util.HashMap;
import java.util.List;
/**
@@ -70,7 +68,7 @@
switch (step) {
// 璇绘暟鎹�
case 1:
- readStatus();
+ read();
break;
// 鍐欏叆鏁版嵁
case 2:
@@ -116,9 +114,31 @@
modbusTcpNet.ConnectClose();
}
+ private void read() {
+ try {
+ readStatus();
+
+ //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
+ if (liftProtocol.getRunning()) {
+ liftProtocol.setPakMk(true);
+ }
+
+ //鎻愬崌鏈哄浜庢湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
+ if (!liftProtocol.getRunning()
+ && liftProtocol.getPakMk()
+ && liftProtocol.getTaskNo() != 0) {
+ //杩樻湁鏈畬鎴愮殑鍛戒护
+ executeWork(liftProtocol.getTaskNo());
+ }
+ } catch (Exception e) {
+ OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ initLift();
+ }
+ }
+
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 50);
+ OperateResultExOne<byte[]> result = modbusTcpNet.Read("41117", (short) 50);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -132,64 +152,53 @@
liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
//浣嶇疆鍒拌揪鍙嶉
liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
- //鍑嗗灏辩华
- liftProtocol.setReady(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,4)));
- //杩愯涓�
- liftProtocol.setRunning(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,6)));
- //鑱旀満/鍗曟満
- liftProtocol.setMode(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,8)));
- //浠ヤ笅鍙傛暟骞舵湭杩涜璋冩暣(闇�瑕佸悗缁拡瀵瑰疄鏈鸿繘琛岃幏鍙栧拰璋冭瘯)
+
+ 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(modbusTcpNet.getByteTransform().TransBool(content,10));
+ liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas1[3]));
//杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,12));
+ liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas1[4]));
//杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,14));
+ liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas1[5]));
//杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,16));
+ liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas1[6]));
//杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,18));
+ liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas1[7]));
//杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,20));
+ liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[0]));
//鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,22));
+ liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[1]));
//骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,24));
+ liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas2[2]));
//骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,26));
+ liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas2[3]));
//骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,28));
+ liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas2[4]));
+
//鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,30));
+ liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
//浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,32));
+ liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
//浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,34));
+ liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
//浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,36));
+ liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
//浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,38));
+ liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14));
//鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,40));
+ liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));
///璇诲彇鎻愬崌鏈虹姸鎬�-end
-
- //灏忚溅澶勪簬杩愯鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
- if (liftProtocol.getRunning()) {
- liftProtocol.setPakMk(true);
- }
-
- //鎻愬崌鏈哄浜庨攣瀹氥�佹湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
- if (liftProtocol.getLiftLock()
- && !liftProtocol.getRunning()
- && liftProtocol.getReady()
- && liftProtocol.getPakMk()
- && liftProtocol.getTaskNo() != 0
- && liftProtocol.getAssignCommand() != null) {
