From 7b8021d7ff94015d7034ead10fea5006d0032301 Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期五, 24 四月 2026 09:13:51 +0800
Subject: [PATCH] WCS功能完善
---
src/main/java/com/zy/core/thread/RgvThread.java | 191 ++++++++++++++++++++++++++---------------------
1 files changed, 105 insertions(+), 86 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 3b2d4cc..e3cf4a0 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -7,21 +7,19 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
-import com.zy.entity.BasRgv;
-import com.zy.entity.BasRgvOpt;
-import com.zy.service.BasRgvOptService;
-import com.zy.service.BasRgvService;
-import com.zy.utils.News;
import com.zy.core.RgvThread2;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.RgvStatusType;
-import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.entity.BasRgv;
+import com.zy.entity.BasRgvOpt;
+import com.zy.service.BasRgvOptService;
+import com.zy.service.BasRgvService;
+import com.zy.utils.News;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -72,52 +70,52 @@
readStatus();
break;
// // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
-// case 2:
-// write((RgvCommand) task.getData());
-// break;
- //宸ヤ綅1鍐欏叆鏁版嵁
- case 4:
- write1((RgvCommand) task.getData());
+ case 2:
+ write((RgvCommand) task.getData());
break;
+ //宸ヤ綅1鍐欏叆鏁版嵁
+// case 4:
+// write1((RgvCommand) task.getData());
+// break;
// //宸ヤ綅2鍐欏叆鏁版嵁
// case 5:
// write2((RgvCommand) task.getData());
// break;
// 澶嶄綅
- case 3:
- RgvCommand command = (RgvCommand) task.getData();
- if (null == command) {
- command = new RgvCommand();
- }
- command.setRgvNo(slave.getId()); // RGV缂栧彿
- command.setTaskNo1((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo1((short)0); // 婧愮珯
- command.setDestinationStaNo1((short)0); // 鐩爣绔�
- command.setCommand((short)0);
- write1(command);
- break;
- // 鍥炲師鐐� 閬胯
- case 9:
- RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
- if (null == commandAvoidanceXY) {
- commandAvoidanceXY = new RgvCommand();
- }
- commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
- commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
- commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
- commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
- commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
-// commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
-// commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
-// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
-// commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
-// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
- commandAvoidanceXY.setCommand((short)0);
- write(commandAvoidanceXY);
- break;
+// case 3:
+// RgvCommand command = (RgvCommand) task.getData();
+// if (null == command) {
+// command = new RgvCommand();
+// }
+// command.setRgvNo(slave.getId()); // RGV缂栧彿
+// command.setTaskNo1((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+// command.setSourceStaNo1((short)0); // 婧愮珯
+// command.setDestinationStaNo1((short)0); // 鐩爣绔�
+// command.setCommand((short)0);
+// write1(command);
+// break;
+// // 鍥炲師鐐� 閬胯
+// case 9:
+// RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
+// if (null == commandAvoidanceXY) {
+// commandAvoidanceXY = new RgvCommand();
+// }
+// commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
+// commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
+// commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+// commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+// commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
+// commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
+//// commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+//// commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+//// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+//// commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
+//// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
+// commandAvoidanceXY.setCommand((short)0);
+// write(commandAvoidanceXY);
+// break;
default:
break;
}
@@ -135,21 +133,25 @@
private void initRgv() {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
+ rgvProtocol.setRgvNo(slave.getId());
}
rgvProtocol.setMode((short) -1);
- rgvProtocol.setStatus((short)-1);
- rgvProtocol.setTaskNo1((short)0);
- rgvProtocol.setStatus1((short)-1);
rgvProtocol.setLoaded1((short)0);
- rgvProtocol.setWalkPos((short)0);
- rgvProtocol.setRgvPos((short)0);
+ rgvProtocol.setRgvPos(0);
+ rgvProtocol.setStartSta((short)0);
