From f96a2246074ec51d0930836390fa6e3433141d28 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@63.com>
Date: 星期一, 22 八月 2022 15:17:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/SteThread.java | 347 +++++++++++++++++++++++++++------------------------------
1 files changed, 165 insertions(+), 182 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SteThread.java b/src/main/java/com/zy/core/thread/SteThread.java
index 7111554..db370d0 100644
--- a/src/main/java/com/zy/core/thread/SteThread.java
+++ b/src/main/java/com/zy/core/thread/SteThread.java
@@ -9,6 +9,7 @@
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
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;
@@ -73,7 +74,7 @@
break;
}
// 蹇冭烦
- heartbeat();
+// heartbeat();
Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
@@ -89,23 +90,12 @@
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(0);
+ steProtocol.setExecute(false);
+ steProtocol.setWaiting(false);
}
@Override
@@ -134,52 +124,58 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensS7Net.Read("V20", (short) 70);
+ OperateResultExOne<byte[]> result = siemensS7Net.Read("V800", (short) 70);
if (result.IsSuccess) {
if (null == steProtocol) {
steProtocol = new SteProtocol();
}
-// steProtocol.setSteNo();
-// steProtocol.setMode();
-// steProtocol.setStatus();
-// steProtocol.setExecute();
-// steProtocol.setWaiting();
-// steProtocol.setAlarm();
-// steProtocol.setAlarm0();
-// steProtocol.setCharge();
+ steProtocol.setSteNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
+ steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
+ steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
+ 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();
-// steProtocol.setLoca();
+ steProtocol.setFeed(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
+ steProtocol.setLoca(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
// steProtocol.setCloser();
// steProtocol.setSpeed();
-// steProtocol.setPos();
-// steProtocol.setLoad();
-// steProtocol.setTrack();
-// steProtocol.setTaskNo();
-// steProtocol.setTaskType();
-// steProtocol.setRow();
-// steProtocol.setBay();
-// steProtocol.setLev();
-//
-// steProtocol.setHisTaskNo();
-// steProtocol.setHisTaskStatus();
-// steProtocol.setCheckQty();
-// steProtocol.setReady();
-// steProtocol.setChargeNo();
-//
-// steProtocol.setHeart();
-// steProtocol.setCrnStopRun();
-// steProtocol.setCrnStopFork();
-// steProtocol.setCrnAllowRun();
+ 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().TransInt32(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));
+
+// 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));
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()));
// 澶嶄綅淇″彿
- if (steProtocol.getStatusType().equals(SteStatusType.WAITING)) {
+ if (steProtocol.getWaiting()) {
if (resetFlag) {
SteCommand steCommand = new SteCommand();
-// steCommand.setAckFinish((short)1);
+ steCommand.setComplete(true);
if (write(steCommand) && confirmPos()) {
resetFlag = false;
}
@@ -219,55 +215,85 @@
return false;
}
command.setSteNo(slave.getId());
- OperateResult result;
+ OperateResult result = null;
// 寮�濮嬩换鍔�
- if (!command.getWaiting()) {
- OperateResult result0 = siemensS7Net.Write("D0", command.getTaskNo());
- short[] array = new short[10];
- array[0] = command.getTaskMode();
-// 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 result1 = siemensS7Net.Write("D0", array);
- // 纭寮�濮嬩换鍔�
- result = siemensS7Net.Write("D0", true);
+ if (!command.getComplete()) {
+
+ // 浣滀笟
+ if (command.getTaskMode() != 0) {
+ // 1.浠诲姟鍙�
+ OperateResult result0 = siemensS7Net.Write("V998", command.getTaskNo().shortValue());
+ try {
+ Thread.sleep(200);
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ // 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);
+ }
+
+ // 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 {
- result = siemensS7Net.Write("D0", true);
+ result = siemensS7Net.Write("V2000.1", true);
}
try {
// 鏃ュ織璁板綍
- BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
-// BasSteOpt basSteOpt = new BasSteOpt(
-// command.getTaskNo(), // 浠诲姟鍙�
-// command.getSteNo(), // 绌挎杞闈炵┖]
-// new Date(), // 涓嬪彂鏃堕棿
-// command.getTaskModeType().desc, // 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(basSteOpt);
+ 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
-// this.modifyPos();
+ if (!steProtocol.getWaiting()) {
+ 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)));
@@ -292,10 +318,19 @@
BasSteService service = SpringUtils.getBean(BasSteService.class);
BasSte basSte = service.selectById(slave.getId());
if (basSte != null) {
- if (service.updatePos(this.lastRow, this.lastBay, this.lastLev) > 0) {
- 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());
+ // 鏇存柊plc鏁版嵁鍧�
+ short[] arr = new short[] {this.lastRow.shortValue(), this.lastBay.shortValue(), this.lastLev.shortValue()};
+ OperateResult result = siemensS7Net.Write("V1002", arr);
+ if (result.IsSuccess) {
+ // 鏇存柊鏁版嵁搴�
+ if (service.updatePos(this.lastRow, this.lastBay, this.lastLev) > 0) {
+ this.lastRow = null;
+ this.lastBay = null;
+ this.lastLev = null;
+ 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());
+ }
}
}
@@ -330,101 +365,49 @@
/**************************************** 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);
}
--
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