From d9b90148df8ce5b6ae7cba019359430df8c61742 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期六, 16 八月 2025 16:42:21 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 614 +++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 438 insertions(+), 176 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index df569ca..67269ed 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -11,14 +11,18 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
+import com.zy.common.utils.News;
+import com.zy.core.RgvThread2;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
+import com.zy.core.enums.RgvTaskStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
@@ -33,7 +37,7 @@
*/
@Data
@Slf4j
-public class RgvThread implements Runnable, ThreadHandler {
+public class RgvThread implements Runnable, RgvThread2 {
private SiemensS7Net siemensNet;
private RgvSlave slave;
@@ -46,6 +50,13 @@
* 宸ヤ綅2澶嶄綅淇″彿
*/
private boolean resetFlag2 = false;
+
+ //閿佸畾鏍囪
+ private boolean PakMk = true;
+ //鍏ュ簱鏍囪
+ private boolean PakIn = true;
+ //鍑哄簱鏍囪
+ private boolean PakOut = true;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -76,9 +87,9 @@
write1((RgvCommand) task.getData());
break;
// //宸ヤ綅2鍐欏叆鏁版嵁
-// case 5:
-// write2((RgvCommand) task.getData());
-// break;
+ case 5:
+ write2((RgvCommand) task.getData());
+ break;
// 澶嶄綅
case 3:
RgvCommand command = (RgvCommand) task.getData();
@@ -86,38 +97,47 @@
command = new RgvCommand();
}
command.setRgvNo(slave.getId()); // RGV缂栧彿
- command.setTaskNo1((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
- 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.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
-// command.setSourceStaNo2((short)0); // 婧愮珯
-// command.setDestinationStaNo2((short)0); // 鐩爣绔�
- command.setCommand((short)0);
- write(command);
+ command.setTaskNo1(0); // 宸ヤ綔鍙�
+ command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command.setTargetPosition1( 0); // 婧愮珯
+ command.setEndStaNo1(0); // 鐩爣绔�
+ command.setCommand(false);
+ write1(command);
+ break;
+ case 6:
+ RgvCommand command2 = (RgvCommand) task.getData();
+ if (null == command2) {
+ command2 = new RgvCommand();
+ }
+ command2.setRgvNo(slave.getId()); // RGV缂栧彿
+ command2.setTaskNo2(0); // 宸ヤ綔鍙�
+ command2.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
+ command2.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command2.setTargetPosition2( 0); // 婧愮珯
+ command2.setEndStaNo2(0); // 鐩爣绔�
+ command2.setCommand(false);
+ write2(command2);
break;
// 鍥炲師鐐� 閬胯
case 9:
- RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
- if (null == commandAvoidanceXY) {
- commandAvoidanceXY = new RgvCommand();
- }
- commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
- commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
- commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
- commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
- commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
-// commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
-// commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
-// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
-// commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
-// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
- commandAvoidanceXY.setCommand((short)0);
- write(commandAvoidanceXY);
+// RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
+// if (null == commandAvoidanceXY) {
+// commandAvoidanceXY = new RgvCommand();
+// }
+// commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
+// commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
+// commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+// commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+// commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
+// commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
+//// commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+//// commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+//// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+//// commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
+//// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
+// commandAvoidanceXY.setCommand((short)0);
+// write(commandAvoidanceXY);
break;
default:
break;
@@ -137,20 +157,30 @@
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
}
- rgvProtocol.setMode((short) -1);
+ //灏忚溅鐘舵��
rgvProtocol.setStatus((short)-1);
- rgvProtocol.setTaskNo1((short)0);
+ rgvProtocol.setRgvPosDestination(0);
+ rgvProtocol.setMode((short) -1);
+ rgvProtocol.setRgvPos(0);
+ rgvProtocol.setErr1(false);
+ rgvProtocol.setErr2(false);
+ rgvProtocol.setErr3(false);
+ rgvProtocol.setErr4(false);
+ rgvProtocol.setErr5(false);
+ rgvProtocol.setErr6(false);
+ rgvProtocol.setErr7(false);
+ //宸ヤ綅1鐘舵��
+ rgvProtocol.setTaskNo1(0);
rgvProtocol.setStatus1((short)-1);
- rgvProtocol.setLoaded1((short)0);
- rgvProtocol.setWalkPos((short)0);
- rgvProtocol.setRgvPos((short)0);
-// rgvProtocol.setTaskNo2((short)0);
-// rgvProtocol.setStatus2((short)-1);
-// rgvProtocol.setLoaded2((short)0);
- rgvProtocol.setAlarm((short)0);
- rgvProtocol.setxSpeed((short) 0);
- rgvProtocol.setxDistance((short) 0);
- rgvProtocol.setxDuration((short) 0);
