From e1783e196a4ada918268b9f81bfb3a19641e0626 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:24:09 +0800
Subject: [PATCH] 提升机状态读取、提升机高度设定、提升机操作方案
---
src/main/java/com/zy/core/thread/LiftThread.java | 161 ++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 110 insertions(+), 51 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 0b39f99..d5d2986 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -5,18 +5,13 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
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.BasLift;
import com.zy.asrs.entity.BasLiftOpt;
-import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.service.BasLiftOptService;
import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.service.BasShuttleOptService;
-import com.zy.asrs.service.BasShuttleService;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
@@ -114,7 +109,7 @@
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 50);
+ OperateResultExOne<byte[]> result = modbusTcpNet.Read("41117", (short) 50);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -128,46 +123,49 @@
liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
//浣嶇疆鍒拌揪鍙嶉
liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
- //鍑嗗灏辩华
- liftProtocol.setReady(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,4)));
- //杩愯涓�
- liftProtocol.setRunning(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,6)));
- //鑱旀満/鍗曟満
- liftProtocol.setMode(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,8)));
- //浠ヤ笅鍙傛暟骞舵湭杩涜璋冩暣(闇�瑕佸悗缁拡瀵瑰疄鏈鸿繘琛岃幏鍙栧拰璋冭瘯)
+ byte by = modbusTcpNet.getByteTransform().TransByte(content, 5);
+ int[] datas = CommonUtils.byteToBits(by);
+ //鍑嗗灏辩华
+ liftProtocol.setReady(CommonUtils.intToBoolean(datas[0]));
+ //杩愯涓�
+ liftProtocol.setRunning(CommonUtils.intToBoolean(datas[1]));
+ //鑱旀満/鍗曟満
+ liftProtocol.setMode(CommonUtils.intToBoolean(datas[2]));
//杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
+ liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas[3]));
//杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,12));
+ liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas[4]));
//杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,14));
+ liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas[5]));
//杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,16));
+ liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas[6]));
//杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,18));
+ liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas[7]));
//杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,20));
+ liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[8]));
//鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,22));
+ liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[9]));
//骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,24));
+ liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas[10]));
//骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,26));
+ liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas[11]));
//骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,28));
+ liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas[12]));
+
+
//鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,30));
+ liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
//浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,32));
+ liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
//浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,34));
+ liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
//浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,36));
+ liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
//浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,38));
+ liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14));
//鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,40));
+ liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));
///璇诲彇鎻愬崌鏈虹姸鎬�-end
@@ -266,12 +264,16 @@
//鍥涘眰楂樺害璁惧畾
array[5] = command.getHeight4();
}
+ if (command.getHeight5() != null) {
+ //鍥涘眰楂樺害璁惧畾
+ array[6] = command.getHeight5();
+ }
if (command.getLiftLockShortValue() != null) {
//鎻愬崌鏈洪攣瀹�
