From b22b5b594c4cc9321f1b0ab6814a6290f1bfa7b2 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 05 六月 2025 15:52:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 638 +++++++++++++++++++++++++++++++++++----------------------
1 files changed, 386 insertions(+), 252 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index b403e3e..705722b 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -5,10 +5,15 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.service.*;
+import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -20,10 +25,11 @@
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import java.text.MessageFormat;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
/**
* 鍫嗗灈鏈虹嚎绋�
@@ -37,6 +43,22 @@
private CrnSlave slave;
private CrnProtocol crnProtocol;
private boolean resetFlag = false;
+
+ @Value("${wms.url}")
+ private String wmsUrl;
+ public static final List<Short> rowOne = new ArrayList<Short>() {{
+ add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
+ }};
+ public static final List<Short> rowTwo = new ArrayList<Short>() {{
+ add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
+ }};
+ public static final List<Short> rowThree = new ArrayList<Short>() {{
+ add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
+ }};
+ public static final List<Short> rowFour = new ArrayList<Short>() {{
+ add((short) 4);add((short) 10);add((short) 14);add((short) 18);
+ }};
+
public SiemensCrnThread(CrnSlave slave) {
this.slave = slave;
@@ -61,7 +83,7 @@
break;
// 鍐欏叆鏁版嵁
case 2:
- write((CrnCommand) task.getData());
+ write2((CrnCommand) task.getData());
break;
// 澶嶄綅
case 3:
@@ -80,6 +102,12 @@
command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
write(command);
+ break;
+ case 4:
+ writeAuto((CrnCommand) task.getData());
+ break;
+ case 5:
+ write((CrnCommand) task.getData());
break;
default:
break;
@@ -126,204 +154,57 @@
// deviceErrorService.addDeviceError("crn", slave.getId(), "鍫嗗灈鏈簆lc杩炴帴澶辫触");
initCrnProtocol();
}
- siemensNet.ConnectClose();
+// siemensNet.ConnectClose();
return result;
}
/**
* 璇诲彇鐘舵��
*/
- private void readStatus(){
- OperateResultExOne<byte[]> result = siemensNet.Read("DB11.2", (short) 104);
+ private void readStatus() throws InterruptedException {
+
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
if (result.IsSuccess) {
if (null == crnProtocol) {
crnProtocol = new CrnProtocol();
}
- crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); // 2
- crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); // 4
- crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 4)); // 6
- crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 6)); // 8
- crnProtocol.setValid(siemensNet.getByteTransform().TransInt16(result.Content, 8)); // 10
+ crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
+ crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
+ crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+ crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+// crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+// crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+// crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
+// crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
+ crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
+ crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
+ crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
+ crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
+ crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
+ crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));
- crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // 16
- crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 16)); // 18
- crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18)); // 20
- crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20)); // 22
- // 寮傚父
- crnProtocol.setAlarm1(0);
- crnProtocol.setAlarm2(0);
- crnProtocol.setAlarm3(0);
- crnProtocol.setAlarm4(0);
- boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1); // 30
- if (err1[0]) { crnProtocol.setAlarm1(1); }
- if (err1[1]) { crnProtocol.setAlarm1(2); }