+ rgvProtocol.setLoaded1(false);
+ //宸ヤ綅2鐘舵��
+ rgvProtocol.setTaskNo2(0);
+ rgvProtocol.setStatus2((short)-1);
+ rgvProtocol.setLoaded2(false);
+// rgvProtocol.setAlarm((short)0);
+// rgvProtocol.setxSpeed((short) 0);
+// rgvProtocol.setxDistance((short) 0);
+// rgvProtocol.setxDuration((short) 0);
}
@Override
@@ -173,6 +203,14 @@
return result;
}
+ private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
+ if (value) {
+ buffer[byteIndex] |= (1 << bitIndex); // 缃綅
+ } else {
+ buffer[byteIndex] &= ~(1 << bitIndex); // 娓呴浂
+ }
+ }
+
/**
* 璇诲彇鐘舵��
*/
@@ -182,22 +220,47 @@
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
+ rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0));
+
}
- rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
- rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
- rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
+ rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
+ rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
+ rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
+ rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
+
+ boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
+ rgvProtocol.setLoaded1(status1[0]);
+ rgvProtocol.setLoaded2(status1[1]);
+ boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 26, 1);
+ rgvProtocol.setErr1(status2[0]);
+ rgvProtocol.setErr2(status2[1]);
+ rgvProtocol.setErr3(status2[2]);
+ rgvProtocol.setErr4(status2[3]);
+ rgvProtocol.setErr5(status2[4]);
+ rgvProtocol.setErr6(status2[5]);
+ rgvProtocol.setErr7(status2[6]);
+ boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
+ rgvProtocol.setErr1(status3[0]);
+ rgvProtocol.setErr2(status3[1]);
+ rgvProtocol.setErr3(status3[2]);
+ rgvProtocol.setErr4(status3[3]);
+ rgvProtocol.setErr5(status3[4]);
+ rgvProtocol.setErr6(status3[5]);
+ rgvProtocol.setErr7(status3[6]);
+
+// rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+// rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+// rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
// rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
- rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
+// rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
// rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
// rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
// rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
@@ -212,24 +275,24 @@
|| rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
if (resetFlag1) {
RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish1((short)1);
- if (write(rgvCommand)) {
+ rgvCommand.setAckFinish1(true);
+ if (write1(rgvCommand)) {
resetFlag1 = false;
}
}
}
- // 宸ヤ綅2澶嶄綅淇″彿
-// if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
-// || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
-// if (resetFlag2) {
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setAckFinish2((short)1);
-// if (write(rgvCommand)) {
-// resetFlag2 = false;
-// }
-// }
-// }
+// 宸ヤ綅2澶嶄綅淇″彿
+ if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
+ || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
+ if (resetFlag2) {
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setAckFinish2(true);
+ if (write2(rgvCommand)) {
+ resetFlag2 = false;
+ }
+ }
+ }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -247,83 +310,83 @@
} else {
initRgv();
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());
+// 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.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());
+// log.error("璇诲彇RGV plc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
initRgv();
}
}
- /**
- * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
- */
- private boolean write(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
-// convertRow(command);
- command.setRgvNo(slave.getId());
- short[] array = new short[11];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
- array[2] = command.getTaskMode1();
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
+// /**
+// * 宸ヤ綅1銆�2鍚屾椂鍐欏叆鏁版嵁
+// */
+// private boolean write(RgvCommand command) throws InterruptedException {
+// if (null == command) {
+// log.error("RGV鍐欏叆鍛戒护涓虹┖");
+// return false;
+// }
+//// convertRow(command);
+// command.setRgvNo(slave.getId());
+// short[] array = new short[11];
// array[0] = command.getAckFinish1();
// array[1] = command.getTaskNo1();
// array[2] = command.getTaskMode1();
// array[3] = command.getSourceStaNo1();
// array[4] = command.getDestinationStaNo1();
-// array[5] = command.getAckFinish2();
-// array[6] = command.getTaskNo2();
-// array[7] = command.getTaskMode2();
-// array[8] = command.getSourceStaNo2();
-// array[9] = command.getDestinationStaNo2();
-// array[10] = command.getCommand();
- OperateResult result = siemensNet.Write("DB100.0", array);
-
-// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
-// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
-// Thread.sleep(100L);
-// result = siemensNet.Write("DB100.20", commandFinish);
+//// array[0] = command.getAckFinish1();
+//// array[1] = command.getTaskNo1();
+//// array[2] = command.getTaskMode1();
+//// array[3] = command.getSourceStaNo1();
+//// array[4] = command.getDestinationStaNo1();
