From 21eac69df8b18ef44ab267a4e2efe714f985d8d9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 29 七月 2023 14:26:57 +0800
Subject: [PATCH] 提升机穿梭车配置
---
src/main/java/com/zy/core/thread/LiftThread.java | 291 +++++++++++++++++++++++++++++-----------------------------
1 files changed, 145 insertions(+), 146 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index d2dfb3a..8e1f381 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -4,9 +4,10 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
+import HslCommunication.Profinet.Siemens.SiemensPLCS;
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
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;
@@ -45,7 +46,7 @@
@Slf4j
public class LiftThread implements Runnable, ThreadHandler {
- private ModbusTcpNet modbusTcpNet;
+ private SiemensS7Net siemensS7Net;
private LiftSlave slave;
private LiftProtocol liftProtocol;
private RedisUtil redisUtil;
@@ -92,10 +93,8 @@
public boolean connect() {
boolean result = false;
//-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x02);
- // 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
- modbusTcpNet.setDataFormat(DataFormat.ABCD);
- OperateResult connect = modbusTcpNet.ConnectServer();
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
+ OperateResult connect = siemensS7Net.ConnectServer();
if(connect.IsSuccess){
result = true;
OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戞彁鍗囨満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -104,14 +103,14 @@
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
log.error("鎻愬崌鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
}
- modbusTcpNet.ConnectClose();
+ siemensS7Net.ConnectClose();
//-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
return result;
}
@Override
public void close() {
- modbusTcpNet.ConnectClose();
+ siemensS7Net.ConnectClose();
}
private void read() {
@@ -132,13 +131,12 @@
}
} 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("41117", (short) 50);
+ OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.200", (short) 24);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -147,97 +145,97 @@
//----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
//鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //鎻愬崌鏈洪攣瀹�
- liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
- //浣嶇疆鍒拌揪鍙嶉
- liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
-
-
- 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));
- //浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
- //浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
- //浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
- //浼烘湇4閿欒
- 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,16));
-
- ///璇诲彇鎻愬崌鏈虹姸鎬�-end
-
- //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
- BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
- if (basLift == null) {
- basLift = new BasLift();
- //鎻愬崌鏈哄彿
- basLift.setLiftNo(slave.getId());
- liftService.insert(basLift);
- }
- basLift.setStatus(liftProtocol.getProtocolStatus());
- basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
- basLift.setUpdateTime(new Date());
- basLift.setPakMk(liftProtocol.getPakMk());
- basLift.setLiftLock(liftProtocol.getLiftLock());
- basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
- basLift.setReady(liftProtocol.getReady());
- basLift.setRunning(liftProtocol.getRunning());
- basLift.setMode(liftProtocol.getMode());
- basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
- basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
- basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
- basLift.setMotorOverload(liftProtocol.getMotorOverload());
- basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
- basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
- basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
- basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
- basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
- basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
- basLift.setNotReady(liftProtocol.getNotReady().intValue());
- basLift.setServoError1(liftProtocol.getServoError1().intValue());
- basLift.setServoError2(liftProtocol.getServoError2().intValue());
- basLift.setServoError3(liftProtocol.getServoError3().intValue());
- basLift.setServoError4(liftProtocol.getServoError4().intValue());
- basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
- if (liftService.updateById(basLift)) {
- OutputQueue.LIFT.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()));
-// log.info(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()));
- }
+// byte[] content = result.Content;
+// //鎻愬崌鏈洪攣瀹�
+// liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
+// //浣嶇疆鍒拌揪鍙嶉
+// liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
+//
+//
+// 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));
+// //浼烘湇1閿欒
+// liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
+// //浼烘湇2閿欒
+// liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
+// //浼烘湇3閿欒
+// liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
+// //浼烘湇4閿欒
+// 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,16));
+//
+// ///璇诲彇鎻愬崌鏈虹姸鎬�-end
+//
+// //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+// BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
+// BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
+// if (basLift == null) {
+// basLift = new BasLift();
+// //鎻愬崌鏈哄彿
+// basLift.setLiftNo(slave.getId());
+// liftService.insert(basLift);
+// }
+// basLift.setStatus(liftProtocol.getProtocolStatus());
+// basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
+// basLift.setUpdateTime(new Date());
+// basLift.setPakMk(liftProtocol.getPakMk());
+// basLift.setLiftLock(liftProtocol.getLiftLock());
+// basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
+// basLift.setReady(liftProtocol.getReady());
+// basLift.setRunning(liftProtocol.getRunning());
+// basLift.setMode(liftProtocol.getMode());
+// basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
+// basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
+// basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
+// basLift.setMotorOverload(liftProtocol.getMotorOverload());
+// basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
+// basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
+// basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
+// basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
+// basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
+// basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
+// basLift.setNotReady(liftProtocol.getNotReady().intValue());
+// basLift.setServoError1(liftProtocol.getServoError1().intValue());
+// basLift.setServoError2(liftProtocol.getServoError2().intValue());
+// basLift.setServoError3(liftProtocol.getServoError3().intValue());
+// basLift.setServoError4(liftProtocol.getServoError4().intValue());
+// basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
+// if (liftService.updateById(basLift)) {
+// OutputQueue.LIFT.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()));
+//// log.info(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()));
+// }
}else {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆憑1}鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
@@ -245,7 +243,6 @@
}
} 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();
}
}
@@ -255,51 +252,53 @@
return false;
}
- command.setLiftNo(slave.getId().shortValue());
- short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+// 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;
+// }
- 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;
- }
+ return true;
}
//鑾峰彇鍛戒护鎶ユ枃
--
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