- //杩樻湁鏈畬鎴愮殑鍛戒护
- executeWork(liftProtocol.getAssignCommand());
- }
//灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
@@ -247,6 +256,54 @@
}
command.setLiftNo(slave.getId().shortValue());
+ short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+
+ try {
+ Thread.sleep(500);//鍛戒护涓嬪彂鍓嶄紤鐪�
+ } 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));
+ OutputQueue.LIFT.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)));
+
+ try {
+ Thread.sleep(500);//鍛戒护涓嬪彂鍚庝紤鐪�
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+
+ for (int i = 0; i < 5; i++) {
+ if (command.getRun().intValue() == 4 || command.getRun().intValue() == 5) {
+ break;//绯荤粺澶嶄綅鍜岄摼鏉″仠姝㈣浆鍔ㄤ笉闇�瑕侀噸鍙�
+ }
+ readStatus();//閲嶆柊璇诲彇鐘舵��
+ if (liftProtocol.getRunning()) {
+ break;
+ }
+
+ //鍒ゆ柇鏄惁杩愯涓紝濡備笉杩愯锛岄噸鏂颁笅鍙戝懡浠�
+ result = modbusTcpNet.Write("41088", array);
+ News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {},娆℃暟锛歿}", slave.getId(), JSON.toJSON(command), i);
+ OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2},娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
+ try {
+ Thread.sleep(300);//鍛戒护涓嬪彂鍚庝紤鐪�
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ }
+ return true;
+ } 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()), slave.getId(), slave.getIp(), slave.getPort()));
+ News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+
+ //鑾峰彇鍛戒护鎶ユ枃
+ private short[] getCommandArr(LiftCommand command) {
// 寮�濮嬩换鍔�
short[] array = new short[30];
//寮�濮嬭繍琛�
@@ -271,54 +328,27 @@
//鍥涘眰楂樺害璁惧畾
array[5] = command.getHeight4();
}
+ if (command.getHeight5() != null) {
+ //鍥涘眰楂樺害璁惧畾
+ array[6] = command.getHeight5();
+ }
if (command.getLiftLockShortValue() != null) {
//鎻愬崌鏈洪攣瀹�
array[29] = command.getLiftLockShortValue();
}
- OperateResult result = modbusTcpNet.Write("0", 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));
- OutputQueue.LIFT.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.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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
+ if (array[2] == 0) {
+ // 寮�濮嬩换鍔�
+ short[] tmp = new short[2];
+ tmp[0] = array[0];
+ tmp[1] = array[1];
+ array = tmp;
}
+ return array;
}
//鍒嗛厤浠诲姟
private void assignWork(LiftAssignCommand assignCommand) {
- //灏嗘map瀛樺叆redis涓�
- HashMap<String, Object> map = new HashMap<>();
-
- //鎻愬崌鏈哄彿
- map.put("lift_no", assignCommand.getLiftNo());
- //宸ヤ綔鍙�
- map.put("wrk_no", assignCommand.getTaskNo());
- //鍛戒护鎵ц姝ュ簭
- map.put("commandStep", 0);
- //鍛戒护
- map.put("assignCommand", assignCommand);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
- liftProtocol.setAssignCommand(assignCommand);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand);
- }
-
- //鎵ц浠诲姟
- private boolean executeWork(LiftAssignCommand assignCommand) {
- //璇诲彇redis鏁版嵁
- if (assignCommand == null) {
- return false;
- }
-
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- liftProtocol.setPakMk(false);
-
//鎵嬪姩妯″紡鎸囦护
if (!assignCommand.getAuto()) {
LiftCommand command = new LiftCommand();
@@ -330,27 +360,26 @@
}
liftProtocol.setTaskNo(assignCommand.getTaskNo());
switch (assignCommand.getTaskMode()) {
- case 1://涓婂崌涓�灞�
- command.setRun((short) 1);//鍗囬檷
- command.setDistPosition(++lev);
+ case 1://绉诲姩鎻愬崌鏈�
+ command = getLiftUpDownCommand(assignCommand.getLev());//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
break;
- case 2://涓嬮檷涓�灞�
- command.setRun((short) 1);//涓嬮檷
- command.setDistPosition(--lev);
+ case 3://鏃犺揣姝ｈ浆
+ command = getLiftTurnCommand(3);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 3://鏈夎揣姝ｈ浆
- command.setRun((short) 6);
+ case 4://鏃犺揣鍙嶈浆
+ command = getLiftTurnCommand(4);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 4://鏈夎揣鍙嶈浆
- command.setRun((short) 3);
+ case 5://鏈夎揣姝ｈ浆
+ command = getLiftTurnCommand(1);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 5://澶嶄綅
- command.setRun((short) 0);
- command.setLiftLock(false);