- if (err1[2]) { crnProtocol.setAlarm1(3); }
- boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1); // 31
- if (err2[0]) { crnProtocol.setAlarm1(4); }
- if (err2[1]) { crnProtocol.setAlarm1(5); }
- if (err2[2]) { crnProtocol.setAlarm1(6); }
- boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1); // 32
- if (err3[6]) { crnProtocol.setAlarm1(7); }
- if (err3[7]) { crnProtocol.setAlarm1(8); }
- boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1); // 33
- if (err4[1]) { crnProtocol.setAlarm1(9); }
- if (err4[5]) { crnProtocol.setAlarm1(10); }
- if (err4[6]) { crnProtocol.setAlarm1(11); }
- if (err4[7]) { crnProtocol.setAlarm1(12); }
- boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1); // 34
- if (err5[0]) { crnProtocol.setAlarm2(13); }
- if (err5[2]) { crnProtocol.setAlarm2(14); }
- if (err5[3]) { crnProtocol.setAlarm2(15); }
- if (err5[5]) { crnProtocol.setAlarm2(16); }
- if (err5[6]) { crnProtocol.setAlarm2(17); }
- if (err5[7]) { crnProtocol.setAlarm2(18); }
- boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1); // 35
- if (err6[1]) { crnProtocol.setAlarm2(19); }
- if (err6[2]) { crnProtocol.setAlarm2(20); }
- if (err6[3]) { crnProtocol.setAlarm2(21); }
- if (err6[4]) { crnProtocol.setAlarm2(22); }
- boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1); // 36
- if (err7[4]) { crnProtocol.setAlarm2(23); }
- if (err7[5]) { crnProtocol.setAlarm2(24); }
- if (err7[6]) { crnProtocol.setAlarm2(25); }
- boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1); // 38
- if (err8[0]) { crnProtocol.setAlarm3(26); }
- if (err8[1]) { crnProtocol.setAlarm3(27); }
- if (err8[2]) { crnProtocol.setAlarm3(28); }
- if (err8[3]) { crnProtocol.setAlarm3(29); }
- if (err8[4]) { crnProtocol.setAlarm3(30); }
- if (err8[5]) { crnProtocol.setAlarm3(31); }
- if (err8[6]) { crnProtocol.setAlarm3(32); }
- if (err8[7]) { crnProtocol.setAlarm3(33); }
- boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1); // 39
- if (err9[0]) { crnProtocol.setAlarm3(34); }
- if (err9[1]) { crnProtocol.setAlarm3(35); }
- if (err9[2]) { crnProtocol.setAlarm3(36); }
- if (err9[3]) { crnProtocol.setAlarm3(37); }
- if (err9[4]) { crnProtocol.setAlarm3(38); }
- if (err9[5]) { crnProtocol.setAlarm3(39); }
- if (err9[6]) { crnProtocol.setAlarm3(40); }
- if (err9[7]) { crnProtocol.setAlarm3(41); }
- boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1); // 40
- if (err10[0]) { crnProtocol.setAlarm3(42); }
- if (err10[1]) { crnProtocol.setAlarm3(43); }
- if (err10[2]) { crnProtocol.setAlarm3(44); }
- if (err10[3]) { crnProtocol.setAlarm3(45); }
- if (err10[4]) { crnProtocol.setAlarm3(46); }
- boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1); // 41
- if (err11[0]) { crnProtocol.setAlarm3(47); }
- if (err11[1]) { crnProtocol.setAlarm3(48); }
- if (err11[2]) { crnProtocol.setAlarm3(49); }
- boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1); // 42
- if (err12[0]) { crnProtocol.setAlarm4(50); }
- if (err12[1]) { crnProtocol.setAlarm4(51); }
- if (err12[2]) { crnProtocol.setAlarm4(52); }
- if (err12[3]) { crnProtocol.setAlarm4(53); }
- if (err12[4]) { crnProtocol.setAlarm4(54); }
- if (err12[5]) { crnProtocol.setAlarm4(55); }
- boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1); // 43
- if (err13[0]) { crnProtocol.setAlarm4(56); }
- if (err13[1]) { crnProtocol.setAlarm4(57); }
- if (err13[2]) { crnProtocol.setAlarm4(58); }
- if (err13[3]) { crnProtocol.setAlarm4(59); }
- boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1); // 44
- if (err14[0]) { crnProtocol.setAlarm4(60); }
- if (err14[1]) { crnProtocol.setAlarm4(61); }
- if (err14[2]) { crnProtocol.setAlarm4(62); }
- if (err14[3]) { crnProtocol.setAlarm4(63); }
- if (err14[4]) { crnProtocol.setAlarm4(64); }
- if (err14[5]) { crnProtocol.setAlarm4(65); }
- if (err14[6]) { crnProtocol.setAlarm4(66); }
- if (err14[7]) { crnProtocol.setAlarm4(67); }
- boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1); // 45
- if (err15[1]) { crnProtocol.setAlarm4(68); }
- if (err15[2]) { crnProtocol.setAlarm4(69); }
- if (err15[3]) { crnProtocol.setAlarm4(70); }
