From 920d87ad2ca03711af3683237efbb8f7ef5f53ea Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 14 七月 2025 07:53:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java | 437 ++++++++++++++++++++++--------------------------------
1 files changed, 179 insertions(+), 258 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 03ebd42..6840786 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -5,29 +5,18 @@
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.BasLift;
-import com.zy.asrs.entity.DeviceDataLog;
-import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.service.DeviceDataLogService;
-import com.zy.asrs.utils.Utils;
-import com.zy.common.ExecuteSupport;
+import com.alibaba.fastjson.JSONObject;
+import com.zy.common.SpringUtils;
+import com.zy.common.utils.DateUtils;
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;
-import com.zy.core.model.protocol.ForkLiftProtocol;
-import com.zy.core.model.protocol.ForkLiftStaProtocol;
+import com.zy.core.enums.*;
+import com.zy.core.model.DeviceCommandMsgModel;
+import com.zy.core.model.DeviceMsgModel;
+import com.zy.core.properties.DeviceConfig;
import com.zy.core.thread.ForkLiftThread;
+import com.zy.core.utils.DeviceMsgUtils;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -38,43 +27,40 @@
@SuppressWarnings("all")
public class ZyForkLiftThread implements ForkLiftThread {
- private ForkLiftSlave slave;
- private ForkLiftProtocol forkLiftProtocol;
+ private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private SiemensS7Net siemensS7Net;
- private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
+ private boolean connect = false;
- public ZyForkLiftThread(ForkLiftSlave slave, RedisUtil redisUtil) {
- this.slave = slave;
+ public ZyForkLiftThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
this.redisUtil = redisUtil;
- //鍒濆鍖栫珯鐐�
- for (ForkLiftSlave.Sta sta : this.slave.getSta()) {
- ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol();
- forkLiftStaProtocol.setStaNo(sta.getStaNo());//绔欑偣鍙�
- forkLiftStaProtocol.setLev(sta.getLev());//绔欑偣妤煎眰
- String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
- forkLiftStaProtocol.setLocNo(locNo);//绔欑偣搴撲綅鍙�
- forkLiftStaProtocol.setLiftNo(sta.getLiftNo());//鎻愬崌鏈哄彿
- forkLiftStaProtocols.add(forkLiftStaProtocol);
- }
}
@Override
public boolean connect() {
+ if (deviceConfig.getFake()) {
+ this.connect = 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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort(), 0, 0));
+ News.info("銆恵}銆戣揣鍙夋彁鍗囨満杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ return true;
+ }
+
boolean result = false;
- siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500, slave.getIp());
- siemensS7Net.setRack(slave.getRack().byteValue());
- siemensS7Net.setSlot(slave.getSlot().byteValue());
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
+ siemensS7Net.setRack(Integer.valueOf(0).byteValue());
+ siemensS7Net.setSlot(Integer.valueOf(0).byteValue());
OperateResult connect = siemensS7Net.ConnectServer();
if(connect.IsSuccess){
result = true;
- OutputQueue.DEVP.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());
+ 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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort(), 0, 0));
+ News.info("銆恵}銆戣揣鍙夋彁鍗囨満杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
} else {
- OutputQueue.DEVP.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());
+ 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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort(), 0, 0));
+ News.error("銆恵}銆戣揣鍙夋彁鍗囨満杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
}
// siemensS7Net.ConnectClose();
+ this.connect = result;
return result;
}
@@ -85,262 +71,197 @@
@Override
public void run() {
- News.info("{}鍙疯揣鍙夋彁鍗囨満绾跨▼鍚姩", slave.getId());
+ News.info("{}鍙疯揣鍙夋彁鍗囨満绾跨▼鍚姩", deviceConfig.getDeviceNo());
this.connect();
while (true) {
try {
- read();
+ DeviceMsgUtils deviceMsgUtils = null;
+ try {
+ deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ }catch (Exception e){}
+ if (deviceMsgUtils == null) {
+ continue;
+ }
+ DeviceCommandMsgModel deviceCommandMsg = deviceMsgUtils.getDeviceCommandMsg(SlaveType.ForkLift, deviceConfig.getDeviceNo());
+ if (deviceCommandMsg == null) {
+ continue;
+ }
+ executeCommand(deviceCommandMsg, deviceMsgUtils);
+
Thread.sleep(200);
- execute();
} catch (Exception e) {
e.printStackTrace();
}
}
}
- private void execute() {
- ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
- if (forkLiftAction == null) {
+ private void executeCommand(DeviceCommandMsgModel deviceCommandMsg, DeviceMsgUtils deviceMsgUtils) {
+ if (deviceConfig.getFake()) {
+ redisUtil.set(RedisKeyType.FAKE_DEVICE_FORK_LIFT_COMMAND_MSG_KEY.key + deviceConfig.getDeviceNo(), deviceCommandMsg, 60 * 60);
return;
}
- Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
- if (object == null) {
- return;
- }
+ String command = JSON.toJSONString(deviceCommandMsg.getCommand());
+ JSONObject commandObj = JSON.parseObject(command);
- 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);
- }
- }
+ HashMap<String, Object> resultData = new HashMap<>();
