From 983d8a5fdeace0591da69902f95b475ee7f724a0 Mon Sep 17 00:00:00 2001
From: zjj <zjj123456>
Date: 星期六, 09 十一月 2024 18:05:07 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ZyRgvThread.java | 140 ++++++++++++++++++++++++++++++----------------
1 files changed, 91 insertions(+), 49 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ZyRgvThread.java b/src/main/java/com/zy/core/thread/ZyRgvThread.java
index 184847d..aa2d4b7 100644
--- a/src/main/java/com/zy/core/thread/ZyRgvThread.java
+++ b/src/main/java/com/zy/core/thread/ZyRgvThread.java
@@ -64,23 +64,13 @@
case 2:
write((RgvCommand) task.getData());
break;
- // 澶嶄綅
+ // 宸ヤ綅1澶嶄綅
case 3:
- RgvCommand command = (RgvCommand) task.getData();
- if (null == command) {
- command = new RgvCommand();
- }
- command.setRgvNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- command.setTaskNo1(0); // 宸ヤ綔鍙�
- command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo1((short) 0);//婧愮珯
- command.setDestinationStaNo1((short) 0);//鐩爣绔�
- command.setTaskNo2((short) 0); // 宸ヤ綔鍙�
- command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo2((short) 0);//婧愮珯
- command.setDestinationStaNo2((short) 0);//鐩爣绔�
- command.setAckFinish(true); // 浠诲姟瀹屾垚纭浣�
- write(command);
+ writeAckFinish1((RgvCommand) task.getData());
+ break;
+ //宸ヤ綅2澶嶄綅
+ case 4:
+ writeAckFinish2((RgvCommand) task.getData());
break;
default:
@@ -88,7 +78,7 @@
}
Thread.sleep(500);
} catch (Exception e) {
-// e.printStackTrace();
+ e.printStackTrace();
}
}
@@ -103,10 +93,10 @@
OperateResult connect = siemensNet.ConnectServer();
if(connect.IsSuccess){
result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆慠GV plc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()));
+ OutputQueue.RGV.offer(MessageFormat.format( "銆恵0}銆慠GV plc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()));
log.info("RGV plc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
} else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慠GV plc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()));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慠GV plc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()));
log.error("RGV plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
initRgv();
}
@@ -118,25 +108,28 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
rgvProtocol.setRgvNo(slave.getId());
}
+ rgvProtocol.setRgvNo(slave.getId());
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//妯″紡
rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//宸ヤ綅1宸ヤ綔鍙�
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 6));//RGV鐘舵��
- rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 8));//RGV褰撳墠浣嶇疆
- rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));//璧拌鍦ㄥ畾浣�
- rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt32(result.Content, 12));//澶囩敤1
- rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//宸ヤ綅1鏈夌墿
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));//寮傚父鐮�
- rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 20));//澶囩敤2
- rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));//澶囩敤3
- rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 28));//澶囩敤4
+ rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 6));//宸ヤ綅1宸ヤ綔鍙�
+ rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));//RGV鐘舵��
+ rgvProtocol.setColumnNumber(siemensNet.getByteTransform().TransInt16(result.Content, 12));//RGV褰撳墠浣嶇疆
+ rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));//璧拌鍦ㄥ畾浣�
+ rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 16));//RGV褰撳墠浣嶇疆
+ rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 20));//宸ヤ綅1鏈夌墿
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 22));//寮傚父鐮�
+ rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 24));//澶囩敤2
+ rgvProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 28));//澶囩敤3
+ rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 32));//澶囩敤4
+ rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 36));//宸ヤ綅1鏈夌墿
- OutputQueue.CRN.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()));
+ 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()));
// 澶嶄綅淇″彿
if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {
@@ -172,16 +165,33 @@
} else {
initRgv();
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
}
} catch (Exception e) {
e.printStackTrace();
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戣鍙朢GV plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
initRgv();
}
}
+ private boolean writeAckFinish1(RgvCommand command) throws InterruptedException {
+ OperateResult write = siemensNet.Write("DB100.22.1", true);
+ if (!write.IsSuccess){
+ log.error("浠诲姟1纭瀹屾垚鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}]",slave.getId());
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(3, command));
+ }
+ return write.IsSuccess;
+ }
+ private boolean writeAckFinish2(RgvCommand command) throws InterruptedException {