- liftProtocol.setTaskNo((short) 0);
- liftProtocol.setShuttleNo((short) 0);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- liftProtocol.setPakMk(true);
+ case 6://鏈夎揣鍙嶈浆
+ command = getLiftTurnCommand(2);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 7://閾炬潯鍋滄
+ command = getLiftTurnCommand(5);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 0://澶嶄綅
+ command = getResetCommand();//鑾峰彇澶嶄綅鍛戒护
break;
default:
}
@@ -358,62 +387,161 @@
assignCommand.setCommands(commands);
}
- Object o = redisUtil.get("lift_wrk_no_" + assignCommand.getTaskNo());
+ LiftRedisCommand redisCommand = new LiftRedisCommand();
+ redisCommand.setLiftNo(assignCommand.getLiftNo());//鎻愬崌鏈哄彿
+ redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+ redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
+ redisCommand.setAssignCommand(assignCommand);//鍛戒护
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+ liftProtocol.setAssignCommand(assignCommand);
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+ //鎵ц涓嬪彂浠诲姟
+ executeWork(assignCommand.getTaskNo());
+ }
+
+ //鎵ц浠诲姟
+ private boolean executeWork(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
if (o == null) {
return false;
}
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- List<LiftCommand> commands = assignCommand.getCommands();
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
//褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ int commandStep = redisCommand.getCommandStep();
//鎬绘搴�
int size = commands.size();
+ LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+
+ if (commandStep != 0) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ LiftCommand command = commands.get(commandStep - 1);
+ if (command.getRun().intValue() == 1) {
+ //鎻愬崌鏈哄崌闄嶅懡浠�
+ if (command.getDistPosition().intValue() == liftProtocol.getPositionArrivalFeedback().intValue()) {
+ //鎻愬崌鏈虹洰鏍囨ゼ灞傚拰瀹為檯妤煎眰鐩稿悓锛屽垯璁ゅ畾鍛戒护瀹屾垚
+ command.setComplete(true);
+ }
+ } else if (command.getRun().intValue() == 2 || command.getRun().intValue() == 3) {
+ //鏃犺揣姝ｈ浆锛屾湁璐ф杞�
+ if (!liftProtocol.getForwardRotationFeedback()) {
+ //杈撻�佺嚎姝ｈ浆鍙嶉涓嶅湪杩愯涓紝璁ゅ畾鍛戒护瀹屾垚
+ command.setComplete(true);
+ }
+ } else if (command.getRun().intValue() == 6 || command.getRun().intValue() == 7) {
+ //鏈夎揣鍙嶈浆锛屾棤璐у弽杞�
+ if (!liftProtocol.getReverseFeedback()) {
+ //杈撻�佺嚎鍙嶈浆鍙嶉涓嶅湪杩愯涓紝璁ゅ畾鍛戒护瀹屾垚
+ command.setComplete(true);
+ }
+ } else if (command.getRun().intValue() == 4) {
+ //杈撻�佺嚎鍋滄
+ if (!liftProtocol.getForwardRotationFeedback() && !liftProtocol.getReverseFeedback()) {
+ //杈撻�佺嚎姝ｈ浆鍙嶈浆閮戒笉鍦ㄨ繍琛屼腑锛岃瀹氬懡浠ゅ畬鎴�
+ command.setComplete(true);
+ }
+ }
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ if (!command.getComplete()) {
+ //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+ return false;
+ }
+ }
//鍙栧嚭鍛戒护
LiftCommand command = commands.get(commandStep);
+ if (command.getOperaStaNo() != null && command.getDevpId() != null) {
+ //绔欑偣鍜岃緭閫佺嚎ID涓嶄负null锛岄渶瑕佷笅鍙戠珯鐐规寚浠よ皟搴︽寚瀹氱珯鐐硅繘琛岄摼鏉¤浆鍔�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
+ StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue());
+ staProtocol = staProtocol.clone();
+ if (!staProtocol.isLiftArrival()) {//閾炬潯杞姩鏉′欢锛岄渶瑕佹湁鎻愬崌鏈哄埌浣嶄俊鍙�
+ liftProtocol.setPakMk(true);
+ return false;
+ }
+ staProtocol.setWorkNo(wrkNo);//璁剧疆浠诲姟鍙�
+ if (command.getStaNo() != null) {
+ staProtocol.setStaNo(command.getStaNo());//璁剧疆鐩爣绔�
+ }
+
+ if (command.getRotationDire() != null) {
+ staProtocol.setRotationDire(command.getRotationDire());//绔欑偣閾炬潯杞姩淇″彿
+ }
+ Integer devpId = command.getDevpId();
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//涓嬪彂鍛戒护浣胯緭閫佺嚎閾炬潯杩愯浆
+ }
+
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
+ if (wrkMast != null) {
+ if (wrkMast.getWrkSts() == 28) {//28.鎻愬崌鏈烘惉杩愪腑
+ if (command.getRun().intValue() == 1 && command.getDistPosition().intValue() == LiftLevType.TWO.lev) {
+ //鎻愬崌鏈虹Щ鍔ㄤ笖浣嶇疆鏄埌杈撻�佺嚎妤煎眰锛岄渶瑕佸垽鏂珯鐐硅揣鐗╂槸鍚︽棤鐗╋紝鎻愬崌鏈烘槸鍚︽湁鐗�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
