From c605b435cb4be68de70c822162a96e9a78f45a88 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 19 七月 2023 08:57:44 +0800
Subject: [PATCH] command write
---
src/main/java/com/zy/core/thread/SteThread.java | 576 ++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 365 insertions(+), 211 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SteThread.java b/src/main/java/com/zy/core/thread/SteThread.java
index b186098..72dbc49 100644
--- a/src/main/java/com/zy/core/thread/SteThread.java
+++ b/src/main/java/com/zy/core/thread/SteThread.java
@@ -5,19 +5,24 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
-import com.zy.asrs.entity.BasCrnOpt;
-import com.zy.asrs.entity.BasCrnp;
-import com.zy.asrs.service.BasCrnOptService;
-import com.zy.asrs.service.BasCrnpService;
+import com.zy.asrs.entity.BasSte;
+import com.zy.asrs.entity.BasSteOpt;
+import com.zy.asrs.entity.WrkCharge;
+import com.zy.asrs.service.BasSteOptService;
+import com.zy.asrs.service.BasSteService;
+import com.zy.common.model.enums.WrkChargeType;
+import com.zy.core.DevpThread;
+import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.CrnStatusType;
-import com.zy.core.enums.CrnTaskModeType;
+import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.SteStatusType;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
@@ -31,6 +36,7 @@
/**
* shuttle 绌挎杞︾嚎绋�
* Created by vincent on 2020/8/4
+ * 涓嶈兘鏈� 妲藉彿 鍜� 鏈烘灦鍙�
*/
@Data
@Slf4j
@@ -66,29 +72,11 @@
case 2:
write((SteCommand) task.getData());
break;
- // 澶嶄綅
- case 3:
- SteCommand command = (SteCommand) task.getData();
- if (null == command) {
- command = new SteCommand();
- }
-// command.setSteNo(slave.getId()); // 绌挎杞︾紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
-// command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
- write(command);
- break;
default:
break;
}
// 蹇冭烦
- heartbeat();
+// heartbeat();
Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
@@ -104,39 +92,29 @@
if (null == steProtocol) {
steProtocol = new SteProtocol();
}
-// steProtocol.setMode((short) -1);
-// steProtocol.setTaskNo((short)0);
-// steProtocol.setStatus((short)-1);
-// steProtocol.setBay((short)0);
-// steProtocol.setLevel((short)0);
-// steProtocol.setForkPos((short) -1);
-// steProtocol.setLiftPos((short) -1);
-// steProtocol.setWalkPos((short)0);
-// steProtocol.setLoaded((short)0);
-// steProtocol.setAlarm((short)0);
-// steProtocol.setXSpeed(0F);
-// steProtocol.setYSpeed(0F);
-// steProtocol.setZSpeed(0F);
-// steProtocol.setXDistance(0F);
-// steProtocol.setYDistance(0F);
-// steProtocol.setXDuration(0F);
-// steProtocol.setYDuration(0F);
+ steProtocol.setSteNo(slave.getId().shortValue());
+ steProtocol.setMode((short) 0);
+ steProtocol.setStatus(SteStatusType.OFF_LINE);
+ steProtocol.setTaskNo((short) 0);
+ steProtocol.setExecute(false);
+ steProtocol.setWaiting(false);
}
@Override
public boolean connect() {
boolean result = false;
- siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
- siemensS7Net.setRack(slave.getRack().byteValue());
- siemensS7Net.setSlot(slave.getSlot().byteValue());
+ // 涓嶈兘鏈� 妲藉彿 鍜� 鏈烘灦鍙�
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S200Smart, slave.getIp());
+// siemensS7Net.setRack(slave.getRack().byteValue());
+// siemensS7Net.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensS7Net.ConnectServer();
if(connect.IsSuccess){
result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戠┛姊溅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("绌挎杞lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.STE.offer(MessageFormat.format( "銆恵0}銆戠┛姊溅plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ News.info("绌挎杞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}銆戠┛姊溅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("绌挎杞lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.STE.offer(MessageFormat.format("銆恵0}銆戠┛姊溅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()));
