From b2e9d1f13a8a88e2963f504926234589fa2d2787 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期五, 11 四月 2025 13:45:38 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/fyxc_shuttle_wcs' into fyxc_shuttle_wcs
---
src/main/java/com/zy/core/thread/LiftThread.java | 670 ++-----------------------------------------------------
1 files changed, 34 insertions(+), 636 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 9503c0e..cdfb73c 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -1,669 +1,67 @@
package com.zy.core.thread;
-import HslCommunication.Core.Transfer.DataFormat;
-import HslCommunication.Core.Types.OperateResult;
-import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.ModBus.ModbusTcpNet;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
-import com.alibaba.fastjson.JSON;
-import com.core.common.DateUtils;
-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.WrkMast;
-import com.zy.asrs.mapper.WrkMastMapper;
-import com.zy.asrs.service.BasLiftOptService;
-import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.utils.Utils;
-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.common.ExecuteSupport;
+import com.zy.common.model.NavigateNode;
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.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.LiftCommandModeType;
+import com.zy.core.enums.LiftProtocolStatusType;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
+import com.zy.core.model.protocol.LiftStaProtocol;
-import java.text.MessageFormat;
-import java.util.ArrayList;
-import java.util.Date;
import java.util.List;
-/**
- * 鎻愬崌鏈虹嚎绋�
- */
-@Data
-@Slf4j
-public class LiftThread implements Runnable, ThreadHandler {
+public interface LiftThread extends ThreadHandler {
- private SiemensS7Net siemensS7Net;
- private LiftSlave slave;
- private LiftProtocol liftProtocol;
- private RedisUtil redisUtil;
+ LiftProtocol getStatus();//鑾峰彇鎻愬崌鏈虹姸鎬�
- public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
- this.slave = slave;
- this.redisUtil = redisUtil;
- }
+ LiftProtocol getStatus(boolean clone);//鑾峰彇鎻愬崌鏈虹姸鎬�
- @Override
- public void run() {
- this.connect();
- while (true) {
- try {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Lift, slave.getId());
- if (task != null) {
- step = task.getStep();
- }
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- read();
- break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((LiftCommand) task.getData());
- break;
- //鍒嗛厤浠诲姟
- case 3:
- assignWork((LiftAssignCommand) task.getData());
- break;
- default:
- break;
- }
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
+ List<LiftStaProtocol> getLiftStaProtocols();
- @Override
- public boolean connect() {
- boolean result = false;
- //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
- OperateResult connect = siemensS7Net.ConnectServer();
- if(connect.IsSuccess){
- result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戞彁鍗囨満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.info("鎻愬崌鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- } else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鎻愬崌鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- }
- siemensS7Net.ConnectClose();
- //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- return result;
- }
+ CommandResponse move(LiftCommand command);//鍗囬檷绉诲姩
- @Override
- public void close() {
- siemensS7Net.ConnectClose();
- }
+ CommandResponse palletInOut(LiftCommand command);//鎵樼洏鍑哄叆
- private void read() {
- try {
- readStatus();
+ CommandResponse lock(LiftCommand command);//閿佸畾鎻愬崌鏈�
- //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.getBusy()) {
- liftProtocol.setPakMk(true);
- }
+ CommandResponse unlock(LiftCommand command);//瑙ｉ攣鎻愬崌鏈�
- //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.getBusy()
- && liftProtocol.getPakMk()
- && liftProtocol.getTaskNo() != 0) {
- //杩樻湁鏈畬鎴愮殑鍛戒护
- executeWork(liftProtocol.getTaskNo());
- }
- } catch (Exception e) {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- }
- }
+ CommandResponse reset(LiftCommand command);//澶嶄綅
- private void readStatus() {
- try {
- OperateResultExOne<byte[]> result = siemensS7Net.Read("M100.0", (short) 28);
- if (result.IsSuccess) {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- liftProtocol.setLiftNo(slave.getId().shortValue());
- }
+ boolean isIdle();//鏄惁绌洪棽
- //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
- //鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //妯″紡
- liftProtocol.setModel(siemensS7Net.getByteTransform().TransBool(content, 0));
- //蹇欓棽
- liftProtocol.setBusy(siemensS7Net.getByteTransform().TransBool(content, 1));
- //鍓嶈秴闄�
- liftProtocol.setFrontOverrun(siemensS7Net.getByteTransform().TransBool(content, 7));