+ resultData.put("result", "false");
- private void read() {
- try {
- readStatus();
+ String deviceMsgType = "command";
+ OperateResult result = null;
+ OperateResult result2 = null;
+ if (commandObj.getInteger("mode") == 3) {
+ //鍙栨斁璐�
+ short[] array = new short[4];
+ array[0] = commandObj.getShort("taskNO");//浠诲姟鍙�
+ array[1] = commandObj.getShort("mode");//浠诲姟妯″紡
+ array[2] = commandObj.getShort("pick");//鍙栬揣鏁版嵁
+ array[3] = commandObj.getShort("put");//鏀捐揣鏁版嵁
+ resultData.put("commandData", array);
- //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
- if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP)
- || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN)
- || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) {
- forkLiftProtocol.setPakMk(true);
- }
- } catch (Exception e) {
- OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栨彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- }
- }
-
- private void readStatus() {
- try {
- //鑾峰彇鎻愬崌鏈烘暟鎹�
- OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 32);
- if (result1.IsSuccess) {
- if (null == forkLiftProtocol) {
- forkLiftProtocol = new ForkLiftProtocol();
- forkLiftProtocol.setLiftNo(slave.getId());
- forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE);
-
- InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend();
+ result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ result2 = siemensS7Net.Write("DB103.8", (short) 1);
+ if (result2.IsSuccess) {
+ resultData.put("result", "success");
}
+ }
+ } else if (commandObj.getInteger("mode") == 4) {
+ //灏忚溅鎹㈠眰
+ short[] array = new short[4];
+ array[0] = commandObj.getShort("taskNO");//浠诲姟鍙�
+ array[1] = commandObj.getShort("mode");//浠诲姟妯″紡
+ array[2] = commandObj.getShort("pick");//鍙栬揣鏁版嵁
+ array[3] = commandObj.getShort("put");//鏀捐揣鏁版嵁
+ resultData.put("commandData", array);
- //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
+ result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ result2 = siemensS7Net.Write("DB103.8", (short) 1);
+ if (result2.IsSuccess) {
+ resultData.put("result", "success");
+ }
+ }
+ } else if (commandObj.getInteger("mode") == 5) {
+ //鎻愬崌鏈虹Щ鍔�
+ short[] array = new short[4];
+ array[0] = commandObj.getShort("taskNO");//浠诲姟鍙�
+ array[1] = commandObj.getShort("mode");//浠诲姟妯″紡
+ array[2] = commandObj.getShort("pick");//鍙栬揣鏁版嵁
+ array[3] = commandObj.getShort("put");//鏀捐揣鏁版嵁
+ resultData.put("commandData", array);
+
+ result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ result2 = siemensS7Net.Write("DB103.8", (short) 1);
+ if (result2.IsSuccess) {
+ resultData.put("result", "success");
+ }
+ }
+ } else if (commandObj.getInteger("mode") == 9996) {
+ //澶嶄綅
+ short[] array = new short[1];
+ array[0] = 1;
+ resultData.put("commandData", array);
+
+ result = siemensS7Net.Write("DB103.10", array);
+ if (result.IsSuccess) {
+ resultData.put("result", "success");
+ }
+ } else if (commandObj.getInteger("mode") == 9997) {
+ //鍒囨崲鍏ュ簱妯″紡
+ short[] array = new short[1];
+ array[0] = 1;
+ resultData.put("commandData", array);
+
+ result = siemensS7Net.Write("DB103.12", array);
+ if (result.IsSuccess) {
+ resultData.put("result", "success");
+ }
+ } else if (commandObj.getInteger("mode") == 9998) {
+ //鍒囨崲鍑哄簱妯″紡
+ short[] array = new short[1];
+ array[0] = 2;
+ resultData.put("commandData", array);
+
+ result = siemensS7Net.Write("DB103.12", array);
+ if (result.IsSuccess) {
+ resultData.put("result", "success");
+ }
+ } else if (commandObj.getInteger("mode") == 9999) {
+ //璇诲彇鐘舵��
+ JSONObject device = new JSONObject();
+
+ OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB101.0", (short) 18);
+ if (readResult1.IsSuccess) {
//妯″紡
- forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
+ device.put("model", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0));
//PLC浠诲姟鍙�
- forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
+ device.put("wrkNo", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 2));
//浠诲姟鐘舵��
- forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
+ device.put("protocolStatus", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 4));
//浠诲姟妯″紡
- forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
+ device.put("taskMode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 6));
//鍙栬揣鏁版嵁
- forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));
+ device.put("pick", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 8));
//鏀捐揣鏁版嵁
- forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 20));
+ device.put("put", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 10));
//鍑哄叆搴撴ā寮�
- forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 24));
+ device.put("iOMode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 12));
//鏁呴殰鐮�
- forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 28));
+ device.put("errorCode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 14));
+ //灞�
+ device.put("lev", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 16));
- //************琛ュ厖鎵╁睍瀛楁*************
- InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
- forkLiftProtocol.setExtend(forkLiftExtend);