+ OperateResult write = siemensNet.Write("DB100.22.2", true);
+ if (!write.IsSuccess){
+ log.error("浠诲姟2纭瀹屾垚鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}]",slave.getId());
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
+ }
+ return write.IsSuccess;
+ }
+
/**
* 鍐欏叆鏁版嵁
@@ -198,11 +208,21 @@
array[1] = command.getSourceStaNo2();
array[2] = command.getDestinationStaNo1();
array[3] = command.getDestinationStaNo2();
- array[4] = command.getTaskMode1();
+ array[4] = command.getTaskMode();
+
+ int[] array2 = new int[3];
+ array2[0] = command.getTaskNo1();
+ array2[1] = command.getTaskNo2();
+ array2[2] = 0;
+
+ boolean[] array3 = new boolean[3];
+ array3[0] = command.isCommand();
+ array3[1] = command.isAckFinish1();
+ array3[2] = command.isAckFinish2();
OperateResult result1 = siemensNet.Write("DB100.0",array);
- OperateResult result2 = siemensNet.Write("DB100.10",command.getTaskNo1());
- OperateResult result3 = siemensNet.Write("DB100.18.1",command.isAckFinish());
+ OperateResult result2 = siemensNet.Write("DB100.10",array2);
+ OperateResult result3 = siemensNet.Write("DB100.22",array3);
if (!result1.IsSuccess && !result2.IsSuccess && !result3.IsSuccess){
log.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));
@@ -215,23 +235,33 @@
//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) 20);
- OperateResultExOne<byte[]> resultReadAck = siemensNet.Read("DB100.18.1", (short) 1);
- if (resultRead.IsSuccess){
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
+ OperateResultExOne<byte[]> readAck1 = siemensNet.Read("DB100.0", (short) 22.1);
+ OperateResultExOne<byte[]> readAck2 = siemensNet.Read("DB100.0", (short) 22.2);
+ if (resultRead.IsSuccess && readAck1.IsSuccess && readAck2.IsSuccess){
RgvCommand one = new RgvCommand();
- one.setAckFinish(siemensNet.getByteTransform().TransBool(resultReadAck.Content, 0));
one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
one.setSourceStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
one.setDestinationStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
- one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
+ one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 14));
+ one.setCommand(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
+ one.setAckFinish1(siemensNet.getByteTransform().TransBool(readAck1.Content, 0));
+ one.setAckFinish2(siemensNet.getByteTransform().TransBool(readAck2.Content, 0));
// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
- if ( !command.isAckFinish() == one.isAckFinish() ||
+ if ( !command.isAckFinish1() == one.isAckFinish1() ||
+ !command.isAckFinish2() == one.isAckFinish2() ||
+ !command.isCommand() == one.isCommand() ||
+
!command.getTaskNo1().equals(one.getTaskNo1()) ||
- !command.getTaskMode1().equals(one.getTaskMode1()) ||
+ !command.getTaskNo2().equals(one.getTaskNo2()) ||
+ !command.getTaskMode().equals(one.getTaskMode()) ||
!command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
- !command.getDestinationStaNo1().equals(one.getDestinationStaNo1())
+ !command.getDestinationStaNo1().equals(one.getDestinationStaNo1()) ||
+ !command.getSourceStaNo2().equals(one.getSourceStaNo2()) ||
+ !command.getDestinationStaNo2().equals(one.getDestinationStaNo2())
){
try{
log.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));
@@ -250,12 +280,15 @@
}else {
log.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));
}
+ }else {
+ log.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�,閲嶆柊鍔犲叆闃熷垪");
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
}
}catch (Exception e){
log.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (!command.isAckFinish()) {
+ if (!command.isAckFinish1() && !command.isAckFinish2()) {
if (result1.IsSuccess) {
Thread.sleep(300);
//浠诲姟涓嬪彂娆℃暟
@@ -263,11 +296,11 @@
do {
writeCount2++;
- result1 = siemensNet.Write("DB100.18", true);
+ result1 = siemensNet.Write("DB100.22", true);
if(result1.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("DB100.18", (short) 2);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.22", (short) 2);
if (resultRead.IsSuccess) {
boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
if (!commandFinish){
@@ -309,9 +342,18 @@
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
}
- rgvProtocol.setMode((short) 0);
- rgvProtocol.setStatus((short) -1);
- rgvProtocol.setWalkPos((short) 1);
+ rgvProtocol.setMode((short) 0);//妯″紡
+ rgvProtocol.setTaskNo1(0);//宸ヤ綅1宸ヤ綔鍙�
+ rgvProtocol.setTaskNo2(0);//宸ヤ綅1宸ヤ綔鍙�
+ rgvProtocol.setStatus((short) 0);//RGV鐘舵��
+ rgvProtocol.setColumnNumber((short) 0);//RGV褰撳墠浣嶇疆
+ rgvProtocol.setWalkPos((short) 0);//璧拌鍦ㄥ畾浣�
+ rgvProtocol.setRgvPos(0);//RGV褰撳墠浣嶇疆
+ rgvProtocol.setLoaded1((short) 0);//宸ヤ綅1鏈夌墿
+ rgvProtocol.setAlarm((short) 0);//寮傚父鐮�
+ rgvProtocol.setxSpeed( 0);//澶囩敤2
+ rgvProtocol.setxDistance(0);//澶囩敤3
+ rgvProtocol.setxDuration( 0);//澶囩敤4
}
@Override
--
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