array[29] = command.getLiftLockShortValue();
}
- OperateResult result = modbusTcpNet.Write("0", array);;
+ OperateResult result = modbusTcpNet.Write("41088", array);;
if (result != null && result.IsSuccess) {
News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.LIFT.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)));
@@ -296,19 +298,25 @@
}
liftProtocol.setTaskNo(assignCommand.getTaskNo());
switch (assignCommand.getTaskMode()) {
- case 1://涓婂崌涓�灞�
- command = getLiftUpDownCommand(++lev);//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ case 1://绉诲姩鎻愬崌鏈�
+ command = getLiftUpDownCommand(assignCommand.getLev());//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
break;
- case 2://涓嬮檷涓�灞�
- command = getLiftUpDownCommand(--lev);//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ case 3://鏃犺揣姝ｈ浆
+ command = getLiftTurnCommand(3);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 3://鏈夎揣姝ｈ浆
+ case 4://鏃犺揣鍙嶈浆
+ command = getLiftTurnCommand(4);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 5://鏈夎揣姝ｈ浆
command = getLiftTurnCommand(1);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 4://鏈夎揣鍙嶈浆
+ case 6://鏈夎揣鍙嶈浆
command = getLiftTurnCommand(2);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
break;
- case 5://澶嶄綅
+ case 7://閾炬潯鍋滄
+ command = getLiftTurnCommand(5);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 0://澶嶄綅
command = getResetCommand();//鑾峰彇澶嶄綅鍛戒护
break;
default:
@@ -402,12 +410,6 @@
News.info("鎻愬崌鏈烘墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
}
- //涓嬪彂涓�鏉℃彁鍗囨満瑙ｉ攣鍛戒护
- LiftCommand unlockCommand = getUnlockCommand(command.getLiftNo());
- if (write(unlockCommand)) {
- News.info("鎻愬崌鏈虹姸鎬佸凡瑙ｉ攣锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }
-
}
}
@@ -430,7 +432,7 @@
*/
public LiftCommand getResetCommand() {
LiftCommand command = new LiftCommand();
- command.setRun((short) 0);
+ command.setRun((short) 5);
command.setLiftLock(false);
return command;
}
@@ -438,10 +440,35 @@
/**
* 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
*/
- public LiftCommand getLiftUpDownCommand(Short lev) {
+ public LiftCommand getLiftUpDownCommand(Integer lev) {
LiftCommand command = new LiftCommand();
command.setRun((short) 1);//鍗囬檷
- command.setDistPosition(lev);
+ Short position = 1;
+ switch (lev) {
+ case 1:
+ position = 1;
+ break;
+ case 2:
+ position = 2;
+ break;
+ case 3:
+ position = 4;
+ break;
+ case 4:
+ position = 8;
+ break;
+ case 5:
+ position = 16;
+ break;
+ default:
+ position = 1;
+ }
+ command.setDistPosition(position);
+ command.setSpeed((short) 200);
+ command.setHeight2((short) 180);
+ command.setHeight3((short) 1645);
+ command.setHeight4((short) (2 * 1645));
+ command.setHeight5((short) (3 * 1645));
return command;
}
@@ -454,16 +481,32 @@
command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
command.setTaskNo(taskNo);//浠诲姟鍙�
command.setDistPosition(lev);//鐩爣妤煎眰1灞�
- command.setLiftLock(true);//閿佸畾鎻愬崌鏈�
return command;
}
/**
- * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞�
+ * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞紝3=>鏃犺揣姝ｈ浆锛�4=>鏃犺揣鍙嶈浆
*/
public LiftCommand getLiftTurnCommand(Integer direction) {
LiftCommand command = new LiftCommand();
- command.setRun(direction == 1 ? (short) 6 : (short) 3);
+ Short run = 0;
+ switch (direction) {
+ case 1:
+ run = 6;//鏈夎揣姝ｈ浆
+ break;
+ case 2:
+ run = 3;//鏈夎揣鍙嶈浆
+ break;
+ case 3:
+ run = 2;//鏃犺揣姝ｈ浆
+ break;
+ case 4:
+ run = 7;//鏃犺揣鍙嶈浆
+ break;
+ case 5:
+ run = 4;//閾炬潯鍋滄
+ }
+ command.setRun(run);
return command;
}
@@ -472,10 +515,26 @@
*/
public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
LiftCommand command = new LiftCommand();
- command.setRun(direction == 1 ? (short) 6 : (short) 3);
+ Short run = 0;
+ switch (direction) {
+ case 1:
+ run = 6;//鏈夎揣姝ｈ浆
+ break;
+ case 2:
+ run = 3;//鏈夎揣鍙嶈浆
+ break;
+ case 3:
+ run = 2;//鏃犺揣姝ｈ浆
+ break;
+ case 4:
+ run = 7;//鏃犺揣鍙嶈浆
+ break;
+ case 5:
+ run = 4;//閾炬潯鍋滄
+ }
+ command.setRun(run);
command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
command.setTaskNo(taskNo);//浠诲姟鍙�
- command.setLiftLock(true);//閿佸畾鎻愬崌鏈�
return command;
}
--
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