From d957e8b917d64f118ef82e6a569e5df233967363 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 22 八月 2025 09:06:48 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/thread/RoboticArmThread.java | 157 ++++++++++++++++++++++++++
src/main/java/com/zy/core/MainProcess.java | 152 ++++++++++++++----------
2 files changed, 245 insertions(+), 64 deletions(-)
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 9a5ab61..525972c 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -24,6 +24,7 @@
private MainServiceImpl mainService;
// 鎵�灞炵嚎绋�
private Thread thread;
+ private Thread thread2;
// 棰戠巼
private int i = 0;
private int k = 0;
@@ -33,75 +34,81 @@
* =====>> 寮�濮嬪伐浣�
*/
public void start(){
- thread = new Thread(() -> {
- while (!Thread.currentThread().isInterrupted()) {
- try {
+ thread = new Thread(this::crnAndDevRun);
+ thread.start();
- // 闂撮殧
- Thread.sleep(1000);
+ thread2 = new Thread(this::roboticArmDispatch);
+// thread2.start();
+ }
+ private void crnAndDevRun() {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
- // 绯荤粺杩愯鐘舵�佸垽鏂�
- if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
- continue;
- }
+ // 闂撮殧
+ Thread.sleep(1000);
- // 婕旂ず
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+
+ // 婕旂ず
// mainService.crnDemoOfLocMove1();
- //鍒锋柊RGV鍦板浘
- mainService.refreshRgvMap();
+ //鍒锋柊RGV鍦板浘
+ mainService.refreshRgvMap();
- // 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
+ // 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
// mainService.ioConvert();
- // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- mainService.stnToCrnStnPick(3);
+ // 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
+ mainService.stnToCrnStnPick(3);
// mainService.stnToCrnStnPick2();
- // 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
- mainService.generateStoreWrkFile(1); // 缁勬墭
+ // 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
+ mainService.generateStoreWrkFile(1); // 缁勬墭
// mainService.generateStoreWrkFile0(2); // WMS鍏ュ簱
- Thread.sleep(500);
+ Thread.sleep(500);
- // 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
- mainService.crnStnToOutStn(4);
- // 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- mainService.crnIoExecute(5);
- // 鍏ュ嚭搴撳寮� ===>> 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
+ // 鍑哄簱 ===>> 鍫嗗灈鏈哄嚭搴撶珯鍒板嚭搴撶珯
+ mainService.crnStnToOutStn(4);
+ // 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ mainService.crnIoExecute(5);
+ // 鍏ュ嚭搴撳寮� ===>> 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
// mainService.crnIoWrkMast();
- // 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- mainService.storeFinished(6);
- // 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- mainService.recCrnErr(7);
- // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
- mainService.storeEmptyPlt(8);
- // 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- mainService.ledExecute(9);
- // 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- mainService.ledReset();
- //鍫嗗灈鏈鸿鎺ヤ换鍔＄敓鎴�
- mainService.connectWrk(10);
+ // 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
+ mainService.storeFinished(6);
+ // 鍫嗗灈鏈哄紓甯镐俊鎭褰�
+ mainService.recCrnErr(7);
+ // 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ mainService.storeEmptyPlt(8);
+ // 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
+ mainService.ledExecute(9);
+ // 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
+ mainService.ledReset();
+ //鍫嗗灈鏈鸿鎺ヤ换鍔＄敓鎴�
+ mainService.connectWrk(10);
// mainService.outOfDevp(11);
- if (i>10){
- //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
- mainService.autoEmptyOut();
- //绌烘墭鐩樿嚜鍔ㄥ叆搴�
- mainService.autoEmptyIn();
- i=0;
- }
- i++;
+ if (i>10){
+ //绌烘墭鐩樿嚜鍔ㄥ嚭搴�
+ mainService.autoEmptyOut();
+ //绌烘墭鐩樿嚜鍔ㄥ叆搴�
+ mainService.autoEmptyIn();
+ i=0;
+ }
+ i++;
- // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
+ // 鍏朵粬 ===>> 鍏ュ嚭搴撴ā寮忓垏鎹�
// i++;
// if (i > 1) {
// mainService.ioConvert();
// i = 0;
// }
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
//
- //瀹屾垚灏忚溅浠诲姟
+ //瀹屾垚灏忚溅浠诲姟
// mainService.rgvCompleteWrkMastSta();
// //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