+//// array[5] = command.getAckFinish2();
+//// array[6] = command.getTaskNo2();
+//// array[7] = command.getTaskMode2();
+//// array[8] = command.getSourceStaNo2();
+//// array[9] = command.getDestinationStaNo2();
+//// array[10] = command.getCommand();
+// OperateResult result = siemensNet.Write("DB100.0", array);
+//
+//// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
+//// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
+//// Thread.sleep(100L);
+//// result = siemensNet.Write("DB100.20", commandFinish);
+//// }
+//
+// try {
+// // 鏃ュ織璁板綍
+// BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+// BasRgvOpt basRgvOpt = new BasRgvOpt(
+// command.getTaskNo1().intValue(),
+// command.getTaskNo2().intValue(),
+// command.getRgvNo(),
+// new Date(),
+// command.getTaskModeType1().toString(),
+// command.getSourceStaNo1().intValue(),
+// command.getDestinationStaNo1().intValue(),
+// command.getSourceStaNo2().intValue(),
+// command.getDestinationStaNo2().intValue(),
+// null,
+// new Date(),
+// null
+// );
+// bean.insert(basRgvOpt);
+// } catch (Exception ignore) {}
+//
+// if (result != null && result.IsSuccess) {
+// Thread.sleep(200);
+// this.readStatus();
+// log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+// OutputQueue.RGV.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.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV 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RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+// return false;
// }
-
- try {
- // 鏃ュ織璁板綍
- BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
- BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1().intValue(),
- command.getTaskNo2().intValue(),
- command.getRgvNo(),
- new Date(),
- command.getTaskModeType1().toString(),
- command.getSourceStaNo1().intValue(),
- command.getDestinationStaNo1().intValue(),
- command.getSourceStaNo2().intValue(),
- command.getDestinationStaNo2().intValue(),
- null,
- new Date(),
- null
- );
- bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
-
- if (result != null && result.IsSuccess) {
- Thread.sleep(200);
- this.readStatus();
- log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.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.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV 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RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
+// }
/**
* 宸ヤ綅1鍐欏叆鏁版嵁
@@ -334,44 +397,155 @@
return false;
}
-// siemensNet.Write("DB100.20", command.getCommand());
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
+// OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
+ if (result1.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
+ one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
+ one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
+ one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
+// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
+// one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
+// one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
+// one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
+// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
+// one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));
- command.setRgvNo(slave.getId());
- short[] array = new short[5];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
- array[2] = command.getTaskMode1();
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
- siemensNet.Write("DB100.10", command.getCommand());
-
- OperateResult result = siemensNet.Write("DB100.0", array);
-
- if (command.getAckFinish1() == 0) {
- short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
- Thread.sleep(100L);
- result = siemensNet.Write("DB100.10", commandFinish);
+ News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
}
+
+
+ OperateResult result2 = siemensNet.Write("DB100.34", false);
+ if (result2.IsSuccess){
+ News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
+ }
+ byte[] writeBytes = new byte[34];
+ command.setRgvNo(slave.getId());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
+ setBool(writeBytes, 32, 0, command.getAckFinish1());
+
+// command.setRgvNo(slave.getId());
+// short[] array = new short[5];
+// array[0] = command.getAckFinish1();
+// array[1] = command.getTaskNo1();
+// array[2] = command.getTaskMode1();
+// array[3] = command.getSourceStaNo1();
+// array[4] = command.getDestinationStaNo1();
+// siemensNet.Write("DB100.10", command.getCommand());
+
+ OperateResult result = siemensNet.Write("DB100.0", writeBytes);
+
+ if (!result.IsSuccess){
+ News.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(4,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) 34);
+ if (resultRead.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
+ one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
+ if (
+ !command.getDirection1().equals(one.getDirection1()) ||
+ !command.getTaskNo1().equals(one.getTaskNo1()) ||
+ !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
+ !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
+ !command.getTargetPosition1().equals(one.getTargetPosition1())
+ ) {
+ try{
+ News.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{
+ News.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){