- if (err15[4]) { crnProtocol.setAlarm4(71); }
- if (err15[5]) { crnProtocol.setAlarm4(72); }
- if (err15[6]) { crnProtocol.setAlarm4(73); }
-
- boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1); // 62
- crnProtocol.setConnStatus(bool1[0]);
- crnProtocol.setCorrection(bool1[3]);
- crnProtocol.setTuError(bool1[4]);
- crnProtocol.setNoneError(bool1[5]);
- crnProtocol.setStockError(bool1[6]);
- crnProtocol.setJobInvalid(bool1[7]);
- boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1); // 63
- crnProtocol.setIdle(bool2[0]);
- crnProtocol.setControl(bool2[1]);
- crnProtocol.setStopQuasi(bool2[2]);
- crnProtocol.setRunning(bool2[3]);
- crnProtocol.setFault(bool2[4]);
- crnProtocol.setForkHome(bool2[5]);
- crnProtocol.setForkSingleLeft(bool2[6]);
- crnProtocol.setForkSingleRight(bool2[7]);
- boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1); // 64
- crnProtocol.setForkDoubleLeft(bool3[0]);
- crnProtocol.setForkDoubleRight(bool3[1]);
- crnProtocol.setSingleHigh(bool3[2]);
- crnProtocol.setSingleLow(bool3[3]);
- crnProtocol.setDoubleHigh(bool3[4]);
- crnProtocol.setDoubleLow(bool3[5]);
- crnProtocol.setPlatformHigh(bool3[6]);
- crnProtocol.setPlatformLow(bool3[7]);
- boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1); // 66
- crnProtocol.setLoaded((short) (bool4[4]?1:0)); // 鏈夌墿
-
- // 閫熷害
- crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22)); // 24
- crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26
- crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28
- // 绱閲岀▼銆佹椂闀�
- crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90
- crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94
- crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98
- crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102
-
- // 澧炲己
- if (crnProtocol.getForkHome()) {
- crnProtocol.setForkPos(CrnForkPosType.HOME);
- }
- if (crnProtocol.getForkSingleLeft()) {
- crnProtocol.setForkPos(CrnForkPosType.LEFT);
- }
- if (crnProtocol.getForkSingleRight()) {
- crnProtocol.setForkPos(CrnForkPosType.RIGHT);
- }
- if (crnProtocol.getForkDoubleLeft()) {
- crnProtocol.setForkPos(CrnForkPosType._LEFT);
- }
- if (crnProtocol.getForkDoubleRight()) {
- crnProtocol.setForkPos(CrnForkPosType._RIGHT);
- }
- if (crnProtocol.getSingleHigh()) {
- crnProtocol.setLiftPos(CrnLiftPosType.UP);
- }
- if (crnProtocol.getSingleLow()) {
- crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
- }
- if (crnProtocol.getDoubleHigh()) {
- crnProtocol.setLiftPos(CrnLiftPosType._UP);
- }
- if (crnProtocol.getDoubleLow()) {
- crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
- }
- if (crnProtocol.getIdle()) {
- crnProtocol.setStatus(CrnStatusType.IDLE);
- }
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()));
// 澶嶄綅淇″彿
- if (crnProtocol.getTaskFinish() == 1) {
+ if (crnProtocol.getTaskFinish() == 0) {
if (resetFlag) {
CrnCommand crnCommand = new CrnCommand();
crnCommand.setAckFinish((short)1);
if (write(crnCommand)) {
resetFlag = false;
+
}
+
+
}
}
@@ -352,96 +233,211 @@
/**
* 鍐欏叆鏁版嵁
*/
- private boolean write(CrnCommand command){
+ private boolean write(CrnCommand command) throws InterruptedException {
if (null == command) {
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
}
- if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
+ //杞崲鍓嶅厠闅嗕竴浠�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(command.getCrnNo());
+ crnCommand.setAckFinish(command.getAckFinish());
+ crnCommand.setTaskNo(command.getTaskNo());
+ crnCommand.setTaskMode(command.getTaskMode());
+ crnCommand.setSourcePosX(command.getSourcePosX());
+ crnCommand.setSourcePosY(command.getSourcePosY());
+ crnCommand.setSourcePosZ(command.getSourcePosZ());
+ crnCommand.setDestinationPosX(command.getDestinationPosX());
+ crnCommand.setDestinationPosY(command.getDestinationPosY());
+ crnCommand.setDestinationPosZ(command.getDestinationPosZ());
+// crnCommand.setSourceStaNo(command.getSourceStaNo());
+// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
+ crnCommand.setCommand(command.getCommand());
+ if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
