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 | 463 ++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 407 insertions(+), 56 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 0f9a811..c1c4a82 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -6,21 +6,34 @@
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
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.service.BasLiftOptService;
+import com.zy.asrs.service.BasLiftService;
+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.enums.SlaveType;
+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.LiftCommand;
+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;
import java.text.MessageFormat;
+import java.util.ArrayList;
import java.util.Date;
+import java.util.List;
/**
* 鎻愬崌鏈虹嚎绋�
@@ -32,9 +45,11 @@
private ModbusTcpNet modbusTcpNet;
private LiftSlave slave;
private LiftProtocol liftProtocol;
+ private RedisUtil redisUtil;
- public LiftThread(LiftSlave slave) {
+ public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
this.slave = slave;
+ this.redisUtil = redisUtil;
}
@Override
@@ -56,6 +71,10 @@
case 2:
write((LiftCommand) task.getData());
break;
+ //鍒嗛厤浠诲姟
+ case 3:
+ assignWork((LiftAssignCommand) task.getData());
+ break;
default:
break;
}
@@ -70,7 +89,7 @@
public boolean connect() {
boolean result = false;
//-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
+ modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x02);
// 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
modbusTcpNet.setDataFormat(DataFormat.ABCD);
OperateResult connect = modbusTcpNet.ConnectServer();
@@ -94,7 +113,7 @@
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 17);
+ OperateResultExOne<byte[]> result = modbusTcpNet.Read("41117", (short) 50);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -105,55 +124,106 @@
//鑾峰彇鏁版嵁
byte[] content = result.Content;
//鎻愬崌鏈洪攣瀹�
- liftProtocol.setLiftLock(modbusTcpNet.getByteTransform().TransBool(content,0));
+ 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(modbusTcpNet.getByteTransform().TransBool(content,3));
+ liftProtocol.setReady(CommonUtils.intToBoolean(datas[0]));
//杩愯涓�
- liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4));
+ liftProtocol.setRunning(CommonUtils.intToBoolean(datas[1]));
//鑱旀満/鍗曟満
- liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5));
+ liftProtocol.setMode(CommonUtils.intToBoolean(datas[2]));
//杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6));
+ liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas[3]));
//杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7));
+ liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas[4]));
//杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8));
+ liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas[5]));
//杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9));
+ liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas[6]));
//杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
+ liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas[7]));
//杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11));
+ liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[8]));
//鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12));
+ liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[9]));
//骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13));
+ liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas[10]));
//骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14));
+ liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas[11]));
//骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15));
+ liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas[12]));
+
+
//鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16));
+ liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
//浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17));
+ liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
//浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18));
+ liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
//浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19));
+ liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
//浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20));
+ 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,21));
+ liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));
///璇诲彇鎻愬崌鏈虹姸鎬�-end
- OutputQueue.LIFT.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()));
-// log.info(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()));
+ //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);
+ }
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- //.....
+ //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
+ executeWork(liftProtocol.getTaskNo());
+ }
+
+ //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
+ if (basLift == null) {
+ basLift = new BasLift();
+ //鎻愬崌鏈哄彿
+ basLift.setLiftNo(slave.getId());
+ liftService.insert(basLift);
+ }
+ basLift.setStatus(liftProtocol.getProtocolStatus());
+ basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
+ basLift.setUpdateTime(new Date());
+ basLift.setPakMk(liftProtocol.getPakMk());
+ basLift.setLiftLock(liftProtocol.getLiftLock());
+ basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
+ basLift.setReady(liftProtocol.getReady());
+ basLift.setRunning(liftProtocol.getRunning());
+ basLift.setMode(liftProtocol.getMode());
+ basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
+ basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
+ basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
+ basLift.setMotorOverload(liftProtocol.getMotorOverload());
+ basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
+ basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
+ basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
+ basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
+ basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
+ basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
