From c055f092fd989a009e93e7b7b4ccceb6eaaead38 Mon Sep 17 00:00:00 2001
From: zjj <zjj123456>
Date: 星期五, 06 十二月 2024 16:05:13 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ZyRgvThread.java | 439 +++++++++++++++++++++++++-----------------------------
1 files changed, 200 insertions(+), 239 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ZyRgvThread.java b/src/main/java/com/zy/core/thread/ZyRgvThread.java
index e10e17f..aa2d4b7 100644
--- a/src/main/java/com/zy/core/thread/ZyRgvThread.java
+++ b/src/main/java/com/zy/core/thread/ZyRgvThread.java
@@ -7,10 +7,10 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
-import com.zy.asrs.entity.BasRgv;
-import com.zy.asrs.entity.BasRgvOpt;
-import com.zy.asrs.service.BasRgvOptService;
-import com.zy.asrs.service.BasRgvService;
+//import com.zy.asrs.entity.BasRgv;
+//import com.zy.asrs.entity.BasRgvOpt;
+//import com.zy.asrs.service.BasRgvOptService;
+//import com.zy.asrs.service.BasRgvService;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -64,34 +64,21 @@
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((short) 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((short) 1); // 浠诲姟瀹屾垚纭浣�
- write(command);
+ writeAckFinish1((RgvCommand) task.getData());
break;
- //鍐欏叆鏁版嵁纭鍛戒护
+ //宸ヤ綅2澶嶄綅
case 4:
- writeCommand((RgvCommand) task.getData());
+ writeAckFinish2((RgvCommand) task.getData());
break;
+
default:
break;
}
Thread.sleep(500);
} catch (Exception e) {
-// e.printStackTrace();
+ e.printStackTrace();
}
}
@@ -106,10 +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();
}
@@ -121,100 +108,90 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
+ 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.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));//RGV鐘舵��
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//宸ヤ綅1宸ヤ綔鍙�
- rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//宸ヤ綅1鏈夌墿
- 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.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 12));//宸ヤ綅2宸ヤ綔鍙�
- rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//宸ヤ綅2鏈夌墿
- rgvProtocol.setTaskFinish1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//宸ヤ綅1浠诲姟瀹屾垚
- rgvProtocol.setTaskFinish2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//宸ヤ綅2浠诲姟瀹屾垚
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));//寮傚父鐮�
- rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));//RGV蹇冭烦淇″彿
- rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));//澶囩敤1
- rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));//澶囩敤2
- rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));//澶囩敤3
- rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));//澶囩敤4
- rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));//澶囩敤5
+ rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//宸ヤ綅1宸ヤ綔鍙�
+ 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
- OperateResultExOne<byte[]> result2 = siemensNet.Read("DB100.0", (short) 22);
- if (result2.IsSuccess) {
- rgvProtocol.setTaskMode1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//宸ヤ綅1浠诲姟妯″紡
- rgvProtocol.setSourceStn1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//宸ヤ綅1婧愮珯
- rgvProtocol.setDestinationPos1(siemensNet.getByteTransform().TransInt16(result.Content, 8));//宸ヤ綅1鐩爣绔�
- rgvProtocol.setTaskMode2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//宸ヤ綅2浠诲姟妯″紡
- rgvProtocol.setSourceStn2(siemensNet.getByteTransform().TransInt16(result.Content, 16));//宸ヤ綅2婧愮珯
- rgvProtocol.setDestinationPos2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//宸ヤ綅2鐩爣绔�
- }
-
- 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)) {
- if (resetFlag1) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish((short) 2);//宸ヤ綅1浠诲姟缁撴潫宸叉帴鏀�
- if (write(rgvCommand)) {
- resetFlag1 = false;
- }
- }
- if (resetFlag2) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish((short) 3);//宸ヤ綅2浠诲姟缁撴潫宸叉帴鏀�
- if (write(rgvCommand)) {
- resetFlag2 = false;
- }
- }
}
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
- BasRgv basRgv = new BasRgv();
- basRgv.setRgvNo(slave.getId());
- basRgv.setMode(rgvProtocol.getMode().intValue());
- basRgv.setStatus(rgvProtocol.getStatus().intValue());
- basRgv.setTaskNo1(rgvProtocol.getTaskNo1().intValue());
- basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
- basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
- basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
- basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
- basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
- basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
- basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
- basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
- basRgv.setHeart(rgvProtocol.getHeart().intValue());
- basRgv.setTemp1(rgvProtocol.getTemp1().intValue());
- basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
- basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
- basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
- basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
- if (!basRgvService.updateById(basRgv)){
- log.error("RGV plc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
- }
+// BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+// BasRgv basRgv = new BasRgv();
+// basRgv.setRgvNo(slave.getId());
+// basRgv.setMode(rgvProtocol.getMode().intValue());
+// basRgv.setStatus(rgvProtocol.getStatus().intValue());
+// basRgv.setTaskNo1(rgvProtocol.getTaskNo1());
+// basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
+// basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
+// basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
+//// basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
+//// basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
+//// basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
+//// basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
+// basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
+//// basRgv.setHeart(rgvProtocol.getHeart().intValue());
+// basRgv.setTemp1(rgvProtocol.getTemp1());
+// basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
+// basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
+//// basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
+//// basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
+// if (!basRgvService.updateById(basRgv)){
+// log.error("RGV plc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+// }
} catch (Exception ignore){}
} 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
@@ -224,164 +201,139 @@
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
+
command.setRgvNo(slave.getId());
- OperateResult result = null;
- if (command.getTaskNo1() > 0 && command.getTaskNo2() == 0) {
- //鍙湁宸ヤ綅1瀛樺湪浠诲姟涓斾换鍔℃病鏈夎纭锛屽伐浣�1寮�濮嬭鏃�
- if (command.getCommand() == 0) {
- rgvProtocol.setTask1SendTime(System.currentTimeMillis());
+ short[] array = new short[5];
+ array[0] = command.getSourceStaNo1();
+ array[1] = command.getSourceStaNo2();
+ array[2] = command.getDestinationStaNo1();
+ array[3] = command.getDestinationStaNo2();
+ 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",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));
+ MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }
+
+ //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) 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.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.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.isAckFinish1() == one.isAckFinish1() ||
+ !command.isAckFinish2() == one.isAckFinish2() ||
+ !command.isCommand() == one.isCommand() ||
+
+ !command.getTaskNo1().equals(one.getTaskNo1()) ||
+ !command.getTaskNo2().equals(one.getTaskNo2()) ||
+ !command.getTaskMode().equals(one.getTaskMode()) ||
+ !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
+ !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));
+ }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("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }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));
}
- short[] array = new short[10];
- array[0] = command.getAckFinish(); // 浠诲姟瀹屾垚纭浣�
- array[1] = command.getTaskNo1(); // 宸ヤ綅1浠诲姟鍙�
- array[2] = command.getTaskMode1(); // 宸ヤ綅1妯″紡
- array[3] = command.getSourceStaNo1(); // 宸ヤ綅1婧愮珯
- array[4] = command.getDestinationStaNo1(); // 宸ヤ綅1鐩爣绔�
- array[5] = 0; // 宸ヤ綅2浠诲姟鍙�
- array[6] = 0; // 宸ヤ綅2妯″紡
- array[7] = 0; // 宸ヤ綅2婧愮珯
- array[8] = 0; // 宸ヤ綅2鐩爣绔�
- array[9] = command.getCommand();// 浠诲姟纭浣�
- result = siemensNet.Write("DB100.0", array);
- log.info("RGV鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), array);
- } else if (command.getTaskNo2() > 0 && command.getTaskNo1() == 0) {
- //鍙湁宸ヤ綅2瀛樺湪浠诲姟
- short[] array = new short[5];
- array[0] = command.getTaskNo2(); // 宸ヤ綅2浠诲姟鍙�
- array[1] = command.getTaskMode2(); // 宸ヤ綅2妯″紡
- array[2] = command.getSourceStaNo2(); // 宸ヤ綅2婧愮珯
- array[3] = command.getDestinationStaNo2(); // 宸ヤ綅2鐩爣绔�
- array[4] = command.getCommand();// 浠诲姟纭浣�
- result = siemensNet.Write("DB100.12", array);
- log.info("RGV鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), array);
