From 8478a159d79bf9ca5da04ab18562f2d7cdddb05c Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期四, 25 九月 2025 17:06:08 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 630 ++++++---------------------------------------------------
1 files changed, 67 insertions(+), 563 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 1235f3e..c15ac26 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -59,6 +59,8 @@
private boolean PakOut = true;
//鏍规嵁璺濈璺宠繃鍙栬揣
private boolean PakRgv = true;
+ //鎺ラ┏鏍囪
+ private boolean PakToCrn = true;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -80,17 +82,9 @@
case 1:
readStatus();
break;
- // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
+ // 灏忚溅宸ヤ綅鍐欏叆鏁版嵁
case 2:
- write12((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());
+ write((RgvCommand) task.getData());
break;
// 澶嶄綅
case 3:
@@ -99,77 +93,11 @@
command = new RgvCommand();
}
command.setRgvNo(slave.getId()); // RGV缂栧彿
- command.setTaskNo1(0); // 宸ヤ綔鍙�
- command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command.setTargetPosition1( 0); // 婧愮珯
- command.setEndStaNo1(0); // 鐩爣绔�
- command.setWrkTaskMove1((short) 0);
- command.setWrkTaskPri((short)0);
- command.setCommand(false);
- write1(command);
- break;
- case 6:
- RgvCommand command2 = (RgvCommand) task.getData();
- if (null == command2) {
- command2 = new RgvCommand();
- }
- command2.setRgvNo(slave.getId()); // RGV缂栧彿
- command2.setTaskNo2(0); // 宸ヤ綔鍙�
- command2.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
- command2.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command2.setTargetPosition2( 0); // 婧愮珯
- command2.setEndStaNo2(0); // 鐩爣绔�
- command2.setWrkTaskPri((short)0);
- command2.setWrkTaskMove2((short)0);
- command2.setCommand(false);
- write2(command2);
- break;
- case 7: //宸ヤ綅1鍙栬揣纭
- RgvCommand command3 = (RgvCommand) task.getData();
- if (null == command3) {
- command3 = new RgvCommand();
- }
- command3.setRgvNo(slave.getId()); // RGV缂栧彿
- command3.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
- command3.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command3.setTargetPosition1( 0); // 婧愮珯
- command3.setCommand(false);
- command3.setWrkTaskPri((short)0);
- write1(command3);
- break;
- case 8 :
- RgvCommand command4 = (RgvCommand) task.getData();
- if (null == command4) {
- command4 = new RgvCommand();
- }
- command4.setRgvNo(slave.getId()); // RGV缂栧彿
- command4.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
- command4.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command4.setTargetPosition2( 0); // 灏忚溅鐩爣绔欐竻闆�
- command4.setCommand(false);
- command4.setWrkTaskPri((short)0);
- write2(command4);
- 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);
+ command.setTaskNo(0); // 宸ヤ綔鍙�
+ command.setTaskStatus(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command.setTargetPosition(0); // 婧愮珯
+ command.setWrkTaskPri(0); // 鐩爣绔�
+ write(command);
break;
default:
break;
@@ -262,10 +190,8 @@
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
-
boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
rgvProtocol.setLoaded1(status1[0]);
rgvProtocol.setLoaded2(status1[1]);
@@ -277,58 +203,7 @@
rgvProtocol.setErr5(status2[4]);
rgvProtocol.setErr6(status2[5]);
rgvProtocol.setErr7(status2[6]);
-// boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
-// rgvProtocol.setErr1(status3[0]);
-// rgvProtocol.setErr2(status3[1]);
-// rgvProtocol.setErr3(status3[2]);
-// rgvProtocol.setErr4(status3[3]);
-// rgvProtocol.setErr5(status3[4]);
-// rgvProtocol.setErr6(status3[5]);
-// rgvProtocol.setErr7(status3[6]);
-
-
-// rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
-// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
-// rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
-// rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
-// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
-// 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.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
-// 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));
-// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
-// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
-// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
-
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(true);
- if (write1(rgvCommand)) {
- resetFlag1 = false;
- }
- }
- }
-
-// 宸ヤ綅2澶嶄綅淇″彿
- if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag2) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish2(true);
- if (write2(rgvCommand)) {
- resetFlag2 = false;
- }
- }
- }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -355,53 +230,29 @@
initRgv();
}
}
-
/**
- * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
+ * 灏忚溅宸ヤ綅鍐欏叆鍐欏叆鏁版嵁
*/
- private boolean write12(RgvCommand command) throws InterruptedException {
+ private boolean write(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
-
- OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
-// OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
if (result1.IsSuccess){
RgvCommand one = new RgvCommand();
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
- one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
- one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
- one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
- one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
- one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
-
- News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ News.info("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
}
- OperateResult result2 = siemensNet.Write("DB100.34", false);
- if (result2.IsSuccess){
- News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓篺alse");
- }
- byte[] writeBytes = new byte[36];
+ byte[] writeBytes = new byte[14];
command.setRgvNo(slave.getId());
- siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
- siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
- siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
- setBool(writeBytes, 32, 0, command.getAckFinish1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
- siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
- siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
- setBool(writeBytes, 32, 1, command.getAckFinish2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 36, command.getWrkTaskPri());
-
+ writeInt32(writeBytes, 0, command.getWrkTaskPri());