-
- }else {
- 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()));
+ resultData.put("deviceStatus", device);
}
- if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
- //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
- //淇濆瓨鏁版嵁璁板綍
- DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
- DeviceDataLog deviceDataLog = new DeviceDataLog();
- deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
- deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol));
- deviceDataLog.setType("forkLift");
- deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
- deviceDataLog.setCreateTime(new Date());
- deviceDataLogService.insert(deviceDataLog);
-
- //鏇存柊閲囬泦鏃堕棿
- forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
+ //绔欑偣涓暟
+ int staCount = 4;
+ //璇诲彇鎵樼洏鏁版嵁
+ List<Integer> trayList = new ArrayList<>();
+ OperateResultExOne<byte[]> readResult2 = siemensS7Net.Read("DB102.0", (short) (staCount * 2));
+ if(readResult2.IsSuccess) {
+ for (int i = 0; i < staCount; i++) {
+ short val = siemensS7Net.getByteTransform().TransInt16(readResult2.Content, i * 2);
+ trayList.add((int) val);
+ }
}
- //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
- BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>()
- .eq("lift_no", slave.getId()));
- if (basLift == null) {
- basLift = new BasLift();
- //鎻愬崌鏈哄彿
- basLift.setLiftNo(forkLiftProtocol.getLiftNo());
- basLift.setStatus(1);
- basLiftService.insert(basLift);
- }
- //浠诲姟鍙�
- basLift.setWrkNo(forkLiftProtocol.getTaskNo());
- //淇敼鏃堕棿
- basLift.setUpdateTime(new Date());
- //璁惧鐘舵��
- basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
- if (basLiftService.updateById(basLift)) {
- OutputQueue.FORKLIFT.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()), forkLiftProtocol.getLiftNo()));
+ //璇诲彇灏忚溅鏁版嵁
+ OperateResultExOne<byte[]> readResult3 = siemensS7Net.Read("DB102.50", (short) (staCount * 2));
+ List<Integer> carList = new ArrayList<>();
+ if(readResult3.IsSuccess) {
+ for (int i = 0; i < staCount; i++) {
+ short val = siemensS7Net.getByteTransform().TransInt16(readResult3.Content, i * 2);
+ carList.add((int) val);
+ }
}
- } catch (Exception e) {
- OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栬揣鍙夋彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- }
- }
+ device.put("trayList", trayList);
+ device.put("carList", carList);
- @Override
- public ForkLiftProtocol getStatus(boolean clone) {
- if (this.forkLiftProtocol == null) {
- return null;
- }
- return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol;
- }
-
- @Override
- public List<ForkLiftStaProtocol> getForkLiftStaProtocols() {
- return this.forkLiftStaProtocols;
- }
-
- @Override
- public ForkLiftProtocol getStatus() {
- return getStatus(true);
- }
-
- @Override
- public CommandResponse pickAndPut(ForkLiftCommand command) {
- 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) {
- 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 reset(ForkLiftCommand command) {
- CommandResponse response = new CommandResponse(false);
- return response;
- }
-
- @Override
- public boolean isIdle() {
- if (this.forkLiftProtocol.getTaskNo() == null
- || this.forkLiftProtocol.getProtocolStatus() == null
- ) {
- return false;
+ deviceMsgType = "status";
}
- boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
- && this.forkLiftProtocol.getTaskNo() == 0;
- return res;
+ resultData.put("commandResult1", JSON.toJSONString(result));
+ resultData.put("commandResult2", JSON.toJSONString(result2));
+
+ if (deviceMsgType.equals("command")) {
+ log.info("鏀跺埌Rcs ForkLift Command Data: {}", JSON.toJSONString(deviceCommandMsg));
+ }
+ DeviceMsgModel deviceMsgModel = new DeviceMsgModel();
+ deviceMsgModel.setDeviceId(deviceConfig.getDeviceNo());
+ deviceMsgModel.setDeviceMsgType(deviceMsgType);
+ deviceMsgModel.setDeviceMsg(JSON.toJSONString(resultData));
+ deviceMsgModel.setDeviceOriginMsg(JSON.toJSONString(resultData));
+ deviceMsgModel.setResultKey(deviceCommandMsg.getResultKey());
+ deviceMsgUtils.sendDeviceMsg(SlaveType.ForkLift, deviceConfig.getDeviceNo(), deviceMsgModel);
}
@Override
- public boolean isDeviceIdle() {
- return false;
- }
-
- @Override
- public boolean isDeviceIdle(ExecuteSupport support) {
- return false;
- }
-
- @Override
- public boolean setProtocolStatus(ForkLiftProtocolStatusType status) {
- return false;
- }
-
- @Override
- public boolean setSyncTaskNo(Integer taskNo) {
- this.forkLiftProtocol.setSyncTaskNo(taskNo);
- return true;
- }
-
- @Override
- public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
- return taskNo;
- }
-
- @Override
- public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
- 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.setConfirm((short) 1);
-
- commands.add(command);
- return commands;
- }
-
- @Override
- public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev) {
- 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.setConfirm((short) 1);
-
- commands.add(command);
- return commands;
+ public DeviceConfig getDeviceConfig() {
+ return this.deviceConfig;
}
/**
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