- //鍚庤秴闄�
- liftProtocol.setBackOverrun(siemensS7Net.getByteTransform().TransBool(content, 8));
- //宸﹁秴闄�
- liftProtocol.setLeftOverrun(siemensS7Net.getByteTransform().TransBool(content, 9));
- //鍙宠秴闄�
- liftProtocol.setRightOverrun(siemensS7Net.getByteTransform().TransBool(content, 10));
- //瓒呴珮
- liftProtocol.setOverHeight(siemensS7Net.getByteTransform().TransBool(content, 11));
- //瓒呴噸
- liftProtocol.setOverWeight(siemensS7Net.getByteTransform().TransBool(content, 12));
- //鏈夋墭鐩�
- liftProtocol.setHasTray(siemensS7Net.getByteTransform().TransBool(content, 16));
- //鏈夊皬杞�
- liftProtocol.setHasCar(siemensS7Net.getByteTransform().TransBool(content, 17));
- //璁惧鏁呴殰
- liftProtocol.setDeviceError(siemensS7Net.getByteTransform().TransBool(content, 18));
- //浠诲姟鍙�
- liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(content, 19));
- //浠诲姟鍦板潃
- liftProtocol.setTaskAddress(siemensS7Net.getByteTransform().TransInt16(content, 21));
- //鐩殑鍦板潃
- liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(content, 21));
- //宸插畬鎴愪换鍔″彿
- liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(content, 23));
- //褰撳墠妤煎眰
- liftProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(content, 25));
+ boolean isDeviceIdle();//璁惧鏄惁绌洪棽
- ///璇诲彇鎻愬崌鏈虹姸鎬�-end
+ boolean isDeviceIdle(ExecuteSupport support);//璁惧鏄惁绌洪棽
- //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.setModel(liftProtocol.getModel());
- basLift.setBusy(liftProtocol.getBusy());
- basLift.setFrontOverrun(liftProtocol.getFrontOverrun());
- basLift.setBackOverrun(liftProtocol.getBackOverrun());
- basLift.setLeftOverrun(liftProtocol.getLeftOverrun());
- basLift.setRightOverrun(liftProtocol.getRightOverrun());
- basLift.setOverHeight(liftProtocol.getOverHeight());
- basLift.setOverWeight(liftProtocol.getOverWeight());
- basLift.setHasTray(liftProtocol.getHasTray());
- basLift.setHasCar(liftProtocol.getHasCar());
- basLift.setDeviceError(liftProtocol.getDeviceError());
- basLift.setTaskAddress(liftProtocol.getTaskAddress().intValue());
- basLift.setDistAddress(liftProtocol.getDistAddress().intValue());
- basLift.setCompleteTaskNo(liftProtocol.getCompleteTaskNo().intValue());
- basLift.setLev(liftProtocol.getLev().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()));
- }
+ boolean setProtocolStatus(LiftProtocolStatusType status);//璁剧疆宸ヤ綔鐘舵��
- }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()));
- throw new CoolException(MessageFormat.format( "鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
- }
- } catch (Exception e) {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- }
- }
+ boolean setSyncTaskNo(Integer taskNo);//璁剧疆宸ヤ綔鍙�
- private boolean write(LiftCommand command){
- if (null == command) {
- News.error("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
- return false;
- }
+ boolean isLock(ExecuteSupport support);
-// command.setLiftNo(slave.getId().shortValue());
-// short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
-//
-// try {
-// Thread.sleep(500);//鍛戒护涓嬪彂鍓嶄紤鐪�
-// } catch (InterruptedException e) {
-// throw new RuntimeException(e);
-// }
-//
-// 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)));
-//
-// try {
-// Thread.sleep(500);//鍛戒护涓嬪彂鍚庝紤鐪�
-// } catch (InterruptedException e) {
-// throw new RuntimeException(e);
-// }
-//
-// for (int i = 0; i < 5; i++) {
-// if (command.getRun().intValue() == 4 || command.getRun().intValue() == 5) {
-// break;//绯荤粺澶嶄綅鍜岄摼鏉″仠姝㈣浆鍔ㄤ笉闇�瑕侀噸鍙�
-// }
-// readStatus();//閲嶆柊璇诲彇鐘舵��
-// if (liftProtocol.getRunning()) {
-// break;
-// }
-//
-// //鍒ゆ柇鏄惁杩愯涓紝濡備笉杩愯锛岄噸鏂颁笅鍙戝懡浠�
-// result = modbusTcpNet.Write("41088", array);
-// News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {},娆℃暟锛歿}", slave.getId(), JSON.toJSON(command), i);
-// OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2},娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
-// try {
-// Thread.sleep(300);//鍛戒护涓嬪彂鍚庝紤鐪�
-// } catch (InterruptedException e) {
-// throw new RuntimeException(e);
-// }
-// }
-// return true;
-// } else {
-// OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戝啓鍏ユ彁鍗囨満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}],娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-// 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;
-// }
+ int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type);//鐢熸垚纭欢璁惧宸ヤ綔鍙�
- return true;
- }
+ String getLiftLocNo(int lev);//鑾峰彇鎻愬崌鏈轰綅缃�
- //鑾峰彇鍛戒护鎶ユ枃
- private short[] getCommandArr(LiftCommand command) {
- // 寮�濮嬩换鍔�
- short[] array = new short[30];
- //寮�濮嬭繍琛�
- array[0] = command.getRun();
- 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();
- }
+ String getLiftStandByLocNo(int lev, boolean in);//鑾峰彇鎻愬崌鏈哄緟鏈轰綅