+ News.error("绌挎杞lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
initSte();
}
// melsecMcNet.ConnectClose();
@@ -148,58 +126,166 @@
*/
private void readStatus(){
try {
-// if (this.slave.getId() == 1 && flag1.equals(0)) {
-// Thread.sleep(3000);
-// flag1=1;
-// System.out.println("===");
-// }
- OperateResultExOne<byte[]> result = siemensS7Net.Read("D20", (short) 70);
+ OperateResultExOne<byte[]> result = siemensS7Net.Read("V800", (short) 70);
if (result.IsSuccess) {
if (null == steProtocol) {
steProtocol = new SteProtocol();
+ steProtocol.setSteNo(slave.getId().shortValue());
}
- steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
- steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
+// steProtocol.setSteNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
+ steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
- steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
- steProtocol.setLevel(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
- steProtocol.setForkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 10));
- steProtocol.setLiftPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 12));
- steProtocol.setWalkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
- steProtocol.setLoaded(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
- steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
+ OperateResultExOne<Boolean> executeRes = siemensS7Net.ReadBool("V2001.0");
+ if (executeRes.IsSuccess) {
+ steProtocol.setExecute(executeRes.Content);
+ }
+ OperateResultExOne<Boolean> waitingRes = siemensS7Net.ReadBool("V2001.1");
+ if (waitingRes.IsSuccess) {
+ steProtocol.setWaiting(waitingRes.Content);
+ }
+ OperateResultExOne<Boolean> inEmptyRes = siemensS7Net.ReadBool("V2001.2");
+ if (inEmptyRes.IsSuccess) {
+ steProtocol.setInEmpty(inEmptyRes.Content);
+ }
+ OperateResultExOne<Boolean> outEmptyRes = siemensS7Net.ReadBool("V2001.3");
+ if (outEmptyRes.IsSuccess) {
+ steProtocol.setOutEmpty(outEmptyRes.Content);
+ }
+ steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
+ steProtocol.setAlarm0(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
+ steProtocol.setCharge(siemensS7Net.getByteTransform().TransSingle(result.Content, 10));
+// steProtocol.setFullCharge();
+// steProtocol.setLowCharge();
+ steProtocol.setFeed(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
+ steProtocol.setLoca(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
+// steProtocol.setCloser();
+// steProtocol.setSpeed();
+ steProtocol.setPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
+ steProtocol.setLoad(siemensS7Net.getByteTransform().TransInt16(result.Content, 20));
+ steProtocol.setTrack(siemensS7Net.getByteTransform().TransInt16(result.Content, 22));
+ steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 24));
+ steProtocol.setTaskType(siemensS7Net.getByteTransform().TransInt16(result.Content, 28));
+ steProtocol.setRow(siemensS7Net.getByteTransform().TransInt16(result.Content, 30));
+ steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 32));
+ steProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(result.Content, 34));
- 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()));
+// steProtocol.setHisTaskNo(siemensS7Net.getByteTransform().TransInt32(result.Content, 58));
+// steProtocol.setHisTaskStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 62));
+// steProtocol.setCheckQty(siemensS7Net.getByteTransform().TransInt16(result.Content, 64));
+ steProtocol.setReady(siemensS7Net.getByteTransform().TransInt16(result.Content, 36));
+// steProtocol.setChargeNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 68));
+
+// steProtocol.setHeart(siemensS7Net.getByteTransform().TransInt16(result.Content, 72));