+ rgvProtocol.setEndSta((short)0);
+ rgvProtocol.setTaskNo1((short)0);
+ rgvProtocol.setAlarm((short)0);
+ rgvProtocol.setStatus((short)-1);
+
+// rgvProtocol.setStatus1((short)-1);
+// rgvProtocol.setWalkPos((short)0);
// rgvProtocol.setTaskNo2((short)0);
// rgvProtocol.setStatus2((short)-1);
// rgvProtocol.setLoaded2((short)0);
- rgvProtocol.setAlarm((short)0);
- rgvProtocol.setxSpeed((short) 0);
- rgvProtocol.setxDistance((short) 0);
- rgvProtocol.setxDuration((short) 0);
+// rgvProtocol.setxSpeed((short) 0);
+// rgvProtocol.setxDistance((short) 0);
+// rgvProtocol.setxDuration((short) 0);
}
@Override
@@ -177,26 +179,29 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 22);
if (result.IsSuccess) {
if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
rgvProtocol = new RgvProtocol();
rgvProtocol.setRgvNo(slave.getId());
}
- rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
- rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
- rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
+ rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 6));
+ rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ rgvProtocol.setTaskNo1((short) siemensNet.getByteTransform().TransInt32(result.Content, 14));
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+ rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+
+// rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
+// rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
// rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
- rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
+// rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
// rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
// rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
// rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
@@ -207,16 +212,16 @@
OutputQueue.RGV.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()));
// 宸ヤ綅1澶嶄綅淇″彿
- if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag1) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish1((short)1);
- if (write(rgvCommand)) {
- resetFlag1 = false;
- }
- }
- }
+// if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
+// || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
+// if (resetFlag1) {
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setAckFinish1((short)1);
+// if (write(rgvCommand)) {
+// resetFlag1 = false;
+// }
+// }
+// }
// 宸ヤ綅2澶嶄綅淇″彿
// if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
@@ -266,12 +271,18 @@
}
// convertRow(command);
command.setRgvNo(slave.getId());
- short[] array = new short[11];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
+ short[] array = new short[3];
+ array[0] = command.getSourceStaNo1();
+ array[1] = command.getDestinationStaNo1();
array[2] = command.getTaskMode1();
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
+ OperateResult result1 = siemensNet.Write("DB100.0", array);
+
+ OperateResult result2 = siemensNet.Write("DB100.6", command.getTaskNo1().intValue());
+
+ Thread.sleep(100);
+ OperateResult result3 = siemensNet.Write("DB100.10", command.getCommand());
+
+
// array[0] = command.getAckFinish1();
// array[1] = command.getTaskNo1();
// array[2] = command.getTaskMode1();
@@ -283,7 +294,7 @@
// array[8] = command.getSourceStaNo2();
// array[9] = command.getDestinationStaNo2();
// array[10] = command.getCommand();
- OperateResult result = siemensNet.Write("DB100.0", array);
+
// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
@@ -311,7 +322,7 @@
bean.insert(basRgvOpt);
} catch (Exception ignore) {}
- if (result != null && result.IsSuccess) {
+ if (result1 != null && result1.IsSuccess && result2 != null && result2.IsSuccess && result3 != null && result3.IsSuccess) {
Thread.sleep(200);
this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
@@ -557,7 +568,7 @@
public static void main(String[] args) throws InterruptedException {
RgvSlave slave = new RgvSlave();
slave.setId(1);
- slave.setIp("192.168.6.9");
+ slave.setIp("10.10.10.53");
slave.setRack(0);
slave.setSlot(0);
RgvThread rgvThread = new RgvThread(slave);
@@ -565,6 +576,14 @@
rgvThread.readStatus();
System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
Thread.sleep(3000L);
+ RgvCommand command = new RgvCommand();
+ command.setRgvNo(1);
+ command.setSourceStaNo1((short)1120);
+ command.setDestinationStaNo1((short)1101);
+ command.setTaskNo1((short)1);
+ command.setTaskMode1((short)3);
+ command.setCommand((short)1);
+ rgvThread.write(command);
}
--
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