- if (array[2] == 0) {
- // 寮�濮嬩换鍔�
- short[] tmp = new short[2];
- tmp[0] = array[0];
- tmp[1] = array[1];
- array = tmp;
- }
- return array;
- }
+ List<NavigateNode> getLiftStaNodes(int lev);
- //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);
- }
+ //***************鑾峰彇鍛戒护*****************
+ List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//鎻愬崌鏈虹Щ鍔�
- 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());
- }
+ List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//杞借溅绉诲姩
- //鎵ц浠诲姟
- private boolean executeWork(Short wrkNo) {
- //璇诲彇redis鏁版嵁
- if (wrkNo == null) {
- return false;
- }
+ List<LiftCommand> getPalletInCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//鎵樼洏鍏�
- WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
- 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();
+ List<LiftCommand> getPalletOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//鎵樼洏鍑�
-// if (commandStep != 0) {
-// //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
-// LiftCommand command = commands.get(commandStep - 1);
-// if (command.getRun().intValue() == 1) {
-// //鎻愬崌鏈哄崌闄嶅懡浠�
-// if (command.getDistPosition().intValue() == liftProtocol.getPositionArrivalFeedback().intValue()) {
-// //鎻愬崌鏈虹洰鏍囨ゼ灞傚拰瀹為檯妤煎眰鐩稿悓锛屽垯璁ゅ畾鍛戒护瀹屾垚
-// command.setComplete(true);
-// }
-// } else if (command.getRun().intValue() == 2 || command.getRun().intValue() == 3) {
-// //鏃犺揣姝ｈ浆锛屾湁璐ф杞�
-// if (!liftProtocol.getForwardRotationFeedback()) {
-// //杈撻�佺嚎姝ｈ浆鍙嶉涓嶅湪杩愯涓紝璁ゅ畾鍛戒护瀹屾垚
-// command.setComplete(true);
-// }
-// } else if (command.getRun().intValue() == 6 || command.getRun().intValue() == 7) {
-// //鏈夎揣鍙嶈浆锛屾棤璐у弽杞�
-// if (!liftProtocol.getReverseFeedback()) {
-// //杈撻�佺嚎鍙嶈浆鍙嶉涓嶅湪杩愯涓紝璁ゅ畾鍛戒护瀹屾垚
-// command.setComplete(true);
-// }
-// } else if (command.getRun().intValue() == 4) {
-// //杈撻�佺嚎鍋滄
-// if (!liftProtocol.getForwardRotationFeedback() && !liftProtocol.getReverseFeedback()) {
-// //杈撻�佺嚎姝ｈ浆鍙嶈浆閮戒笉鍦ㄨ繍琛屼腑锛岃瀹氬懡浠ゅ畬鎴�
-// command.setComplete(true);
-// }
-// }
-// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
-// redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
-//
-// if (!command.getComplete()) {
-// //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
-// return false;
-// }
-// }
+ List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock);//閿佸畾/瑙ｉ攣鎻愬崌鏈�
- //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());
- staProtocol = staProtocol.clone();
- 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
- }
-
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
- if (wrkMast != null) {
- if (wrkMast.getWrkSts() == 28) {//28.鎻愬崌鏈烘惉杩愪腑
- if (command.getRun().intValue() == 1 && command.getDistPosition().intValue() == LiftLevType.TWO.lev) {
- //鎻愬崌鏈虹Щ鍔ㄤ笖浣嶇疆鏄埌杈撻�佺嚎妤煎眰锛岄渶瑕佸垽鏂珯鐐硅揣鐗╂槸鍚︽棤鐗╋紝鎻愬崌鏈烘槸鍚︽湁鐗�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
- //宸ヤ綔妗ｆ簮搴撲綅妤煎眰
- int wrkMastLocNoLey = Utils.getLev(wrkMast.getSourceLocNo());
- StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//璧峰绔欑偣
- //鍒ゆ柇杈撻�佺珯鐐规槸鍚︽湁鐗╋紝鍙湁鏃犵墿鎯呭喌鎵嶈兘缁х画璋冨害鎻愬崌鏈�
- if (staProtocol.isLoading()) {
- //鏈夌墿绂佹璋冨害
- return false;
- }
- }
- }
- }
-
- //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));
-
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- liftProtocol.setPakMk(false);
-
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
- if (liftOptService != null) {
- short[] commandArr = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
- BasLiftOpt opt = new BasLiftOpt(
- redisCommand.getWrkNo().intValue(),
- redisCommand.getLiftNo().intValue(),
- new Date(),
- null,
- null,
- null,
- JSON.toJSONString(command),
- JSON.toJSONString(commandArr)
- );
- liftOptService.insert(opt);
- }
-
- //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�
- //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℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝鎻愬崌鏈哄彿={}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;
- }
-
- /**
- * 鍒濆鍖栨彁鍗囨満
- */
- private void initLift() {
- this.connect();
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- }
- }
-
- /******************************************************************************************/
- /**************************************** 娴嬭瘯涓撶敤 *****************************************/
- /*****************************************************************************************/
- public static void main(String[] args) throws InterruptedException {
- LiftSlave slave = new LiftSlave();
- 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) 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);
-
- }
+ List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal);//灏忚溅宸插埌浣�/宸查┒绂讳俊鍙�
}
--
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