- }else {
- //宸ヤ綅1鍜屽伐浣�2浠诲姟
- short[] array = new short[10];
- array[0] = command.getAckFinish(); // 浠诲姟瀹屾垚纭浣�
- array[1] = command.getTaskNo1(); // 宸ヤ綅1浠诲姟鍙�
- array[2] = command.getTaskMode1(); // 宸ヤ綅1妯″紡
- array[3] = command.getSourceStaNo1(); // 宸ヤ綅1婧愮珯
- array[4] = command.getDestinationStaNo1(); // 宸ヤ綅1鐩爣绔�
- array[5] = command.getTaskNo2(); // 宸ヤ綅2浠诲姟鍙�
- array[6] = command.getTaskMode2(); // 宸ヤ綅2妯″紡
- array[7] = command.getSourceStaNo2(); // 宸ヤ綅2婧愮珯
- array[8] = command.getDestinationStaNo2(); // 宸ヤ綅2鐩爣绔�
- array[9] = command.getCommand();// 浠诲姟纭浣�
- result = siemensNet.Write("DB100.0", array);
- log.info("RGV鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), array);
+ }catch (Exception e){
+ log.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (command.getCommand() == 1) {
- //浠诲姟琚‘璁�
- rgvProtocol.setTask1SendTime(0L);//閲嶇疆宸ヤ綅1涓嬪彂鏃堕棿
+ if (!command.isAckFinish1() && !command.isAckFinish2()) {
+ if (result1.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ 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("DB100.22", (short) 2);
+ if (resultRead.IsSuccess) {
+ boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
+ if (!commandFinish){
+ log.error("RGV浠诲姟纭浣�"+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("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ log.error("RGV浠诲姟纭浣嶅洖璇诲け璐ワ紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ log.error("RGV浠诲姟纭浣嶅啓鍏ュけ璐ワ紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
}
- if(!result.IsSuccess){
- log.error("鍐欏叆RGV plc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));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
- Thread.sleep(100);
- readStatus();
- return false;
- }
-
- try {
- // 鏃ュ織璁板綍
- BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
- Date now = new Date();
- BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getRgvNo(), // RGV[闈炵┖]
- command.getAckFinish().intValue(), // 浠诲姟瀹屾垚纭浣�
- command.getTaskNo1().intValue(), // 浠诲姟鍙�
- command.getTaskMode1().intValue(), // 妯″紡
- command.getSourceStaNo1().intValue(), // 婧愮珯
- command.getDestinationStaNo1().intValue(), // 鐩爣绔�
- command.getTaskNo2().intValue(), // 浠诲姟鍙�
- command.getTaskMode2().intValue(), // 妯″紡
- command.getSourceStaNo2().intValue(), // 婧愮珯
- command.getDestinationStaNo2().intValue(), // 鐩爣绔�
- command.getCommand().intValue(),
- now, // 涓嬪彂鏃堕棿
- null, // 涓嬪彂浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- null //鍝嶅簲
- );
- bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
-
- if (result != null && result.IsSuccess) {
+ if (result1 != null && result1.IsSuccess) {
Thread.sleep(200);
this.readStatus();
- log.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), 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)));
+ log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
+
}
- /**
- * 鍐欏叆鏁版嵁纭鍛戒护
- */
- private boolean writeCommand(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
-
- command.setRgvNo(slave.getId());
- short[] array = new short[1];
- array[0] = command.getCommand();// 浠诲姟纭浣�
- OperateResult result = siemensNet.Write("DB100.20", array);
- log.info("RGV鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), array);
-
- if(!result.IsSuccess){
- log.error("鍐欏叆RGV plc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));
- MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
- Thread.sleep(100);
- readStatus();
- return false;
- }
-
- try {
- // 鏃ュ織璁板綍
- BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
- Date now = new Date();
- BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getRgvNo(), // RGV[闈炵┖]
- command.getAckFinish().intValue(), // 浠诲姟瀹屾垚纭浣�
- command.getTaskNo1().intValue(), // 浠诲姟鍙�
- command.getTaskMode1().intValue(), // 妯″紡
- command.getSourceStaNo1().intValue(), // 婧愮珯
- command.getDestinationStaNo1().intValue(), // 鐩爣绔�
- command.getTaskNo2().intValue(), // 浠诲姟鍙�
- command.getTaskMode2().intValue(), // 妯″紡
- command.getSourceStaNo2().intValue(), // 婧愮珯
- command.getDestinationStaNo2().intValue(), // 鐩爣绔�
- command.getCommand().intValue(),
- now, // 涓嬪彂鏃堕棿
- null, // 涓嬪彂浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- null //鍝嶅簲
- );
- bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
-
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), 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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
/**
* 鍒濆鍖栧爢鍨涙満鐘舵��
@@ -390,9 +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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