+ steProtocol.setCrnStopRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 38));
+ steProtocol.setCrnStopFork(siemensS7Net.getByteTransform().TransInt16(result.Content, 40));
+ steProtocol.setCrnAllowRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 42));
+// steProtocol.setCrnAllowRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 44));
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (!devpThread.charge0 || devpThread.charge1){
+ steProtocol.setChargeStatus((short)1);
+ }else {
+ steProtocol.setChargeStatus((short)0);
+ }
+
+ OutputQueue.STE.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()));
+
+ //璇诲彇绌挎杞﹁澶囦俊鎭紝鎻愪緵鏌ヨ
+ OperateResultExOne<byte[]> result1 = siemensS7Net.Read("V732", (short) 16);
+ if (result1.IsSuccess) {
+ boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 15);
+ steProtocol.setLiftErr(status[0]);
+ steProtocol.setInFetchErr(status[2]);
+ steProtocol.setOutFetchErr(status[3]);
+ steProtocol.setAntiErr(status[4]);
+ steProtocol.setLiftSwitchErr(status[5]);
+ steProtocol.setTrackErr(status[6]);
+ steProtocol.setTimeoutErr(status[7]);
+ steProtocol.setConnectErr(status[8]);
+ steProtocol.setEmergencyErr(status[9]);
+ steProtocol.setTaskTypeErr(status[10]);
+ steProtocol.setTaskNoErr(status[11]);
+ steProtocol.setNewTaskErr(status[12]);
+ steProtocol.setErrTaskErr(status[13]);
+ steProtocol.setStopErr(status[14]);
+ steProtocol.setOfflineTaskErr(status[15]);
+ steProtocol.setStartTaskErr(status[16]);
+ steProtocol.setVoltageTaskErr(status[17]);
+
+ steProtocol.setDevpErr(status[63]);
+
+ steProtocol.setOnline(status[64]);
+ steProtocol.setNotOnTrack(status[65]);
+ steProtocol.setLowVoltage(status[66]);
+ steProtocol.setElectricityLoss(status[67]);
+ steProtocol.setForcedTravel(status[68]);
+ steProtocol.setDemoMode(status[69]);
+ steProtocol.setBrushConnect(status[70]);
+// if (status[70]){
+// steProtocol.setChargeStatus((short)1);
+// }
+ steProtocol.setTaskManualForbid(status[71]);
+ steProtocol.setOnlineManualForbid(status[72]);
+ steProtocol.setDevpEmergency(status[73]);
+ steProtocol.setTaskInterrupt(status[74]);
+ steProtocol.setTaskClear(status[75]);
+ steProtocol.setTaskConfirmTimeout(status[76]);
+ steProtocol.setTaskWithCharge(status[77]);
+
+ steProtocol.setPakInTask(status[96]);
+ steProtocol.setPakOutTask(status[97]);
+ steProtocol.setPakMoveTask(status[98]);
+ steProtocol.setGoHpTask(status[99]);
+ steProtocol.setGoOHpTask(status[100]);
+ steProtocol.setGoHpAvoid(status[101]);
+ steProtocol.setGoOHpAvoid(status[102]);
+ steProtocol.setPakInEmpty(status[104]);
+ steProtocol.setPakInFinish(status[105]);
+ steProtocol.setPakOutEmpty(status[106]);
+ steProtocol.setPakOutFinish(status[107]);
+ steProtocol.setGoHpAvoidFinish(status[108]);
+ steProtocol.setGoOHpAvoidFinish(status[109]);
+ steProtocol.setGoHpAvoidErr(status[110]);
+ steProtocol.setGoOHpAvoidErr(status[111]);
+
+ steProtocol.setAutoMode(status[112]);
+ steProtocol.setVoltageLow(status[113]);
+ }
// 澶嶄綅淇″彿
- if (steProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
+ if (steProtocol.getWaiting()) {
if (resetFlag) {
SteCommand steCommand = new SteCommand();
- steCommand.setAckFinish((short)1);
- if (write(steCommand)) {
+ steCommand.setComplete(true);
+ if (write(steCommand) && confirmPos()) {
resetFlag = false;
}
}
}
-
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
- BasCrnp basCrnp = new BasCrnp();
- basCrnp.setCrnErr(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
- basCrnp.setCrnNo(slave.getId());
- if (!basCrnpService.updateById(steProtocol.toSqlModel(basCrnp))){
- log.error("绌挎杞lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- }
+ BasSteService service = SpringUtils.getBean(BasSteService.class);
+ if (null != service) {
+ // 鍚屾pakMk
+ BasSte one = service.selectById(slave.getId());
+ if (one != null) {
+ steProtocol.setPakMk(one.getPakMk());
