From 5e644156839fbb018fe63972ee74be550540a06a Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期一, 08 十二月 2025 13:24:31 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyRgvThread.java | 94 +++++++++++++++++++++++++++++++++++++++--------
1 files changed, 78 insertions(+), 16 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java b/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
index 130e0bc..f58b262 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyRgvThread.java
@@ -1,15 +1,21 @@
package com.zy.core.thread.impl;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
+import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.service.BasRgvOptService;
+import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.Task;
@@ -28,10 +34,12 @@
@Data
@Slf4j
public class ZyRgvThread implements Runnable, RgvThread {
+
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ZyRgvConnectDriver zyRgvConnectDriver;
private RgvProtocol rgvProtocol;
+ private int deviceLogCollectTime = 200;
public ZyRgvThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
this.deviceConfig = deviceConfig;
@@ -45,6 +53,7 @@
initRgv();
while (true) {
try {
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
int step = 1;
Task task = MessageQueue.poll(SlaveType.Rgv, deviceConfig.getDeviceNo());
if (task != null) {
@@ -72,7 +81,7 @@
rgvProtocol = new RgvProtocol();
rgvProtocol.setRgvNo(deviceConfig.getDeviceNo());
}
- rgvProtocol.setMode(-1);
+ rgvProtocol.setMode(0);
rgvProtocol.setTaskNo(0);
rgvProtocol.setStatus(-1);
rgvProtocol.setRgvPos(0);
@@ -82,8 +91,7 @@
@Override
public boolean connect() {
- SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
- zyRgvConnectDriver = new ZyRgvConnectDriver(siemensS7Net, deviceConfig);
+ zyRgvConnectDriver = new ZyRgvConnectDriver(deviceConfig);
new Thread(zyRgvConnectDriver).start();
DeviceConnectPool.put(SlaveType.Rgv, deviceConfig.getDeviceNo(), zyRgvConnectDriver);
return true;
@@ -112,7 +120,7 @@
rgvProtocol.setLastCommandTime(System.currentTimeMillis());
}
- if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > 200) {
+ if (System.currentTimeMillis() - rgvProtocol.getDeviceDataLog() > deviceLogCollectTime) {
DeviceDataLog deviceDataLog = new DeviceDataLog();
deviceDataLog.setOriginData(JSON.toJSONString(s));
deviceDataLog.setWcsData(JSON.toJSONString(rgvProtocol));
@@ -121,6 +129,23 @@
deviceDataLog.setCreateTime(new Date());
redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
rgvProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ BasRgvService basRgvService = null;
+ try {
+ basRgvService = SpringUtils.getBean(BasRgvService.class);
+ } catch (Exception e) {
+
+ }
+ if (basRgvService != null) {
+ BasRgv basRgv = basRgvService.selectOne(new EntityWrapper<BasRgv>().eq("rgv_no", deviceConfig.getDeviceNo()));
+ if(basRgv == null) {
+ basRgv = new BasRgv();
+ basRgv.setRgvNo(deviceConfig.getDeviceNo());
+ basRgv.setStatus(1);
+ basRgv.setCreateTime(new Date());
+ basRgvService.insert(basRgv);
+ }
}
}
@@ -135,13 +160,25 @@
}
@Override
+ public RgvCommand getTransportCommand(Integer taskNo, Integer rgvNo, Integer sourcePos, Integer targetPos) {
+ RgvCommand cmd = new RgvCommand();
+ cmd.setRgvNo(rgvNo);
+ cmd.setTaskNo(taskNo);
+ cmd.setTaskMode(RgvTaskModeType.FETCH_PUT.id);
+ cmd.setSourcePos(sourcePos);
+ cmd.setTargetPos(targetPos);
+ cmd.setCommand(1);
+ return cmd;
+ }
+
+ @Override
public RgvCommand getMoveCommand(Integer taskNo, Integer rgvNo, Integer targetPos) {
RgvCommand cmd = new RgvCommand();
cmd.setRgvNo(rgvNo);
- cmd.setTaskNo(taskNo.shortValue());
- cmd.setTaskMode((short) 1);
- cmd.setTargetPos(targetPos.shortValue());
- cmd.setCommand((short) 1);
+ cmd.setTaskNo(taskNo);
+ cmd.setTaskMode(RgvTaskModeType.X_MOVE.id);
+ cmd.setTargetPos(targetPos);
+ cmd.setCommand(1);
return cmd;
}
@@ -149,16 +186,41 @@
public RgvCommand getResetCommand(Integer rgvNo) {
RgvCommand cmd = new RgvCommand();
cmd.setRgvNo(rgvNo);
- cmd.setTaskNo((short) 0);
- cmd.setAckFinish((short) 1);
- cmd.setTaskMode((short) 0);
- cmd.setCommand((short) 1);
+ cmd.setTaskNo(0);
+ cmd.setAckFinish(1);
+ cmd.setTaskMode(0);
+ cmd.setCommand(1);
return cmd;
}
@Override
public synchronized CommandResponse sendCommand(RgvCommand command) {
rgvProtocol.setLastCommandTime(System.currentTimeMillis());
- return zyRgvConnectDriver.sendCommand(command);
+ CommandResponse response = null;
+ try {
+ response = zyRgvConnectDriver.sendCommand(command);
+ return response;
+ } finally {
+ BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+ ZyRgvStatusEntity statusEntity = zyRgvConnectDriver.getStatus();
+ BasRgvOpt basRgvOpt = new BasRgvOpt(
+ command.getTaskNo(),
+ command.getRgvNo(),
+ new Date(),
+ String.valueOf(command.getTaskMode()),
+ String.valueOf(command.getSourcePos()),
+ String.valueOf(command.getTargetPos()),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(statusEntity),
+ 1,
+ JSON.toJSONString(response)
+ );
+ if (bean != null) {
+ bean.insert(basRgvOpt);
+ }
+ }
}
-}
\ No newline at end of file
+}
--
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