+ writeInt32(writeBytes, 4, command.getTargetPosition());
+ writeInt16(writeBytes, 8, (short)command.getTaskStatus());
+ writeInt32(writeBytes, 10, command.getTaskNo());
OperateResult result = siemensNet.Write("DB100.0", writeBytes);
if (!result.IsSuccess){
@@ -415,31 +266,18 @@
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(400);
try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
- one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
- one.setWrkTaskPri(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
- one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
- one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
- one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
- one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//涓嬪彂宸ヤ綔鍙�
if (
- !command.getDirection1().equals(one.getDirection1()) ||
- !command.getTaskNo1().equals(one.getTaskNo1()) ||
- !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
- !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
- !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
- !command.getDirection2().equals(one.getDirection2()) ||
- !command.getTaskNo2().equals(one.getTaskNo2()) ||
- !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
- !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
- !command.getTargetPosition2().equals(one.getTargetPosition2())
+ !command.getTaskNo().equals(one.getTaskNo()) ||
+ !command.getTaskStatus().equals(one.getTaskStatus()) ||
+ !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
+ !command.getTargetPosition().equals(one.getTargetPosition())
) {
try{
News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
@@ -451,7 +289,7 @@
}
}
News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
Thread.sleep(100);
readStatus();
return false;
@@ -463,54 +301,46 @@
News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (command.getAckFinish1() || command.getAckFinish2()) {
- if (result.IsSuccess) {
- Thread.sleep(300);
- //浠诲姟涓嬪彂娆℃暟
- int writeCount2 = 0;
-
- do {
- writeCount2++;
- boolean commandFinish = false;
- boolean commandFinish2 = false;
- result = siemensNet.Write("DB100.DBX32.0", commandFinish);
- OperateResult result3 = siemensNet.Write("DB100.DBX32.1", commandFinish);
-
- if(result.IsSuccess && result3.IsSuccess){
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
- if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
- commandFinish2=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
-
- if (!commandFinish && !commandFinish2) {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }else{
- //浠诲姟鍛戒护鍐欏叆鎴愬姛
- News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- break;
- }
- }else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ if (result.IsSuccess) { //浠诲姟涓嬪彂纭
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+ do {
+ writeCount2++;
+ boolean commandFinish = true;
+ result = siemensNet.Write("DB100.34.0", commandFinish);
+ if(result.IsSuccess){
+ //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
+ if (!commandFinish){
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }else{
+ //浠诲姟鍛戒护鍐欏叆鎴愬姛
+ News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
}
- } else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}
- }while (writeCount2<5);
- }
+ } else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
}
-
-
try {
// 鏃ュ織璁板綍
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1(),
- command.getTaskNo2(),
+ command.getTaskNo(),
command.getRgvNo(),
new Date(),
- command.getTargetPosition1()
+ command.getTaskStatus().toString(),
+ command.getTargetPosition(),
+ command.getWrkTaskPri(),
+ new Date()
);
bean.insert(basRgvOpt);
} catch (Exception ignore) {
@@ -520,338 +350,12 @@
if (result != null && result.IsSuccess) {
Thread.sleep(200);
this.readStatus();
- log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅12鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ log.info("RGV 宸ヤ綅鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
return true;
} else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅12鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
-
- /**
- * 宸ヤ綅1鍐欏叆鏁版嵁
- */
- private boolean write1(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
-
- OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
-// OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
- if (result1.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
- one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
- one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(result1.Content, 36));
-// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
-// one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
-// one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
-// one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
-// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
-// one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));
-
- News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
-
-
- OperateResult result2 = siemensNet.Write("DB100.34", false);
- if (result2.IsSuccess){
- News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓篺alse");
- }
- byte[] writeBytes = new byte[34];
- command.setRgvNo(slave.getId());
-
- writeInt32(writeBytes, 0, command.getTargetPosition1());
- writeInt32(writeBytes, 4, command.getEndStaNo1());
- writeInt16(writeBytes, 8, (short)command.getTaskStatus1());
- writeInt32(writeBytes, 10, command.getTaskNo1());
- writeInt16(writeBytes, 14, (short)command.getDirection1());
- writeBool(writeBytes, 32, 0, command.getAckFinish1());
- writeInt16(writeBytes, 36, (short)command.getWrkTaskMove1());
-
- OperateResult result = siemensNet.Write("DB100.0", writeBytes);
-
-
- if (!result.IsSuccess){
- News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
- Thread.sleep(100);
- readStatus();
- return false;
- }
-
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(400);
- try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
- if (resultRead.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
- one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
- one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
- one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
- one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
- if (
- !command.getDirection1().equals(one.getDirection1()) ||
- !command.getTaskNo1().equals(one.getTaskNo1()) ||
- !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
