From 389ed5b1fb5585e66c95e3891ff8b40e02fe1995 Mon Sep 17 00:00:00 2001
From: lsh <1>
Date: 星期四, 07 三月 2024 14:08:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/model/protocol/StaProtocol.java | 8 ++
src/main/java/com/zy/asrs/entity/BasDevp.java | 16 +++++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 33 ++++++++++
src/main/java/com/zy/core/MainProcess.java | 4 +
src/main/resources/mapper/BasDevpMapper.xml | 4 +
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 110 ++++++++++++++++++++++++++++++++++++
src/main/resources/application.yml | 2
7 files changed, 174 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/BasDevp.java b/src/main/java/com/zy/asrs/entity/BasDevp.java
index 1e3d022..79125fd 100644
--- a/src/main/java/com/zy/asrs/entity/BasDevp.java
+++ b/src/main/java/com/zy/asrs/entity/BasDevp.java
@@ -214,6 +214,22 @@
@TableField("cart_pos")
private Integer cartPos;
+ @ApiModelProperty(value= "")
+ @TableField("agv_start_pick")
+ private Integer agvStartPick;
+
+ @ApiModelProperty(value= "")
+ @TableField("agv_target_pick")
+ private Integer agvTargetPick;
+
+ @ApiModelProperty(value= "")
+ @TableField("agv_start_place")
+ private Integer agvStartPlace;
+
+ @ApiModelProperty(value= "")
+ @TableField("agv_target_place")
+ private Integer agvTargetPlace;
+
public String getIoTime$(){
if (Cools.isEmpty(this.ioTime)){
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 046a07a..98efc3c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1132,7 +1132,38 @@
}
}
- //鑷姩瀹屾垚浠诲姟
+ //agv鍙栨斁璐т换鍔″畬鎴�
+ public synchronized void autoCompleteAGV() {
+ List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
+ for (BasDevp basDevp:basDevps){
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (basDevp.getWrkNo()!=0){
+ if (basDevp.getAgvTargetPick()!=0){//鍙栬揣
+ staProtocol.setAgvTypeSign((short)0);
+ staProtocol.setStaNo(basDevp.getDevNo().shortValue());
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
+ }else if (basDevp.getAgvTargetPlace()!=0){
+ staProtocol.setAgvTypeSign((short)1);
+ staProtocol.setStaNo(basDevp.getDevNo().shortValue());
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
+ }
+ }else {
+ if (basDevp.getAgvTargetPick()!=0){
+ basDevp.setAgvStartPick(0);
+ basDevpService.updateById(basDevp);
+ }else if (basDevp.getAgvTargetPlace()!=0){
+ basDevp.setAgvStartPlace(0);
+ basDevpService.updateById(basDevp);
+ }
+ }
+ }
+ }
public synchronized void autoCompleteTask() {
List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
for (TaskWrk taskWrk : taskWrks) {
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index cbf409d..93c01fd 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -71,7 +71,9 @@
//鑷姩娲惧彂浠诲姟
// mainService.autoDistribute();
//鑷姩瀹屾垚浠诲姟
- //mainService.autoCompleteTask();
+// mainService.autoCompleteTask();
+ //agv鍙栨斁璐у畬鎴�
+ mainService.autoCompleteAGV();
} catch (Exception e) {
e.printStackTrace();
diff --git a/src/main/java/com/zy/core/model/protocol/StaProtocol.java b/src/main/java/com/zy/core/model/protocol/StaProtocol.java
index a848f98..16bae8e 100644
--- a/src/main/java/com/zy/core/model/protocol/StaProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/StaProtocol.java
@@ -105,6 +105,12 @@
private Boolean upcontactErr = false; //椤跺崌鐢垫満鎺ヨЕ鍣ㄦ晠闅�
+
+
+ private Short agvStartPick; //鍏佽鍙栬揣
+ private Short agvStartPlace; //鍏佽鏀捐揣
+ private Short agvTypeSign; //鍏佽鏀捐揣
+
private List<Integer> alarm;
@@ -152,6 +158,8 @@
basDevp.setLocType3((short) 0); // 杞婚噸绫诲瀷{0:鏈煡,1:杞诲簱浣�,2:閲嶅簱浣峿
basDevp.setLocType1(high != low && low ? (short) 1 : (short) 2);
basDevp.setInQty(inQty !=null ?(int)inQty : 0);
+ basDevp.setAgvStartPick(agvStartPick.intValue());
+ basDevp.setAgvStartPlace(agvStartPlace.intValue());
return basDevp;
}
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index 5e9dc63..52c745a 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -125,6 +125,11 @@
write((StaProtocol)task.getData());
read();
break;
+ // 鍐欐暟鎹� ID+鐩爣绔�
+ case 4:
+ writeAgvOk((StaProtocol)task.getData());
+ read();
+ break;
/* case 3:
write2((StaProtocol)task.getData());