command.setTaskNo((short) 9999);
}
command.setCrnNo(slave.getId());
- short[] array = new short[9];
- if (command.getAckFinish() == 0) {
+ short[] array = new short[10];
+ if (Cools.isEmpty(command.getAckFinish())) {
array[0] = 5;
} else {
- array[0] = 0;
+ array[0] = command.getAckFinish();
}
-
- if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)1){
- array[1] = (short)0;
- array[2] = (short)0;
- }else if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)41){
- array[1] = (short)0;
- array[2] = (short)42;
- }else {
- array[1] = command.getSourcePosZ();
- array[2] = command.getSourcePosY();
- }
-
- if (command.getSourcePosX()==(short)3){
- array[3] = (short)1;
- }else if (command.getSourcePosX()==(short)4){
- array[3] = (short)2;
- }else {
- array[3] = command.getSourcePosX();
- }
-
- if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)1){
- array[4] = (short)0;
- array[5] = (short)0;
- }else if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)41){
- array[4] = (short)0;
- array[5] = (short)42;
- }else {
- array[4] = command.getDestinationPosZ();
- array[5] = command.getDestinationPosY();
- }
-
- if (command.getDestinationPosX()==(short)3){
- array[6] = (short)1;
- }else if (command.getDestinationPosX()==(short)4){
- array[6] = (short)2;
- }else {
- array[6] = command.getDestinationPosX();
- }
- if ((array[1]==(short)0 && array[2] == (short)0) || (array[1]==(short)0 && array[2] == (short)42)){
- array[7]=(short)1;
- }else {
- array[7]=(short)0;
- }
-// array[7] = command.getSourceStaNo();
-
- if ((array[4]==(short)0 && array[5] == (short)0) || (array[4]==(short)0 && array[5] == (short)42)){
- array[8]=(short)1;
- }else {
- array[8]=(short)0;
- }
-// array[8] = command.getDestinationStaNo();
+ array[1] = command.getTaskNo();
+ array[2] = command.getTaskMode();
+ array[3] = command.getSourcePosZ();
+ array[4] = command.getSourcePosX();
+ array[5] = command.getSourcePosY();
+ array[6] = command.getDestinationPosZ();
+ array[7] = command.getDestinationPosX();
+ array[8] = command.getDestinationPosY();
+// array[9] = command.getCommand();
// 浣滀笟淇℃伅
- OperateResult result = siemensNet.Write("DB10.0", array);
- // 浠诲姟鍙� + 瀹屾垚浣�
- short[] array2 = new short[2];
- array2[0] = command.getTaskNo();
- array2[1] = command.getAckFinish();
- OperateResult result1 = siemensNet.Write("DB10.24", array2);
+ OperateResult result = siemensNet.Write("DB100.0", array);
- // 缁撴潫浣�
- if (command.getAckFinish() == 0) {
- OperateResult result2 = siemensNet.Write("DB10.28.1", true);
+ if (command.getAckFinish() != 1) {
+ BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+ BasCrnOpt basCrnOpt = new BasCrnOpt(
+ command.getTaskNo().intValue(), // 浠诲姟鍙�
+ command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
+ new Date(), // 涓嬪彂鏃堕棿
+ command.getTaskModeType() == null ? null : command.getTaskModeType().toString(), // 妯″紡
+ command.getSourcePosZ().intValue(), // 婧愭帓
+ command.getSourcePosX().intValue(), // 婧愬垪
+ command.getSourcePosY().intValue(), // 婧愬眰
+ null, // 婧愮珯
+ command.getDestinationPosZ().intValue(), // 鐩爣鎺�
+ command.getDestinationPosX().intValue(), // 鐩爣鍒�
+ command.getDestinationPosY().intValue(), // 鐩爣灞�
+ null, // 鐩爣绔�
+ null, // 鍝嶅簲缁撴灉
+ null, // 淇敼鏃堕棿
+ null // 淇敼浜哄憳
+ );
+ bean.insert(basCrnOpt);
}
- // 鏃ュ織璁板綍
- try {
+ if (result.IsSuccess) {
+// log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+// OutputQueue.CRN.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)));
+// return true;
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [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("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ return false;
+ }
+
+
+ try{
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(500);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
+ if (resultRead.IsSuccess) {
+ CrnCommand one = new CrnCommand();
+ one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
+ one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
+ one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
+ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