- !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
- !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
- !command.getWrkTaskMove1().equals(one.getWrkTaskMove1())
- ) {
- try{
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }catch (Exception e){
- try{
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
- }catch (Exception e1){
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- }
- }
- News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
- Thread.sleep(100);
- readStatus();
- return false;
- }else {
- News.info("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
- }
- }catch (Exception e){
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
- }
-
- if (command.getAckFinish1()) {
- if (result.IsSuccess) {
- Thread.sleep(300);
- //浠诲姟涓嬪彂娆℃暟
- int writeCount2 = 0;
-
- do {
- writeCount2++;
- boolean commandFinish = false;
- result = siemensNet.Write("DB100.32.0", commandFinish);
- if(result.IsSuccess){
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
- if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
- if (commandFinish){
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }else{
- //浠诲姟鍛戒护鍐欏叆鎴愬姛
- News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- break;
- }
- }else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- } else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- }while (writeCount2<5);
- }
- }
-
-// if (command.getAckFinish1() == 0) {
-// short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
-// Thread.sleep(200);
-// result = siemensNet.Write("DB100.10", commandFinish);
-// }
-
- try {
- // 鏃ュ織璁板綍
- BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1(),
- command.getRgvNo(),
- new Date(),
- command.getTaskStatus1().toString(),
- command.getTargetPosition1(),
- command.getEndStaNo1(),
- null,
- new Date(),
- null
- );
- bean.insert(basRgvOpt);
- } catch (Exception ignore) {
- log.error(ignore.getMessage());
- }
-
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅1鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
- return true;
- } else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
-
- /**
- * 宸ヤ綅2鍐欏叆鏁版嵁
- */
- private boolean write2(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
-
- OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
- if (result1.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
- one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
- one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
- one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
- one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
- one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(result1.Content, 38));
- News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
-
-
- OperateResult result2 = siemensNet.Write("DB100.34", false);
- if (result2.IsSuccess){
- News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
- }
-
-
- byte[] writeBytes = new byte[34];
- command.setRgvNo(slave.getId());
-
- writeInt32(writeBytes, 16, command.getTargetPosition1());
- writeInt32(writeBytes, 20, command.getEndStaNo2());
- writeInt16(writeBytes, 24, (short)command.getTaskStatus2());
- writeInt32(writeBytes, 26, command.getTaskNo2());
- writeInt16(writeBytes, 30, (short)command.getDirection2());
- writeBool(writeBytes, 32, 0, command.getAckFinish2());
- writeInt16(writeBytes, 38, (short)command.getWrkTaskMove2());
-
-
- OperateResult result = siemensNet.Write("DB100.0", writeBytes);
-
-
-
- if (!result.IsSuccess){
- News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(5,command));
- Thread.sleep(100);
- readStatus();
- return false;
- }
-
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(400);
- try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
- if (resultRead.IsSuccess){
- RgvCommand one = new RgvCommand();
- one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
- one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
- one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
- one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
- one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
- if (
- !command.getDirection2().equals(one.getDirection2()) ||
- !command.getTaskNo2().equals(one.getTaskNo2()) ||
- !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
- !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
- !command.getTargetPosition2().equals(one.getTargetPosition2()) ||
- !command.getWrkTaskMove2().equals(one.getWrkTaskMove2())
- ) {
- try{
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }catch (Exception e){
- try{
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
- }catch (Exception e1){
- News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- }
- }
- News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(5, command));
- Thread.sleep(100);
- readStatus();
- return false;
- }else {
- News.info("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
- }
- }
- }catch (Exception e){
- News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
- }
-
- if (command.getAckFinish1()) {
- if (result.IsSuccess) {
- Thread.sleep(300);
- //浠诲姟涓嬪彂娆℃暟
- int writeCount2 = 0;
-
- do {
- writeCount2++;
- boolean commandFinish = false;
- result = siemensNet.Write("DB100.32.1", commandFinish);
- if(result.IsSuccess){
- //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
- Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
- if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
- if (commandFinish){
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }else{
- //浠诲姟鍛戒护鍐欏叆鎴愬姛
- News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- break;
- }
- }else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- } else {
- News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
- }
- }while (writeCount2<5);
- }
- }
-
- try {
- // 鏃ュ織璁板綍
- BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo2(),
- command.getRgvNo(),
- new Date(),
- command.getTaskStatus2().toString(),
- command.getTargetPosition2(),
- command.getEndStaNo2(),
- null,
- new Date(),
- null
- );
- bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
-
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("RGV 宸ヤ綅2鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅2鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
- return true;
- } else {
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆RGV plc宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
}
--
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