From 936a3f961de4e7de9e2b28d6cb36dadb1efa57e1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 19 六月 2023 11:20:58 +0800
Subject: [PATCH] 降低小车进出提升机速度
---
src/main/java/com/zy/core/thread/LiftThread.java | 230 +++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 164 insertions(+), 66 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 1da2b39..c1c4a82 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -5,29 +5,28 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
-import com.core.common.Cools;
import com.core.common.DateUtils;
+import com.core.common.RadixTools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.entity.BasLiftOpt;
-import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.service.BasLiftOptService;
import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.service.BasShuttleOptService;
-import com.zy.asrs.service.BasShuttleService;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.RedisUtil;
+import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -114,7 +113,7 @@
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 50);
+ OperateResultExOne<byte[]> result = modbusTcpNet.Read("41117", (short) 50);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -128,58 +127,59 @@
liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
//浣嶇疆鍒拌揪鍙嶉
liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
+
+ byte by = modbusTcpNet.getByteTransform().TransByte(content, 5);
+ int[] datas = CommonUtils.byteToBits(by);
//鍑嗗灏辩华
- liftProtocol.setReady(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,4)));
+ liftProtocol.setReady(CommonUtils.intToBoolean(datas[0]));
//杩愯涓�
- liftProtocol.setRunning(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,6)));
+ liftProtocol.setRunning(CommonUtils.intToBoolean(datas[1]));
//鑱旀満/鍗曟満
- liftProtocol.setMode(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,8)));
-
- //浠ヤ笅鍙傛暟骞舵湭杩涜璋冩暣(闇�瑕佸悗缁拡瀵瑰疄鏈鸿繘琛岃幏鍙栧拰璋冭瘯)
+ liftProtocol.setMode(CommonUtils.intToBoolean(datas[2]));
//杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
+ liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas[3]));
//杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,12));
+ liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas[4]));
//杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,14));
+ liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas[5]));
//杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,16));
+ liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas[6]));
//杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,18));
+ liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas[7]));
//杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,20));
+ liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[8]));
//鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,22));
+ liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[9]));
//骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,24));
+ liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas[10]));
//骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,26));
+ liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas[11]));
//骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,28));
+ liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas[12]));
+
+
//鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,30));
+ liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
//浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,32));
+ liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
//浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,34));
+ liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
//浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,36));
+ liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
//浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,38));
+ liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14));
//鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,40));
+ liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));
///璇诲彇鎻愬崌鏈虹姸鎬�-end
- //灏忚溅澶勪簬杩愯鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
+ //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
if (liftProtocol.getRunning()) {
liftProtocol.setPakMk(true);
}
- //鎻愬崌鏈哄浜庨攣瀹氥�佹湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
- if (liftProtocol.getLiftLock()
- && !liftProtocol.getRunning()
- && liftProtocol.getReady()
+ //鎻愬崌鏈哄浜庢湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
+ if (!liftProtocol.getRunning()
&& liftProtocol.getPakMk()
&& liftProtocol.getTaskNo() != 0) {
//杩樻湁鏈畬鎴愮殑鍛戒护
@@ -266,12 +266,24 @@
//鍥涘眰楂樺害璁惧畾
array[5] = command.getHeight4();
}
+ if (command.getHeight5() != null) {
+ //鍥涘眰楂樺害璁惧畾
+ array[6] = command.getHeight5();
+ }
if (command.getLiftLockShortValue() != null) {
//鎻愬崌鏈洪攣瀹�
array[29] = command.getLiftLockShortValue();
}
- OperateResult result = modbusTcpNet.Write("0", array);;
+ if (array[2] == 0) {
+ // 寮�濮嬩换鍔�
+ short[] tmp = new short[2];
+ tmp[0] = array[0];
+ tmp[1] = array[1];
+ array = tmp;
+ }
+
+ OperateResult result = modbusTcpNet.Write("41088", array);;
if (result != null && result.IsSuccess) {
News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
@@ -296,19 +308,25 @@
}
liftProtocol.setTaskNo(assignCommand.getTaskNo());
switch (assignCommand.getTaskMode()) {
- case 1://涓婂崌涓�灞�
- command = getLiftUpDownCommand(++lev);//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ case 1://绉诲姩鎻愬崌鏈�
+ command = getLiftUpDownCommand(assignCommand.getLev());//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
break;
- case 2://涓嬮檷涓�灞�
- command = getLiftUpDownCommand(--lev);//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ case 3://鏃犺揣姝ｈ浆
