From 7238380a5daef00c94eba911d6a6f560a538ed55 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期一, 13 一月 2025 16:48:11 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java | 138 +++++++++++++++++++++++++++++++++++++++------
1 files changed, 119 insertions(+), 19 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
index 82bc397..f48bd4d 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -1,6 +1,8 @@
package com.zy.core.thread.impl;
+import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -14,9 +16,12 @@
import com.zy.common.ExecuteSupport;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
+import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.ForkLiftCommand;
@@ -56,7 +61,21 @@
@Override
public boolean connect() {
- return false;
+ boolean result = false;
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
+ siemensS7Net.setRack(slave.getRack().byteValue());
+ siemensS7Net.setSlot(slave.getSlot().byteValue());
+ OperateResult connect = siemensS7Net.ConnectServer();
+ if(connect.IsSuccess){
+ result = true;
+ OutputQueue.FORKLIFT.offer(MessageFormat.format( "銆恵0}銆戣揣鍙夋彁鍗囨満杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ News.info("璐у弶鎻愬崌鏈鸿繛鎺ユ垚鍔� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ } else {
+ OutputQueue.FORKLIFT.offer(MessageFormat.format( "銆恵0}銆戣揣鍙夋彁鍗囨満杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ News.error("璐у弶鎻愬崌鏈鸿繛鎺ュけ璐ワ紒锛侊紒 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+ // siemensS7Net.ConnectClose();
+ return result;
}
@Override
@@ -72,9 +91,28 @@
try {
read();
Thread.sleep(200);
+ execute();
} catch (Exception e) {
e.printStackTrace();
}
+ }
+ }
+
+ private void execute() {
+ ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
+ if (forkLiftAction == null) {
+ return;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
+ if (object == null) {
+ return;
+ }
+
+ Integer taskNo = Integer.valueOf(String.valueOf(object));
+ if (taskNo != 0) {
+ //瀛樺湪浠诲姟闇�瑕佹墽琛�
+ boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
}
}
@@ -96,7 +134,7 @@
private void readStatus() {
try {
//鑾峰彇鎻愬崌鏈烘暟鎹�
- OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 32);
+ OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 16);
if (result1.IsSuccess) {
if (null == forkLiftProtocol) {
forkLiftProtocol = new ForkLiftProtocol();
@@ -109,20 +147,20 @@
//----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
//妯″紡
forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
- //浠诲姟鍙�
- forkLiftProtocol.setTaskNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
+ //PLC浠诲姟鍙�
+ forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
//浠诲姟鐘舵��
- forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
+ forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
//浠诲姟妯″紡
- forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
+ forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
//鍙栬揣鏁版嵁
- forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));
+ forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
//鏀捐揣鏁版嵁
- forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 20));
+ forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10));
//鍑哄叆搴撴ā寮�
- forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 24));
+ forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
//鏁呴殰鐮�
- forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 28));
+ forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
//************琛ュ厖鎵╁睍瀛楁*************
InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
@@ -194,32 +232,93 @@
@Override
public CommandResponse pickAndPut(ForkLiftCommand command) {
- return null;
+ CommandResponse response = new CommandResponse(false);
+
+ short[] array = new short[4];
+ array[0] = command.getTaskNo();//浠诲姟鍙�
+ array[1] = command.getMode();//浠诲姟妯″紡
+ array[2] = command.getPick();//鍙栬揣鏁版嵁
+ array[3] = command.getPut();//鏀捐揣鏁版嵁
+ OperateResult result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
}
@Override
public CommandResponse shuttleSwitch(ForkLiftCommand command) {
- return null;
+ CommandResponse response = new CommandResponse(false);
+
+ short[] array = new short[4];
+ array[0] = command.getTaskNo();//浠诲姟鍙�
+ array[1] = command.getMode();//浠诲姟妯″紡
+ array[2] = command.getPick();//鍙栬揣鏁版嵁
+ array[3] = command.getPut();//鏀捐揣鏁版嵁
+ OperateResult result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
}
@Override
- public CommandResponse reset(ForkLiftCommand command) {
- return null;
+ public CommandResponse reset() {
+ CommandResponse response = new CommandResponse(false);
+ OperateResult result = siemensS7Net.Write("DB103.20", (short) 1);
+ if (result.IsSuccess) {
+ response.setResult(true);
+ }
+ return response;
}
@Override
public boolean isIdle() {
- return false;
+ if (this.forkLiftProtocol.getTaskNo() == null
+ || this.forkLiftProtocol.getProtocolStatus() == null
+ || this.forkLiftProtocol.getModel() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
+ && this.forkLiftProtocol.getWrkNo() == 0
+ && this.forkLiftProtocol.getTaskNo() == 0
+ && this.forkLiftProtocol.getModel() == 2;
+ return res;
}
@Override
public boolean isDeviceIdle() {
- return false;
+ return isDeviceIdle(null);
}
@Override
public boolean isDeviceIdle(ExecuteSupport support) {
- return false;
+ if (null != support) {
+ Boolean judgement = support.judgement();
+ if (judgement != null && !judgement) {
+ return true;
+ }
+ }
+
+ if (this.forkLiftProtocol.getTaskNo() == null
+ || this.forkLiftProtocol.getProtocolStatus() == null
+ || this.forkLiftProtocol.getModel() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
+ && this.forkLiftProtocol.getWrkNo() == 0
+ && this.forkLiftProtocol.getModel() == 2;
+ return res;
}
@Override
@@ -229,12 +328,13 @@
@Override
public boolean setSyncTaskNo(Integer taskNo) {
- return false;
+ this.forkLiftProtocol.setSyncTaskNo(taskNo);
+ return true;
}
@Override
public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
- return 0;
+ return taskNo;
}
@Override
--
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