+ }
+ BasSte basSte = new BasSte();
+ basSte.setSteNo(slave.getId());
+ if (!service.updateById(steProtocol.toSqlModel(basSte))){
+ News.error("绌挎杞lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+
+ }
} else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆憑1}绌挎杞lc鐘舵�佷俊鎭け璐�",DateUtils.convert(new Date()), slave.getId()));
+ OutputQueue.STE.offer(MessageFormat.format("銆恵0}銆憑1}绌挎杞lc鐘舵�佷俊鎭け璐�",DateUtils.convert(new Date()), slave.getId()));
throw new CoolException(MessageFormat.format( "绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
}
} catch (Exception e) {
- e.printStackTrace();
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栫┛姊溅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("璇诲彇绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+// e.printStackTrace();
+ OutputQueue.STE.offer(MessageFormat.format("銆恵0}銆戣鍙栫┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+// News.error("璇诲彇绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
initSte();
}
@@ -210,60 +296,174 @@
*/
private boolean write(SteCommand command){
if (null == command) {
- log.error("绌挎杞﹀啓鍏ュ懡浠や负绌�");
+ News.error("绌挎杞﹀啓鍏ュ懡浠や负绌�");
return false;
}
- command.setCrnNo(slave.getId());
- short[] array = new short[10];
- array[0] = command.getAckFinish();
- array[1] = command.getTaskNo();
- array[2] = command.getTaskMode();
- array[3] = command.getSourcePosX();
- array[4] = command.getSourcePosY();
- array[5] = command.getSourcePosZ();
- array[6] = command.getDestinationPosX();
- array[7] = command.getDestinationPosY();
- array[8] = command.getDestinationPosZ();
- array[9] = command.getCommand();
- OperateResult result = siemensS7Net.Write("D0", array);
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄥ厖鐢�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread.charge1){
+ // led 寮傚父鏄剧ず
+ LedThread ledThread1 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ LedThread ledThread2 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ LedThread ledThread3 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ if (ledThread1 != null && ledThread2 != null && ledThread3 != null) {
+ MessageQueue.offer(SlaveType.Led, 1, new Task(3, "绌挎杞︽鍦ㄥ厖鐢�"));
+ MessageQueue.offer(SlaveType.Led, 2, new Task(3, "绌挎杞︽鍦ㄥ厖鐢�"));
+ MessageQueue.offer(SlaveType.Led, 3, new Task(3, "绌挎杞︽鍦ㄥ厖鐢�"));
+ }
+ News.error("绌挎杞︽鍦ㄥ厖鐢�");
+ return false;
+ }else if (!devpThread.charge0){
+ // led 寮傚父鏄剧ず
+ LedThread ledThread1 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ LedThread ledThread2 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ LedThread ledThread3 = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ if (ledThread1 != null && ledThread2 != null && ledThread3 != null) {
+ MessageQueue.offer(SlaveType.Led, 1, new Task(3, "绌挎杞﹀彲鑳藉湪绂荤嚎鍏呯數锛屾鏌ョ數鎺ф煖绌挎杞︽槸鍚﹀厖鐢垫々鍦ㄧ嚎"));
+ MessageQueue.offer(SlaveType.Led, 2, new Task(3, "绌挎杞﹀彲鑳藉湪绂荤嚎鍏呯數锛屾鏌ョ數鎺ф煖绌挎杞︽槸鍚﹀厖鐢垫々鍦ㄧ嚎"));
+ MessageQueue.offer(SlaveType.Led, 3, new Task(3, "绌挎杞﹀彲鑳藉湪绂荤嚎鍏呯數锛屾鏌ョ數鎺ф煖绌挎杞︽槸鍚﹀厖鐢垫々鍦ㄧ嚎"));
+ }
+ News.error("绌挎杞﹀彲鑳藉湪绂荤嚎鍏呯數锛屾鏌ョ數鎺ф煖绌挎杞︽槸鍚﹀厖鐢垫々鍦ㄧ嚎");
+ return false;
+ }
+ command.setSteNo(slave.getId());
+ OperateResult result = null;
+ // 寮�濮嬩换鍔�
+ if (!command.getComplete()) {
+ //缁勭粐浠诲姟鍓嶏紝鍏堟竻绌哄啓浠诲姟纭浣嶏紝浠ュ強浠诲姟瀹屾垚纭浣�
+ siemensS7Net.Write("V2000.0", false);
+ siemensS7Net.Write("V2000.1", false);
+ // 1.浠诲姟鍙�
+ OperateResult result0 = siemensS7Net.Write("V998", command.getTaskNo().shortValue());
+ try {
+ Thread.sleep(200);
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ // 浣滀笟
+ if (command.getTaskMode() != 0) {
+ // 2.浣滀笟
+ OperateResult result1 = siemensS7Net.Write("V1000", command.getTaskMode());
+ // 3.纭寮�濮嬩换鍔�
+ if (result0.IsSuccess && result1.IsSuccess) {
+ result = siemensS7Net.Write("V2000.0", true);
+ siemensS7Net.Write("V2000.1", false);
+ }
- if (command.getAckFinish() == 0) {