+ command = getLiftTurnCommand(3);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 3://鏈夎揣姝ｈ浆
+ case 4://鏃犺揣鍙嶈浆
+ command = getLiftTurnCommand(4);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 5://鏈夎揣姝ｈ浆
command = getLiftTurnCommand(1);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 4://鏈夎揣鍙嶈浆
+ case 6://鏈夎揣鍙嶈浆
command = getLiftTurnCommand(2);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 5://澶嶄綅
+ case 7://閾炬潯鍋滄
+ command = getLiftTurnCommand(5);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 0://澶嶄綅
command = getResetCommand();//鑾峰彇澶嶄綅鍛戒护
break;
default:
@@ -354,12 +372,39 @@
//鍙栧嚭鍛戒护
LiftCommand command = commands.get(commandStep);
+ if (command.getOperaStaNo() != null && command.getDevpId() != null) {
+ //绔欑偣鍜岃緭閫佺嚎ID涓嶄负null锛岄渶瑕佷笅鍙戠珯鐐规寚浠よ皟搴︽寚瀹氱珯鐐硅繘琛岄摼鏉¤浆鍔�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
+ StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue());
+ if (!staProtocol.isLiftArrival()) {//閾炬潯杞姩鏉′欢锛岄渶瑕佹湁鎻愬崌鏈哄埌浣嶄俊鍙�
+ liftProtocol.setPakMk(true);
+ return false;
+ }
+ staProtocol.setWorkNo(wrkNo);//璁剧疆浠诲姟鍙�
+ if (command.getStaNo() != null) {
+ staProtocol.setStaNo(command.getStaNo());//璁剧疆鐩爣绔�
+ }
+
+ if (command.getRotationDire() != null) {
+ staProtocol.setRotationDire(command.getRotationDire());//绔欑偣閾炬潯杞姩淇″彿
+ }
+ Integer devpId = command.getDevpId();
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//涓嬪彂鍛戒护浣胯緭閫佺嚎閾炬潯杩愯浆
+ }
+
//涓嬪彂鍛戒护
if (!write(command)) {
News.error("鎻愬崌鏈哄懡浠や笅鍙戝け璐ワ紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
return false;
}else {
News.info("鎻愬崌鏈哄懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+ liftProtocol.setWrkTime(new Date());//鏇存柊宸ヤ綔鏃堕棿
+
+ try {
+ Thread.sleep(1000);//鍛戒护涓嬪彂瀹屾垚鍚庝紤鐪�1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
if (commandStep < size - 1) {
@@ -388,25 +433,9 @@
//鍒犻櫎redis
redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
- if (assignCommand.getAuto()) {
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
- News.info("鎻愬崌鏈轰换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }else {
- //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬�
- liftProtocol.setTaskNo((short) 0);
- liftProtocol.setShuttleNo((short) 0);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- liftProtocol.setPakMk(true);
- liftProtocol.setSecurityMk(false);
- News.info("鎻愬崌鏈烘墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }
-
- //涓嬪彂涓�鏉℃彁鍗囨満瑙ｉ攣鍛戒护
- LiftCommand unlockCommand = getUnlockCommand(command.getLiftNo());
- if (write(unlockCommand)) {
- News.info("鎻愬崌鏈虹姸鎬佸凡瑙ｉ攣锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
+ News.info("鎻愬崌鏈轰换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
}
}
@@ -417,7 +446,7 @@
/**
* 鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
*/
- private LiftCommand getUnlockCommand(Short liftNo) {
+ public LiftCommand getUnlockCommand(Short liftNo) {
LiftCommand command = new LiftCommand();
command.setRun((short) 0);
command.setLiftNo(liftNo);
@@ -428,9 +457,9 @@
/**
* 鑾峰彇澶嶄綅鍛戒护
*/
- private LiftCommand getResetCommand() {
+ public LiftCommand getResetCommand() {
LiftCommand command = new LiftCommand();
- command.setRun((short) 0);
+ command.setRun((short) 5);
command.setLiftLock(false);
return command;
}
@@ -438,19 +467,88 @@
/**
* 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
*/
- private LiftCommand getLiftUpDownCommand(Short lev) {
+ public LiftCommand getLiftUpDownCommand(Integer lev) {
LiftCommand command = new LiftCommand();
command.setRun((short) 1);//鍗囬檷
- command.setDistPosition(lev);
+ Short position = LiftLevType.getRealLev(lev);//鑾峰彇鎻愬崌鏈哄疄闄呮ゼ灞傛暟鍊�
+ command.setDistPosition(position);
+// command.setSpeed((short) 200);
+// command.setHeight2((short) 180);
+// command.setHeight3((short) 1645);
+// command.setHeight4((short) (2 * 1645));
+// command.setHeight5((short) (3 * 1645));
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ */
+ public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) {
+ LiftCommand command = new LiftCommand();
+ Short position = LiftLevType.getRealLev(lev);//鑾峰彇鎻愬崌鏈哄疄闄呮ゼ灞傛暟鍊�
+ command.setRun((short) 1);//鍗囬檷
+ command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
+ command.setTaskNo(taskNo);//浠诲姟鍙�
+ command.setDistPosition(position);//鐩爣妤煎眰
+// command.setSpeed((short) 200);
+// command.setHeight2((short) 180);
+// command.setHeight3((short) 1645);
+// command.setHeight4((short) 3290);
+// command.setHeight5((short) 4945);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞紝3=>鏃犺揣姝ｈ浆锛�4=>鏃犺揣鍙嶈浆
+ */
+ public LiftCommand getLiftTurnCommand(Integer direction) {
+ LiftCommand command = new LiftCommand();
+ Short run = 0;
+ switch (direction) {
+ case 1:
+ run = 6;//鏈夎揣姝ｈ浆
+ break;
+ case 2:
+ run = 3;//鏈夎揣鍙嶈浆
+ break;
+ case 3:
+ run = 2;//鏃犺揣姝ｈ浆
+ break;
+ case 4:
+ run = 7;//鏃犺揣鍙嶈浆
+ break;
+ case 5:
+ run = 4;//閾炬潯鍋滄
+ }
+ command.setRun(run);
return command;
}
/**
* 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞�
*/
- private LiftCommand getLiftTurnCommand(Integer direction) {
+ public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
LiftCommand command = new LiftCommand();
- command.setRun(direction == 1 ? (short) 6 : (short) 3);
+ Short run = 0;
+ switch (direction) {
+ case 1:
+ run = 6;//鏈夎揣姝ｈ浆
+ break;
+ case 2:
+ run = 3;//鏈夎揣鍙嶈浆
+ break;
+ case 3:
+ run = 2;//鏃犺揣姝ｈ浆
+ break;
+ case 4:
+ run = 7;//鏃犺揣鍙嶈浆
+ break;
+ case 5:
+ run = 4;//閾炬潯鍋滄
+ }
+ command.setRun(run);
+ command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
+ command.setTaskNo(taskNo);//浠诲姟鍙�
return command;
}
--
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