+// one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
+// one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
+ if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
+ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
+ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
+ || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
+
+ ){
+ log.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ log.error("鍫嗗灈鏈哄懡浠ゅ洖璇诲け璐ュ悗锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));
+ MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, crnCommand));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ } else {
+ log.info("5鍫嗗灈鏈哄懡浠ゅ湴鍧�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));
+ OutputQueue.CRN.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)));
+ }
+ }
+ }catch (Exception e){
+ log.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+
+ if (command.getAckFinish() == 0) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ short commandFinish = (short) 1;
+ result = siemensNet.Write("DB100.18", commandFinish);
+ if(result.IsSuccess){
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish != 1){
+ log.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+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
+ log.info("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ log.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ log.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
+ }
+
+
+ return true;
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private boolean write2(CrnCommand command) throws InterruptedException {
+ if (null == command) {
+ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+ //杞崲鍓嶅厠闅嗕竴浠�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(command.getCrnNo());
+ crnCommand.setAckFinish(command.getAckFinish());
+ crnCommand.setTaskNo(command.getTaskNo());
+ crnCommand.setTaskMode(command.getTaskMode());
+ crnCommand.setSourcePosX(command.getSourcePosX());
+ crnCommand.setSourcePosY(command.getSourcePosY());
+ crnCommand.setSourcePosZ(command.getSourcePosZ());
+ crnCommand.setDestinationPosX(command.getDestinationPosX());
+ crnCommand.setDestinationPosY(command.getDestinationPosY());
+ crnCommand.setDestinationPosZ(command.getDestinationPosZ());
+// crnCommand.setSourceStaNo(command.getSourceStaNo());
+// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
+ crnCommand.setCommand(command.getCommand());
+ if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
+ command.setTaskNo((short) 9999);
+ }
+
+ command.setCrnNo(slave.getId());
+ short[] array = new short[10];
+ if (Cools.isEmpty(command.getAckFinish())) {
+ array[0] = 5;
+ } else {
+ array[0] = command.getAckFinish();
+ }
+ array[1] = command.getTaskNo();
+ array[2] = command.getTaskMode();
+ array[3] = command.getSourcePosZ();
+ array[4] = command.getSourcePosX();
+ array[5] = command.getSourcePosY();
+ array[6] = command.getDestinationPosZ();
+ array[7] = command.getDestinationPosX();
+ array[8] = command.getDestinationPosY();
+// array[9] = command.getCommand();
+ // 浣滀笟淇℃伅
+ OperateResult result = siemensNet.Write("DB100.0", array);
+
if (command.getAckFinish() != 1) {
BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
BasCrnOpt basCrnOpt = new BasCrnOpt(
command.getTaskNo().intValue(), // 浠诲姟鍙�
command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
new Date(), // 涓嬪彂鏃堕棿
- command.getTaskModeType().toString(), // 妯″紡
+ command.getTaskModeType() == null ? null : command.getTaskModeType().toString(), // 妯″紡
command.getSourcePosX().intValue(), // 婧愭帓
command.getSourcePosY().intValue(), // 婧愬垪
command.getSourcePosZ().intValue(), // 婧愬眰
@@ -456,22 +452,37 @@
);
bean.insert(basCrnOpt);
}
- } catch (Exception ignore) {}
+
//鏇存柊鍛戒护鏃ュ織
CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
+ if (Cools.isEmpty(commandInfo)){
+ commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
+ .eq("wrk_no",crnProtocol.getTaskNo())
+ .eq("device","Crn"));
+ }
CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
commandInfoLog.setId(null);
- if (result.IsSuccess && result1.IsSuccess) {
