From d66490d4dfbc811bca51a98c08dbbc444e258a30 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 27 九月 2022 10:52:49 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/SteThread.java | 450 ++++++++++++++++++++++++++++++-------------------------
1 files changed, 246 insertions(+), 204 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..a278c53 100644
--- a/src/main/java/com/zy/core/thread/SteThread.java
+++ b/src/main/java/com/zy/core/thread/SteThread.java
@@ -5,19 +5,19 @@
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.service.BasSteOptService;
+import com.zy.asrs.service.BasSteService;
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.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 +31,7 @@
/**
* 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 +67,11 @@
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();
@@ -104,38 +87,28 @@
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()));
+ 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()));
log.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()));
+ 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()));
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());
initSte();
}
@@ -148,35 +121,61 @@
*/
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);
+ }
+ 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.setChargeStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 44));
+
+ 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()));
// 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;
}
}
@@ -184,22 +183,29 @@
// 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))){
+ 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());
+ }
+
+ }
} 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()));
+// 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());
initSte();
}
@@ -213,57 +219,139 @@
log.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);
+ command.setSteNo(slave.getId());
+ OperateResult result = null;
+ // 寮�濮嬩换鍔�
+ if (!command.getComplete()) {
+ // 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);
+ }
- 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("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) {
+ 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());
+ }
+ }
+
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)));
+ 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()));
+ 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()));
log.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)) {
+ log.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 {
+ log.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) {
+ log.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)) {
+ log.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
@@ -286,106 +374,60 @@
}
}
+// 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)) {
+// log.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