- short commandFinish = 1;
- result = siemensS7Net.Write("D9", commandFinish);
+ // 鍏朵粬鎸囦护
+ } else {
+ // 鎺у埗妯″紡
+ if (command.getControlMode() != null) {
+ result = siemensS7Net.Write("V1010", command.getControlMode());
+ // 澶嶄綅淇″彿
+ } else if (command.getReset() != null) {
+ result = siemensS7Net.Write("V2000.2", command.getReset());
+ // 鍒犻櫎鎸囦护
+ } else if (command.getDelete() != null) {
+ result = siemensS7Net.Write("V2000.3", command.getDelete());
+ // 鏃犳晥鎸囦护
+ } else if (command.getRun() != null) {
+ result = siemensS7Net.Write("V1016", command.getRun());
+ // 鏃犳晥鎸囦护
+ }else {
+ return false;
+ }
+ }
+
+ // 浠诲姟瀹屾垚
+ } else {
+ siemensS7Net.Write("V2000.0", false);
+ siemensS7Net.Write("V998", (short) 0);
+ siemensS7Net.Write("V1000", (short) 0);
+ result = siemensS7Net.Write("V2000.1", true);
}
try {
// 鏃ュ織璁板綍
- BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
- BasCrnOpt basCrnOpt = new BasCrnOpt(
- command.getTaskNo().intValue(), // 浠诲姟鍙�
- command.getCrnNo(), // 绌挎杞闈炵┖]
- new Date(), // 涓嬪彂鏃堕棿
- command.getTaskModeType().toString(), // 妯″紡
- command.getSourcePosX().intValue(), // 婧愭帓
- command.getSourcePosY().intValue(), // 婧愬垪
- command.getSourcePosZ().intValue(), // 婧愬眰
- null, // 婧愮珯
- command.getDestinationPosX().intValue(), // 鐩爣鎺�
- command.getDestinationPosY().intValue(), // 鐩爣鍒�
- command.getDestinationPosZ().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);
+ if (!command.getComplete() && command.getTaskMode() != 0) {
+ BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
+ if (null != bean) {
+ BasSteOpt basSteOpt = new BasSteOpt(
+ command.getTaskNo(), // 浠诲姟鍙�
+ command.getSteNo(), // 绌挎杞�
+ new Date(), // 涓嬪彂鏃堕棿
+ command.getTaskModeType().desc, // 浣滀笟
+ null, // 婧愭帓
+ null, // 婧愬垪
+ null, // 婧愬眰
+ null, // 婧愮珯
+ null, // 鐩爣鎺�
+ null, // 鐩爣鍒�
+ null, // 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
+ null // 澶囨敞
+ );
+ bean.insert(basSteOpt);
+ }
+ }
+
} catch (Exception ignore) {}
- if (result.IsSuccess) {
- log.info("绌挎杞﹀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)));
+ if (result != null && result.IsSuccess) {
+ // 缁存姢鏁版嵁搴撴帓鍒楀眰
+ if (!steProtocol.getWaiting()) {
+ if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) {
+ this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());
+ }
+ }
+
+ News.info("绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.STE.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}銆戝啓鍏ョ┛姊溅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("鍐欏叆绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.STE.offer(MessageFormat.format("銆恵0}銆戝啓鍏ョ┛姊溅plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ News.error("鍐欏叆绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
+ }
+
+ public void modifyPos(Integer row, Integer bay, Integer lev) {
+ BasSteService service = SpringUtils.getBean(BasSteService.class);
+ if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
+ News.error("鏇存柊{}鍙风┛姊溅瀹氫綅澶辫触 ===>> 鎺掞細銆恵}銆�, 鍒楋細銆恵}銆戯紝灞傦細銆恵}銆�", this.slave.getId(), row, bay, lev);
+ }
+ }
+
+ public boolean confirmPos() {
+ BasSteService service = SpringUtils.getBean(BasSteService.class);
+ BasSte basSte = service.selectById(slave.getId());
+ if (basSte != null) {
+ // 鏇存柊plc鏁版嵁鍧�
+ short[] arr = new short[] {basSte.getRow().shortValue(), basSte.getBay().shortValue(), basSte.getLev().shortValue()};
+ OperateResult result = siemensS7Net.Write("V1002", arr);
+ if (result.IsSuccess) {
+ // 鏇存柊鏁版嵁搴�
+ if (service.updatePakMk(this.slave.getId(), "N")) {
+ return true;
+ } else {
+ News.error("{}鍙风┛姊溅淇敼鏁版嵁搴撳畾浣嶅け璐ワ紒锛侊紒", slave.getId());
+ }
+ }
+ }
+ return false;
+ }
+
+ public boolean modifyPosHandle(Integer row, Integer bay, Integer lev) {
+ short[] arr = new short[] {row.shortValue(), bay.shortValue(), lev.shortValue()};
+ OperateResult result = siemensS7Net.Write("V1002", arr);
+ if (!result.IsSuccess) {