read();
@@ -229,6 +234,34 @@
}
}
+ OperateResultExOne<byte[]> resultAgvAndPlc = siemensS7Net.Read("DB102.0", (short) 30);
+ if (resultAgvAndPlc.IsSuccess) {
+ for (int i = 0; i < staNoSize; i++) {
+ int sign =(i+2)/2-1;
+ if ((i+2)%2!=0){
+ Integer siteId = staNos.get(i); // 绔欑偣缂栧彿
+ StaProtocol staProtocol = station.get(siteId);
+ if (null == staProtocol) {
+ staProtocol = new StaProtocol();
+ staProtocol.setSiteId(siteId);
+ station.put(siteId, staProtocol);
+ }
+ staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6+4)); // 鍏佽鍙栬揣
+ staProtocol.setAgvStartPlace((short)0); // 鍏佽鏀捐揣
+ continue;
+ }
+ Integer siteId = staNos.get(i); // 绔欑偣缂栧彿
+ StaProtocol staProtocol = station.get(siteId);
+ if (null == staProtocol) {
+ staProtocol = new StaProtocol();
+ staProtocol.setSiteId(siteId);
+ station.put(siteId, staProtocol);
+ }
+ staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6)); // 鍏佽鍙栬揣
+ staProtocol.setAgvStartPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6 + 2)); // 鍏佽鏀捐揣
+ }
+ }
+
if (slave.getId() == 1) {
//鏉＄爜
@@ -324,6 +357,83 @@
/**
* 鍐欏叆 ID+鐩爣绔� =====> 鍗曠珯鐐瑰啓鍏�
*/
+ private void writeAgvOk(StaProtocol staProtocol) throws InterruptedException {
+ if (null == staProtocol) {
+ return;
+ }
+ ArrayList<Integer> staNos = getStaNo();
+ int index = staNos.indexOf(staProtocol.getSiteId());
+ if (staProtocol.getAgvTypeSign()==0){ //0鍙栬揣
+ switch (staProtocol.getSiteId()){
+ case 100:
+ index=32;
+ break;
+ case 101:
+ index=34;
+ break;
+ case 102:
+ index=38;
+ break;
+ case 103:
+ index=40;
+ break;
+ case 104:
+ index=44;
+ break;
+ case 105:
+ index=46;
+ break;
+ case 106:
+ index=50;
+ break;
+ case 107:
+ index=52;
+ break;
+ default:
+ return;
+ }
+ }else {
+ switch (staProtocol.getSiteId()){
+ case 100:
+ index=30;
+ break;
+ case 102:
+ index=36;
+ break;
+ case 104:
+ index=42;
+ break;
+ case 106:
+ index=48;
+ break;
+ default:
+ return;
+ }
+ }
+
+ OperateResult write = null;
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount = 0;
+ do {
+ write = siemensS7Net.Write("DB102." + index, true); // 浠诲姟瀹屾垚
+ if(write.IsSuccess){
+ writeCount=6;
+ }else {
+ writeCount++;
+ log.error("鍐欏叆杈撻�佺嚎鍙栨斁璐у畬鎴愬懡浠ゅ悗璇诲彇澶辫触銆傝緭閫佺嚎plc缂栧彿={}锛岀珯鐐规暟鎹�={},鍐欏叆娆℃暟={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
+ }
+ }while (writeCount<5);
+
+ if (!write.IsSuccess) {
+ OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆戝啓鍏ヨ緭閫佺嚎绔欑偣鏁版嵁澶辫触銆傝緭閫佺嚎plc缂栧彿={1}锛岀珯鐐规暟鎹�={2}", slave.getId(), JSON.toJSON(staProtocol)));
+ log.error("鍐欏叆杈撻�佺嚎鍙栨斁璐у畬鎴愮珯鐐规暟鎹け璐ャ�傝緭閫佺嚎plc缂栧彿={}锛岀珯鐐规暟鎹�={}", slave.getId(), JSON.toJSON(staProtocol));
+ } else {
+ OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆� 杈撻�佺嚎鍛戒护涓嬪彂 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
+ log.info("杈撻�佺嚎鍙栨斁璐у畬鎴愬懡浠や笅鍙戠爜鍨涘畬鎴� 缁欒緭閫佺嚎鍐欎换鍔″畬鎴� [id:{}] >>>>> 鍛戒护涓嬪彂锛� {}", slave.getId(), JSON.toJSON(staProtocol));
+ }
+
+
+ }
private void write(StaProtocol staProtocol) throws InterruptedException {
if (null == staProtocol) {
return;
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 52d457c..7367615 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -50,7 +50,7 @@
#url: 10.32.53.195:8080
# WMS绯荤粺ip
# url: 10.210.157.109:8090
- url: 10.210.157.11:8080/wms
+ url: localhost:8080/wms
# 鍏ュ簱浠诲姟鐢宠鎺ュ彛
#inboundTaskApplyPath: api/InterFace/inboundTaskApply
# inboundTaskApplyPath: apis/inboundTaskApply
diff --git a/src/main/resources/mapper/BasDevpMapper.xml b/src/main/resources/mapper/BasDevpMapper.xml
index b00be22..06c6ac0 100644
--- a/src/main/resources/mapper/BasDevpMapper.xml
+++ b/src/main/resources/mapper/BasDevpMapper.xml
@@ -41,6 +41,10 @@
<result column="max_wt" property="maxWt" />
<result column="gross_wt" property="grossWt" />
<result column="cart_pos" property="cartPos" />
+ <result column="agv_start_pick" property="agvStartPick" />
+ <result column="agv_target_pick" property="agvTargetPick" />
+ <result column="agv_start_place" property="agvStartPlace" />
+ <result column="agv_target_place" property="agvTargetPlace" />
</resultMap>
--
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