From e4427640cee143dc0ff4b0d37216f023fc85356c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 10 十月 2020 13:41:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/enums/CrnFingerPosType.java | 41 ++++++++++
src/main/java/com/zy/core/thread/MelsecCrnThread.java | 119 +++++++++++++++++------------
src/main/java/com/zy/core/enums/CrnForkPosType.java | 2
src/main/java/com/zy/core/model/command/CrnCommand.java | 4 +
src/main/java/com/zy/core/model/protocol/CrnProtocol.java | 20 ++++-
5 files changed, 134 insertions(+), 52 deletions(-)
diff --git a/src/main/java/com/zy/core/enums/CrnFingerPosType.java b/src/main/java/com/zy/core/enums/CrnFingerPosType.java
new file mode 100644
index 0000000..76d8c60
--- /dev/null
+++ b/src/main/java/com/zy/core/enums/CrnFingerPosType.java
@@ -0,0 +1,41 @@
+package com.zy.core.enums;
+
+public enum CrnFingerPosType {
+
+ DOWN(2, "涓嬪畾浣�"), // 涓嬪畾浣�
+ UP(1, "涓婂畾浣�"), // 涓婂畾浣�
+ NONE(0, "涓嶅湪瀹氫綅"), // 涓嶅湪瀹氫綅
+ ;
+
+ public Integer id;
+ public String desc;
+ CrnFingerPosType(Integer id, String desc) {
+ this.id = id;
+ this.desc = desc;
+ }
+
+ public static CrnFingerPosType get(Short id) {
+ if (null == id) {
+ return null;
+ }
+ for (CrnFingerPosType type : CrnFingerPosType.values()) {
+ if (type.id.equals(id.intValue())) {
+ return type;
+ }
+ }
+ return null;
+ }
+
+ public static CrnFingerPosType get(CrnFingerPosType type) {
+ if (null == type) {
+ return null;
+ }
+ for (CrnFingerPosType crnLiftPosType : CrnFingerPosType.values()) {
+ if (crnLiftPosType == type) {
+ return crnLiftPosType;
+ }
+ }
+ return null;
+ }
+
+}
diff --git a/src/main/java/com/zy/core/enums/CrnForkPosType.java b/src/main/java/com/zy/core/enums/CrnForkPosType.java
index 2b4aa9e..27143ac 100644
--- a/src/main/java/com/zy/core/enums/CrnForkPosType.java
+++ b/src/main/java/com/zy/core/enums/CrnForkPosType.java
@@ -5,6 +5,8 @@
HOME(0, "璐у弶鍘熶綅"), // 璐у弶鍘熶綅
LEFT(1, "璐у弶鍦ㄥ乏渚�"), // 璐у弶鍦ㄥ乏渚�
RIGHT(2, "璐у弶鍦ㄥ彸渚�"), // 璐у弶鍦ㄥ彸渚�
+ _LEFT(3, "璐у弶鍦ㄥ乏渚ц繙"), // 璐у弶鍦ㄥ彸渚ц繙
+ _RIGHT(4, "璐у弶鍦ㄥ彸渚ц繙"), // 璐у弶鍦ㄥ彸渚ц繙
;
public Integer id;
diff --git a/src/main/java/com/zy/core/model/command/CrnCommand.java b/src/main/java/com/zy/core/model/command/CrnCommand.java
index 549c0ba..a43172b 100644
--- a/src/main/java/com/zy/core/model/command/CrnCommand.java
+++ b/src/main/java/com/zy/core/model/command/CrnCommand.java
@@ -30,6 +30,8 @@
* 5 = 鍥炲師鐐� 涓嶇敤鍙�
* 6 = 鍘诲弽鍘熺偣 鐩爣鍙�
* 7 = 鍧愭爣绉昏 鐩爣鍙�
+ * 90 = 璁剧疆鏃堕棿
+ * 99 = 鍙栨秷褰撳墠浠诲姟
*/
private Short taskMode = 0;
@@ -54,6 +56,8 @@
// 鐩爣浣嶇疆灞傚彿
private Short destinationPosZ = 0;
+ private Short taskSend = 0;
+
public void setTaskMode(Short taskMode){
this.taskMode = taskMode;
this.taskModeType = CrnTaskModeType.get(taskModeType);
diff --git a/src/main/java/com/zy/core/model/protocol/CrnProtocol.java b/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
index 7048559..5969aee 100644
--- a/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
@@ -1,10 +1,7 @@
package com.zy.core.model.protocol;
import com.zy.asrs.entity.BasCrnp;
-import com.zy.core.enums.CrnForkPosType;
-import com.zy.core.enums.CrnLiftPosType;
-import com.zy.core.enums.CrnModeType;
-import com.zy.core.enums.CrnStatusType;
+import com.zy.core.enums.*;
import lombok.Data;
/**
@@ -92,6 +89,16 @@
* 1 = 涓嶅湪瀹氫綅
*/
public Short walkPos;
+
+ /**
+ * 鎷ㄦ寚浣嶇疆
+ * 0 = 涓嶅湪瀹氫綅
+ * 1 = 涓婂畾浣�
+ * 2 = 涓嬪畾浣�
+ */
+ public Short fingerPos;
+
+ public CrnFingerPosType fingerPosType;
/**
* 鍫嗗灈鏈轰换鍔″畬鎴�
@@ -233,6 +240,11 @@
this.status = CrnStatusType.get(type).id.shortValue();
}
+ public void setFingerPos(Short type) {
+ this.fingerPos = type;
+ this.fingerPosType = CrnFingerPosType.get(type);
+ }
+
public void setError1(boolean[] error1){
this.error1 = error1;
this.crnError1 = new CrnError1();
diff --git a/src/main/java/com/zy/core/thread/MelsecCrnThread.java b/src/main/java/com/zy/core/thread/MelsecCrnThread.java
index f9a03c3..f7544ad 100644
--- a/src/main/java/com/zy/core/thread/MelsecCrnThread.java
+++ b/src/main/java/com/zy/core/thread/MelsecCrnThread.java
@@ -2,9 +2,9 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
+import com.core.common.Arith;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnp;
@@ -33,10 +33,12 @@
@Slf4j
public class MelsecCrnThread implements Runnable, CrnThread {
- private SiemensS7Net siemensNet;
+ private MelsecMcNet melsecMcNet;
private CrnSlave slave;
private CrnProtocol crnProtocol;
private boolean resetFlag = false;
+ private short heartBeatVal = 1;
+ private int heartTimes = 0;
public MelsecCrnThread(CrnSlave slave) {
this.slave = slave;
@@ -83,6 +85,12 @@
default:
break;
}
+ // 蹇冭烦 2s涓�娆�
+ heartTimes++;
+ if (Arith.remainder(heartTimes, 4) == 0) {
+ heartbeat();
+ heartTimes = 0;
+ }
Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
@@ -94,10 +102,8 @@
@Override
public boolean connect() {
boolean result = false;
- siemensNet = new SiemensS7Net(SiemensPLCS.S300, slave.getIp());
