From 7fb7e64c4bd096b031d9a6015f8ee0ac0ae900e1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 22 四月 2025 10:19:36 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java | 71 ++++++++++++++++++++++++++++-------
1 files changed, 57 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
index f5ad17e..473fd95 100644
--- a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
+++ b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
@@ -30,10 +30,7 @@
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
-import java.util.ArrayList;
-import java.util.Base64;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
@Slf4j
@SuppressWarnings("all")
@@ -134,11 +131,19 @@
private void readStatus() {
try {
//鑾峰彇鎻愬崌鏈烘暟鎹�
- OperateResultExOne<byte[]> result1 = this.masterThread.read(this.slave.getId(), "status");
- if (result1 == null) {
+ HashMap<String, Object> resultData = this.masterThread.read(this.slave.getId(), "status");
+ if (resultData == null) {
OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
+ return;
+ }
+ if (Integer.parseInt(resultData.get("slaveId").toString()) != this.slave.getId()) {
+ return;
+ }
+ if (!resultData.get("dbTag").toString().equals("status")) {
+ return;
}
+ OperateResultExOne<byte[]> result1 = (OperateResultExOne<byte[]>) resultData.get("data");
SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
if (result1.IsSuccess) {
if (null == forkLiftProtocol) {
@@ -175,7 +180,18 @@
OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
}
- OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatus");
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ HashMap<String, Object> resultData2 = this.masterThread.read(this.slave.getId(), "staStatus");
+ if (resultData2 == null) {
+ OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
+ }
+ if (Integer.parseInt(resultData2.get("slaveId").toString()) != this.slave.getId()) {
+ return;
+ }
+ if (!resultData2.get("dbTag").toString().equals("staStatus")) {
+ return;
+ }
+ OperateResultExOne<byte[]> result2 = (OperateResultExOne<byte[]>) resultData2.get("data");
if (result2.IsSuccess) {
for (int i = 0; i < this.slave.getSta().size(); i++) {
ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
@@ -187,6 +203,12 @@
boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2);
forkLiftStaProtocol.setHasTray(status1[0]);
forkLiftStaProtocol.setHasCar(status1[1]);
+
+ if (sta.getStaNo() == 1001) {
+ if (forkLiftStaProtocol.getHasTray() == false) {
+ continue;
+ }
+ }
}
}
@@ -201,6 +223,15 @@
deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
deviceDataLog.setCreateTime(new Date());
deviceDataLogService.insert(deviceDataLog);
+
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLog deviceDataLog2 = new DeviceDataLog();
+ deviceDataLog2.setOriginData(Base64.getEncoder().encodeToString(result2.Content));
+ deviceDataLog2.setWcsData(JSON.toJSONString(forkLiftStaProtocols));
+ deviceDataLog2.setType("forkLiftStaProtocols");
+ deviceDataLog2.setDeviceNo(forkLiftProtocol.getLiftNo());
+ deviceDataLog2.setCreateTime(new Date());
+ deviceDataLogService.insert(deviceDataLog2);
//鏇存柊閲囬泦鏃堕棿
forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
@@ -304,6 +335,7 @@
if (this.forkLiftProtocol.getTaskNo() == null
|| this.forkLiftProtocol.getProtocolStatus() == null
|| this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
) {
return false;
}
@@ -311,7 +343,9 @@
boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
&& this.forkLiftProtocol.getWrkNo() == 0
&& this.forkLiftProtocol.getTaskNo() == 0
- && this.forkLiftProtocol.getModel() == 2;
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0
+ ;
return res;
}
@@ -332,13 +366,16 @@
if (this.forkLiftProtocol.getTaskNo() == null
|| this.forkLiftProtocol.getProtocolStatus() == null
|| this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
) {
return false;
}
boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
&& this.forkLiftProtocol.getWrkNo() == 0
- && this.forkLiftProtocol.getModel() == 2;
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0
+ ;
return res;
}
@@ -369,13 +406,16 @@
@Override
public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
List<ForkLiftCommand> commands = new ArrayList<>();
ForkLiftCommand command = new ForkLiftCommand();
command.setLiftNo(slave.getId());
command.setTaskNo(taskNo.shortValue());
command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
- command.setPick(pick.shortValue());
- command.setPut(put.shortValue());
+ command.setPick(realPick.shortValue());
+ command.setPut(realPut.shortValue());
command.setConfirm((short) 1);
commands.add(command);
@@ -383,14 +423,17 @@
}
@Override
- public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev) {
+ public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
List<ForkLiftCommand> commands = new ArrayList<>();
ForkLiftCommand command = new ForkLiftCommand();
command.setLiftNo(slave.getId());
command.setTaskNo(taskNo.shortValue());
command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
- command.setPick(originLev.shortValue());
- command.setPut(targetLev.shortValue());
+ command.setPick(realPick.shortValue());
+ command.setPut(realPut.shortValue());
command.setConfirm((short) 1);
commands.add(command);
--
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