@@ -117,32 +124,49 @@
// }
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
- k++;
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+ k++;
- // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
- try{
- //RGV灏忚溅鍑哄叆搴撳彇璐т笅鍙�
- mainService.rgvIoExecute(11);
- }catch (Exception e){
- log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
- }
- //瀹屾垚灏忚溅浠诲姟
- mainService.rgvCompleteWrkMastSta();
- /////////////////////////////////////RGV璋冨害/////////////////////////////////////
-
- } catch (Exception e) {
- e.printStackTrace();
+ // RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂
+ try{
+ //RGV灏忚溅鍑哄叆搴撳彇璐т笅鍙�
+ mainService.rgvIoExecute(11);
+ }catch (Exception e){
+ log.error("RGV ===>> 灏忚溅浠诲姟浣滀笟涓嬪彂寮傚父"+e);
}
+ //瀹屾垚灏忚溅浠诲姟
+ mainService.rgvCompleteWrkMastSta();
+ /////////////////////////////////////RGV璋冨害/////////////////////////////////////
+
+ } catch (Exception e) {
+ e.printStackTrace();
}
- });
- thread.start();
+ }
+ }
+
+ private void roboticArmDispatch() {
+ while (!Thread.currentThread().isInterrupted()) {
+ try {
+
+ // 闂撮殧
+ Thread.sleep(1000);
+
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+ if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
+ continue;
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
}
@PreDestroy
public void shutDown(){
if (thread != null) thread.interrupt();
+ if (thread2 != null) thread2.interrupt();
}
}
diff --git a/src/main/java/com/zy/core/thread/RoboticArmThread.java b/src/main/java/com/zy/core/thread/RoboticArmThread.java
new file mode 100644
index 0000000..b624888
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/RoboticArmThread.java
@@ -0,0 +1,157 @@
+package com.zy.core.thread;
+
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import com.zy.core.ThreadHandler;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * RoboticArm 鏈烘鎵嬬嚎绋�
+ * Created by Monkey D. Luffy on 2025/8/22
+ */
+@Data
+@Slf4j
+public class RoboticArmThread implements Runnable, ThreadHandler {
+
+ private SiemensS7Net siemensS7Net;
+// private RoboticArmSlave slave;
+// private RoboticArmProtocol roboticArmProtocol;
+ private short heartBeatVal = 1;
+ private boolean connectRoboticArm = false;
+
+
+// public RoboticArmThread(RoboticArmSlave slave) {
+// this.slave = slave;
+// }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+
+ connectRoboticArm = this.connect();
+ while(!connectRoboticArm){
+ try {
+ connectRoboticArm = this.connect();
+ Thread.sleep(100);
+ } catch (Exception e){
+
+ }
+ }
+
+ // 鍚姩绾跨▼鑷姩閲嶈繛
+ new Thread(this::roboticArmConnect).start();
+
+ // 鍚姩璇绘暟鎹嚎绋�
+ new Thread(this::readStatusRoboticArm).start();
+
+ // 鍚姩浠诲姟涓嬪彂绾跨▼
+ new Thread(this::taskIssued).start();
+
+
+ }
+
+ /**
+ * 浠诲姟涓嬪彂
+ */
+ private void taskIssued() {
+ while (true) {
+ try {
+// int step = 1;
+// Task task = MessageQueue.poll(SlaveType.RoboticArm, slave.getId());
+// if (task != null) {
+// step = task.getStep();
+// }
+// switch (step) {
+// case 1:
+// break;
+// case 2:
+//// write((RoboticArmCommand) task.getData());
+// break;
+// default:
+// break;
+// }
+ // 蹇冭烦
+// heartbeat();
+ Thread.sleep(200);
+ } catch (Exception e) {
+ log.error("RoboticArm鍐欑嚎绋嬪紓甯�"+e.getMessage());
+ }
+
+ }
+ }
+
+ private void roboticArmConnect() {
+ while (true) {
+ try {
+ Thread.sleep(1000);
+ if(!connectRoboticArm){
+ try {
+ connectRoboticArm = this.connect();
+ Thread.sleep(100);
+ } catch (Exception e){
+
+ }
+ }
+ } catch (Exception e) {
+ initSte();
+ }
+ }
+ }
+
+ private void readStatusRoboticArm() {
+ while (true) {
+ try {
+ Thread.sleep(50);
+
+ readStatus();
+
+ } catch (Exception e) {
+ initSte();
+ }
+
+ }
+
+ }
+
+ /**
+ * 鍒濆鍖栫姸鎬�
+ */
+ private void initSte() {
+
+ }
+
+ @Override
+ public boolean connect() {
+ boolean result = false;
+
+
+ return result;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+
+ }
+//
+// /**
+// * 鍐欏叆鏁版嵁
+// */
+// private synchronized boolean write(String command){
+//
+// }
+
+ @Override
+ public void close() {
+
+ }
+
+ /**
+ * 蹇冭烦
+ */
+ private void heartbeat(){
+
+ }
+
+}
--
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