- log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
- OutputQueue.CRN.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)));
+
+ if (result.IsSuccess) {
+// log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+
+ Date now = new Date();
//鏇存柊鎸囦护鏃ュ織
commandInfoLog.setDeviceLog("鎸囦护涓嬪彂鎴愬姛");
commandInfoLogService.insert(commandInfoLog);
+
+ //绾跨▼鏆傚瓨鎸囦护ID
+ crnProtocol.setCommandId(command.getCommandId());
+
+ //鏇存柊鎸囦护鐘舵��
+ commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//鎵ц涓�
+ commandInfo.setExecuteTime(now);
+ commandInfoService.updateById(commandInfo);
//鏇存柊浠诲姟姝ュ簭
TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
@@ -481,7 +492,7 @@
taskWrkService.updateById(taskWrk);
}
- return true;
+
} else {
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [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("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
@@ -491,6 +502,129 @@
commandInfoLogService.insert(commandInfoLog);
return false;
}
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ try{
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
+ if (resultRead.IsSuccess) {
+ CrnCommand one = new CrnCommand();
+ one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
+ one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
+ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
+// one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
+ if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
+ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
+ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
+ || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
+
+ ){
+ try{
+ log.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�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{
+ log.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){
+ log.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+ log.error("鍫嗗灈鏈哄懡浠ゅ洖璇诲け璐ュ悗锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ } else {
+ log.info("4鍫嗗灈鏈哄懡浠ゅ湴鍧�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){
+ log.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+
+
+ if (command.getAckFinish() == 0) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ short commandFinish = (short) 1;
+ result = siemensNet.Write("DB100.18", commandFinish);
+ if(result.IsSuccess){
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish != 1){
+ log.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+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
+ log.info("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ log.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ log.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
+ }
+
+
+ return true;
+ }
+
+ private boolean writeAuto(CrnCommand command){
+ if (null == command) {
+ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+ OperateResult result = new OperateResult();
+ short[] array = new short[1];
+ array[0] = command.getAuto();
+ if(command.getAuto() !=0){
+ array[0] = command.getAuto();
+ result = siemensNet.Write("DB103.0", array);
+ }else if (command.getOnlineWrk1() != 0){
+ array[0] = command.getOnlineWrk1();
+ result = siemensNet.Write("DB103.2", array);
+ }else if (command.getOnlineWrk2() !=0){
+ array[0] = command.getOnlineWrk2();
+ result = siemensNet.Write("DB103.4", array);
+ }else if (command.getOnlineWrk3() != 0){
+ array[0] = command.getOnlineWrk3();
+ result = siemensNet.Write("DB103.6", array);
+ }else if (command.getOnlineWrk4() != 0){
+ array[0] = command.getOnlineWrk4();
+ result = siemensNet.Write("DB103.8", array);
+ } else if (command.getReset() != 0) {
+ array[0] = command.getReset();
+ result = siemensNet.Write("DB103.10", array);
+ }
+
+
+ if (result.IsSuccess) {
+ log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+ OutputQueue.CRN.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)));
+
+
+
+ return true;
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [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("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+
+ return false;
+ }
}
@Override
--
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