+ //宸ヤ綔妗ｆ簮搴撲綅妤煎眰
+ int wrkMastLocNoLey = Utils.getLev(wrkMast.getSourceLocNo());
+ StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//璧峰绔欑偣
+ //鍒ゆ柇杈撻�佺珯鐐规槸鍚︽湁鐗╋紝鍙湁鏃犵墿鎯呭喌鎵嶈兘缁х画璋冨害鎻愬崌鏈�
+ if (staProtocol.isLoading()) {
+ //鏈夌墿绂佹璋冨害
+ return false;
+ }
+ }
+ }
+ }
+
//涓嬪彂鍛戒护
if (!write(command)) {
News.error("鎻愬崌鏈哄懡浠や笅鍙戝け璐ワ紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
return false;
}else {
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) {
+ short[] commandArr = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+ BasLiftOpt opt = new BasLiftOpt(
+ redisCommand.getWrkNo().intValue(),
+ redisCommand.getLiftNo().intValue(),
+ new Date(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(commandArr)
+ );
+ 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
//姝ュ簭澧炲姞
commandStep++;
- map.put("commandStep", commandStep);
+ redisCommand.setCommandStep(commandStep);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("lift_wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
+ 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(
- assignCommand.getTaskNo().intValue(),
- assignCommand.getLiftNo().intValue(),
- new Date(),
- null,
- null,
- null,
- JSON.toJSONString(assignCommand)
- );
- liftOptService.insert(opt);
- }
//鍒犻櫎redis
- redisUtil.del("lift_wrk_no_" + map.get("wrk_no").toString());
+ redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
- if (assignCommand.getAuto()) {
- //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));
- }else {
- //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬�
- News.info("鎻愬崌鏈烘墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }
-
+ //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));
}
}
@@ -421,9 +549,119 @@
}
/**
+ * 鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
+ */
+ public LiftCommand getUnlockCommand(Short liftNo) {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 0);
+ command.setLiftNo(liftNo);
+ command.setLiftLock(false);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇澶嶄綅鍛戒护
+ */
+ public LiftCommand getResetCommand() {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 5);
+ command.setLiftLock(false);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ */
+ public LiftCommand getLiftUpDownCommand(Integer lev) {
+ LiftCommand command = new LiftCommand();
+ 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));
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ */
+ public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) {
+ LiftCommand command = new LiftCommand();
+ Short position = LiftLevType.getRealLev(lev);//鑾峰彇鎻愬崌鏈哄疄闄呮ゼ灞傛暟鍊�
+ command.setRun((short) 1);//鍗囬檷
+ 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);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞紝3=>鏃犺揣姝ｈ浆锛�4=>鏃犺揣鍙嶈浆
+ */
+ public LiftCommand getLiftTurnCommand(Integer direction) {
+ LiftCommand command = new LiftCommand();
+ Short run = 0;
+ switch (direction) {
+ case 1:
+ run = 6;//鏈夎揣姝ｈ浆
+ break;
+ case 2:
+ run = 3;//鏈夎揣鍙嶈浆
+ break;
+ case 3:
+ run = 2;//鏃犺揣姝ｈ浆
+ break;
+ case 4:
+ run = 7;//鏃犺揣鍙嶈浆
+ break;
+ case 5:
+ run = 4;//閾炬潯鍋滄
+ }
+ command.setRun(run);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞�
+ */
+ public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
+ LiftCommand command = new LiftCommand();
+ Short run = 0;
+ switch (direction) {
+ case 1:
+ run = 6;//鏈夎揣姝ｈ浆
+ break;
+ case 2:
+ run = 3;//鏈夎揣鍙嶈浆
+ break;
+ case 3:
+ run = 2;//鏃犺揣姝ｈ浆
+ break;
+ case 4:
+ run = 7;//鏃犺揣鍙嶈浆
+ break;
+ case 5:
+ run = 4;//閾炬潯鍋滄
+ }
+ command.setRun(run);
+ command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
+ command.setTaskNo(taskNo);//浠诲姟鍙�
+ return command;
+ }
+
+ /**
* 鍒濆鍖栨彁鍗囨満
*/
private void initLift() {
+ this.connect();
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
}
--
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