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+ News.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(4, command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }else {
+ News.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));
+ }
+ }
+ }catch (Exception e){
+ News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+
+ if (command.getAckFinish1()) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ boolean commandFinish = false;
+ result = siemensNet.Write("DB100.32.0", commandFinish);
+ if(result.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("DB100.32", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
+ if (!commandFinish){
+ News.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
+ News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
+ }
+
+// if (command.getAckFinish1() == 0) {
+// short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
+// Thread.sleep(200);
+// result = siemensNet.Write("DB100.10", commandFinish);
+// }
try {
// 鏃ュ織璁板綍
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1().intValue(),
- command.getTaskNo2().intValue(),
+ command.getTaskNo1(),
command.getRgvNo(),
new Date(),
- command.getTaskModeType1().toString(),
- command.getSourceStaNo1().intValue(),
- command.getDestinationStaNo1().intValue(),
- command.getSourceStaNo2().intValue(),
- command.getDestinationStaNo2().intValue(),
+ command.getTaskStatus1().toString(),
+ command.getTargetPosition1(),
+ command.getEndStaNo1(),
null,
new Date(),
null
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
@@ -395,36 +569,124 @@
return false;
}
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
+ if (result1.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
+ one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
+ one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
+ one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
+ one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
+ News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+
+
+ OperateResult result2 = siemensNet.Write("DB100.34", false);
+ if (result2.IsSuccess){
+ News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
+ }
+ byte[] writeBytes = new byte[34];
command.setRgvNo(slave.getId());
- short[] array = new short[6];
- array[0] = command.getAckFinish2();
- array[1] = command.getTaskNo2();
- array[2] = command.getTaskMode2();
- array[3] = command.getSourceStaNo2();
- array[4] = command.getDestinationStaNo2();
- array[5] = command.getCommand();
+ siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
+ siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
+ siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
+ setBool(writeBytes, 32, 1, command.getAckFinish2());
- OperateResult result = siemensNet.Write("DB100.10", array);
+ OperateResult result = siemensNet.Write("DB100.0", writeBytes);
- if (command.getAckFinish2() == 0) {
- short commandFinish = 2; //宸ヤ綅2浠诲姟鍐欏叆
- Thread.sleep(100L);
- result = siemensNet.Write("DB100.20", commandFinish);
+ if (!result.IsSuccess){
+ News.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(5,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) 34);
+ if (resultRead.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
+ one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
+ one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
+ if (
+ !command.getDirection2().equals(one.getDirection2()) ||
+ !command.getTaskNo2().equals(one.getTaskNo2()) ||
+ !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
+ !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
+ !command.getTargetPosition2().equals(one.getTargetPosition2())
+ ) {
+ try{
+ News.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{
+ News.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){
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+ News.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(5, command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }else {
+ News.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));
+ }
+ }
+ }catch (Exception e){
+ News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+
+ if (command.getAckFinish1()) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ boolean commandFinish = false;
+ result = siemensNet.Write("DB100.32.1", commandFinish);
+ if(result.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("DB100.32", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
+ if (!commandFinish){
+ News.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
+ News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
}
try {
// 鏃ュ織璁板綍
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
BasRgvOpt basRgvOpt = new BasRgvOpt(
- command.getTaskNo1().intValue(),
- command.getTaskNo2().intValue(),
+ command.getTaskNo2(),
command.getRgvNo(),
new Date(),
- command.getTaskModeType1().toString(),
- command.getSourceStaNo1().intValue(),
- command.getDestinationStaNo1().intValue(),
- command.getSourceStaNo2().intValue(),
- command.getDestinationStaNo2().intValue(),
+ command.getTaskStatus2().toString(),
+ command.getTargetPosition2(),
+ command.getEndStaNo2(),
null,
new Date(),
null
--
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