- siemensNet.setRack(slave.getRack().byteValue());
- siemensNet.setSlot(slave.getSlot().byteValue());
- OperateResult connect = siemensNet.ConnectServer();
+ melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
+ OperateResult connect = melsecMcNet.ConnectServer();
if(connect.IsSuccess){
result = true;
OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
@@ -106,7 +112,7 @@
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [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("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
}
- siemensNet.ConnectClose();
+ melsecMcNet.ConnectClose();
return result;
}
@@ -114,36 +120,33 @@
* 璇诲彇鐘舵��
*/
private void readStatus(){
- OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 62);
+ OperateResultExOne<byte[]> result = melsecMcNet.Read("D1119", (short) 58);
if (result.IsSuccess) {
if (null == crnProtocol) {
crnProtocol = new CrnProtocol();
}
- crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
- crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
- crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
-// crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
- crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- // 寮傚父淇℃伅
- crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
- crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
- crnProtocol.setError3(siemensNet.getByteTransform().TransBool(result.Content, 26, 2));
- crnProtocol.setError4(siemensNet.getByteTransform().TransBool(result.Content, 28, 2));
- crnProtocol.setError5(siemensNet.getByteTransform().TransBool(result.Content, 30, 2));
- crnProtocol.setError6(siemensNet.getByteTransform().TransBool(result.Content, 32, 2));
- crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 34));
- crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 38));
- crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 42));
- crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 46));
- crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 50));
- crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 54));
- crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 58));
+ crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
+ crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
+ crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setFingerPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
+ crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setAlarm1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
+ crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
+ crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 30));
+ crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
+ crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
+ crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
+ crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
+ crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
+ crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
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()));
@@ -181,18 +184,25 @@
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
}
+ if (command.getAckFinish() == 1) {
+ command.setTaskSend((short) 0);
+ } else if (command.getAckFinish() == 0) {
+ command.setTaskSend((short) 1);
+ }
command.setCrnNo(slave.getId());
- short[] array = new short[9];
- 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();
- OperateResult result = siemensNet.Write("DB8.0", array);
+ short[] array = new short[10];
+ array[0] = command.getTaskMode();
+ array[1] = command.getSourcePosY(); // 鍒�
+ array[2] = command.getSourcePosZ(); // 灞�
+ array[3] = command.getSourcePosX(); // 鎺�
+ array[4] = command.getDestinationPosY(); // 鍒�
+ array[5] = command.getDestinationPosZ(); // 灞�
+ array[6] = command.getDestinationPosX(); // 鎺�
+ array[7] = command.getTaskNo();
+ array[8] = command.getTaskSend();
+ array[9] = command.getAckFinish();
+
+ OperateResult result = melsecMcNet.Write("D1001", array);
if (result.IsSuccess) {
log.info("鍫嗗灈鏈哄懡浠や笅鍙慬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)));
@@ -204,9 +214,24 @@
}
}
+ /**
+ * 蹇冭烦
+ */
+ private void heartbeat(){
+ if (heartBeatVal == 1) {
+ heartBeatVal = 0;
+ } else {
+ heartBeatVal = 1;
+ }
+ OperateResult write = melsecMcNet.Write("D1000", heartBeatVal);
+ if (!write.IsSuccess) {
+ log.error("杈撻�佺嚎plc缂栧彿={} 蹇冭烦澶辫触", slave.getId());
+ }
+ }
+
@Override
public void close() {
- siemensNet.ConnectClose();
+ melsecMcNet.ConnectClose();
}
/******************************************************************************************/
@@ -216,8 +241,6 @@
CrnSlave slave = new CrnSlave();
slave.setId(1);
slave.setIp("192.168.6.9");
- slave.setRack(0);
- slave.setSlot(0);
MelsecCrnThread crnThread = new MelsecCrnThread(slave);
crnThread.connect();
crnThread.readStatus();
--
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