+ News.error("鏇存柊{}鍙风┛姊溅瀹氫綅澶辫触 ===>> 鎺掞細銆恵}銆�, 鍒楋細銆恵}銆戯紝灞傦細銆恵}銆�", this.slave.getId(), row, bay, lev);
+ return false;
+ }
+ BasSteService service = SpringUtils.getBean(BasSteService.class);
+ if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
+ News.error("鏇存柊{}鍙风┛姊溅瀹氫綅澶辫触 ===>> 鎺掞細銆恵}銆�, 鍒楋細銆恵}銆戯紝灞傦細銆恵}銆�", this.slave.getId(), row, bay, lev);
+ return false;
+ }
+ return true;
}
@Override
@@ -282,110 +482,64 @@
}
OperateResult write = siemensS7Net.Write("D10", heartBeatVal);
if (!write.IsSuccess) {
- log.error("杈撻�佺嚎plc缂栧彿={} 蹇冭烦澶辫触", slave.getId());
+ News.error("杈撻�佺嚎plc缂栧彿={} 蹇冭烦澶辫触", slave.getId());
}
}
+// public void modifyPos(int wrkNo, int row, int bay, int lev) {
+// BasSteService service = SpringUtils.getBean(BasSteService.class);
+// if (!service.updatePos(wrkNo,this.slave.getId(), row, bay, lev)) {
+// News.error("鏇存柊{}鍙风┛姊溅瀹氫綅澶辫触 ===>> 鎺掞細銆恵}銆�, 鍒楋細銆恵}銆戯紝灞傦細銆恵}銆�", this.slave.getId(), row, bay, lev);
+// }
+// }
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
public static void main(String[] args) throws InterruptedException {
-// CrnSlave slave = new CrnSlave();
-// slave.setId(1);
-// slave.setIp("192.168.3.39");
-// slave.setPort(5015);
-// slave.setRack(0);
-// slave.setSlot(0);
-// SteThread melsecCrnThread = new SteThread(slave);
-// melsecCrnThread.connect();
-// melsecCrnThread.readStatus();
-// System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
+ SteSlave slave = new SteSlave();
+ slave.setId(1);
+ slave.setIp("192.168.2.1");
+ slave.setPort(502);
+ SteThread thread = new SteThread(slave);
+ thread.connect();
+ thread.readStatus();
+ System.out.println(JSON.toJSONString(thread.steProtocol));
- // 1.鍏ュ簱 婧愬拰鐩爣閮藉彂
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
-// command.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
+ // 浠诲姟浣滀笟
+// SteCommand command = new SteCommand();
+// command.setSteNo(1); // 鍫嗗灈鏈虹紪鍙�
+// Random random = new Random();
+// int taskNo = random.nextInt(9090);
+// command.setTaskNo(taskNo); // 宸ヤ綔鍙�
+// command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 浠诲姟妯″紡
+// thread.write(command);
- // 2.鍑哄簱 婧愬拰鐩爣閮藉彂
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.PAKOUT); // 浠诲姟妯″紡
-// command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short) 4); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
+ // 浠诲姟瀹屾垚
+// SteCommand command = new SteCommand();
+// command.setSteNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setComplete(Boolean.TRUE); // 浠诲姟妯″紡
+// thread.write(command);
+ // 鎺у埗妯″紡
+// SteCommand command = new SteCommand();
+// command.setControlMode((short) 1);
+// thread.write(command);
-// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
+ // 澶嶄綅淇″彿
+// SteCommand command = new SteCommand();
+// command.setReset(Boolean.TRUE);
+// thread.write(command);
- // 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// command.setSourcePosX((short)1); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short)1); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)1); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
+ // 鍒犻櫎鎸囦护
+// SteCommand command = new SteCommand();
+// command.setDelete(Boolean.TRUE);
+// thread.write(command);
-// // 5.鍥炲師鐐� 涓嶇敤鍙� pass
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
-// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
-
-
- // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
-// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
-// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
-// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
-// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
-// Thread.sleep(3000L);
-// crnThread.write(command);
-// }
+ // 绌挎杞﹁繍琛岀姝�
+ SteCommand command = new SteCommand();
+ command.setRun((short)0);
+ thread.write(command);
}
--
Gitblit v1.9.1