+ basLift.setNotReady(liftProtocol.getNotReady().intValue());
+ basLift.setServoError1(liftProtocol.getServoError1().intValue());
+ basLift.setServoError2(liftProtocol.getServoError2().intValue());
+ basLift.setServoError3(liftProtocol.getServoError3().intValue());
+ basLift.setServoError4(liftProtocol.getServoError4().intValue());
+ basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
+ if (liftService.updateById(basLift)) {
+ OutputQueue.LIFT.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()));
+// log.info(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()));
+ }
}else {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆憑1}鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
@@ -171,25 +241,49 @@
return false;
}
- command.setLiftNo(slave.getId());
+ command.setLiftNo(slave.getId().shortValue());
// 寮�濮嬩换鍔�
short[] array = new short[30];
//寮�濮嬭繍琛�
array[0] = command.getRun();
- //鐩爣浣嶇疆
- array[1] = command.getDistPosition();
- //杩愯閫熷害
- array[2] = command.getSpeed();
- //浜屽眰楂樺害璁惧畾
- array[3] = command.getHeight2();
- //涓夊眰楂樺害璁惧畾
- array[4] = command.getHeight3();
- //鍥涘眰楂樺害璁惧畾
- array[5] = command.getHeight4();
- //鎻愬崌鏈洪攣瀹�
- array[29] = command.getLiftLockShortValue();
+ if (command.getDistPosition() != null) {
+ //鐩爣浣嶇疆
+ array[1] = command.getDistPosition();
+ }
+ if (command.getSpeed() != null) {
+ //杩愯閫熷害
+ array[2] = command.getSpeed();
+ }
+ if (command.getHeight2() != null) {
+ //浜屽眰楂樺害璁惧畾
+ array[3] = command.getHeight2();
+ }
+ if (command.getHeight3() != null) {
+ //涓夊眰楂樺害璁惧畾
+ array[4] = command.getHeight3();
+ }
+ if (command.getHeight4() != null) {
+ //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)));
@@ -199,6 +293,263 @@
News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
+ }
+
+ //鍒嗛厤浠诲姟
+ private void assignWork(LiftAssignCommand assignCommand) {
+ //鎵嬪姩妯″紡鎸囦护
+ if (!assignCommand.getAuto()) {
+ LiftCommand command = new LiftCommand();
+ //鎻愬崌鏈哄綋鍓嶆ゼ灞�
+ Short lev = liftProtocol.getLev();
+ List<LiftCommand> commands = assignCommand.getCommands();
+ if (commands == null) {
+ commands = new ArrayList<LiftCommand>();
+ }
+ liftProtocol.setTaskNo(assignCommand.getTaskNo());
+ switch (assignCommand.getTaskMode()) {
+ 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 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 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 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 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:
+ }
+ commands.add(command);
+ assignCommand.setCommands(commands);
+ }
+
+ LiftRedisCommand redisCommand = new LiftRedisCommand();
+ redisCommand.setLiftNo(assignCommand.getLiftNo());//鎻愬崌鏈哄彿
+ redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+ redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
+ redisCommand.setAssignCommand(assignCommand);//鍛戒护
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+ liftProtocol.setAssignCommand(assignCommand);
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+ //鎵ц涓嬪彂浠诲姟
+ executeWork(assignCommand.getTaskNo());
+ }
+
+ //鎵ц浠诲姟
+ private boolean executeWork(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+ liftProtocol.setPakMk(false);
+
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return false;
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+ //鎬绘搴�
+ int size = commands.size();
+ LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+
+ //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) {
+ //鏇存柊redis鏁版嵁
+ //姝ュ簭澧炲姞
+ commandStep++;
+ redisCommand.setCommandStep(commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+ }else {
+ //宸叉墽琛屽畬鎴�
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
+ if (liftOptService != null) {
+ BasLiftOpt opt = new BasLiftOpt(
+ redisCommand.getWrkNo().intValue(),
+ redisCommand.getLiftNo().intValue(),
+ new Date(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(assignCommand)
+ );
+ liftOptService.insert(opt);
+ }
+ //鍒犻櫎redis
+ redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
+
+ //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));
+
+ }
+ }
+
+ return true;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
+ */
+ public LiftCommand getUnlockCommand(Short liftNo) {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 0);
+ command.setLiftNo(liftNo);
+ command.setLiftLock(false);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇澶嶄綅鍛戒护
+ */
+ public LiftCommand getResetCommand() {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 5);
+ command.setLiftLock(false);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ */
+ public LiftCommand getLiftUpDownCommand(Integer lev) {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 1);//鍗囬檷
+ 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�
+ */
+ public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, 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);
+ command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
+ command.setTaskNo(taskNo);//浠诲姟鍙�
+ return command;
}
/**
@@ -218,19 +569,19 @@
slave.setId(1);
slave.setIp("192.168.4.24");
slave.setPort(502);
- LiftThread thread = new LiftThread(slave);
- thread.connect();
- thread.readStatus();
-
- LiftCommand command = new LiftCommand();
- command.setRun((short) 0);
- command.setDistPosition((short) 12);
- command.setSpeed((short) 300);
- command.setHeight2((short) 100);
- command.setHeight3((short) 200);
- command.setHeight4((short) 303);
- command.setLiftLock(true);
- thread.write(command);
+// LiftThread thread = new LiftThread(slave,);
+// thread.connect();
+// thread.readStatus();
+//
+// LiftCommand command = new LiftCommand();
+// command.setRun((short) 1);
+// command.setDistPosition((short) 12);
+// command.setSpeed((short) 300);
+// command.setHeight2((short) 100);
+// command.setHeight3((short) 200);
+// command.setHeight4((short) 303);
+// command.setLiftLock(true);
+// thread.write(command);
}
--
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