From fb74f60f1d8397acf5251ae289e80ab8a056857f Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 09 十月 2025 09:08:05 +0800
Subject: [PATCH] #和得服务器
---
src/main/java/com/zy/core/thread/RgvThread.java | 682 +++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 446 insertions(+), 236 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 785550a..988a264 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,27 +5,41 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+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.BasDevp;
import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.BasRgvMap;
import com.zy.asrs.entity.BasRgvOpt;
+import com.zy.asrs.service.BasDevpService;
+import com.zy.asrs.service.BasRgvMapService;
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 com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import java.sql.Wrapper;
import java.text.MessageFormat;
-import java.util.Date;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
/**
* RGV绾跨▼
@@ -33,11 +47,13 @@
*/
@Data
@Slf4j
-public class RgvThread implements Runnable, ThreadHandler {
+public class RgvThread implements Runnable, RgvThread2 {
private SiemensS7Net siemensNet;
private RgvSlave slave;
private RgvProtocol rgvProtocol;
+ private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
+
/**
* 宸ヤ綅1澶嶄綅淇″彿
*/
@@ -46,6 +62,21 @@
* 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;
+// //鏍规嵁璺濈璺宠繃鍙栬揣
+// private boolean PakRgv = true;
+// //鎺ラ┏鏍囪
+// private boolean PakToCrn = true;
+ // 浠诲姟閿佸畾
+ private boolean Paking = true;
+// //杩炵画浠诲姟涓嬪彂
+// private boolean PakAll = true;
public RgvThread(RgvSlave slave) {
this.slave = slave;
@@ -67,17 +98,9 @@
case 1:
readStatus();
break;
- // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
+ // 灏忚溅宸ヤ綅鍐欏叆鏁版嵁
case 2:
write((RgvCommand) task.getData());
- break;
- //宸ヤ綅1鍐欏叆鏁版嵁
- case 4:
- write1((RgvCommand) task.getData());
- break;
- //宸ヤ綅2鍐欏叆鏁版嵁
- case 5:
- write2((RgvCommand) task.getData());
break;
// 澶嶄綅
case 3:
@@ -86,38 +109,12 @@
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);
- 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);
+ command.setTaskNo(0); // 宸ヤ綔鍙�
+ command.setTaskStatus(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
+ command.setTargetPosition(0); // 婧愮珯
+ command.setWrkTaskPri(0); // 鐩爣绔�
+ command.setCommand(false);
+ write2(command);
break;
default:
break;
@@ -129,6 +126,45 @@
}
}
+ private static final Set<Integer> specialSites = new HashSet<>(
+ Arrays.asList(1004,1014,1018,1028,1035));
+ public static final Map<Integer, Integer> StaPosition = new HashMap<Integer, Integer>() {{
+ put(1004, 1001);put(1014, 1011);put(1018, 1015);put(1028, 1025);put(1035, 1032);
+
+ }};
+ public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
+ add(1);add(2);
+
+ }};
+
+ public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
+ add(3);add(4);
+
+ }};
+ /**
+ * 鍒濆鍖栫珯鐐圭姸鎬�
+ */
+ private void initSite() {
+ ArrayList<Integer> staNos = getStaNo();
+
+ // 绔欑偣缂栧彿
+ for (Integer siteId : staNos) {
+ StaProtocol staProtocol = station.get(siteId);
+ if (null == staProtocol) {
+ staProtocol = new StaProtocol();
+ staProtocol.setSiteId(siteId);
+ station.put(siteId, staProtocol);
+ }
+ staProtocol.setWorkNo(0); // ID
+ staProtocol.setAutoing(false); // 鑷姩
+ staProtocol.setLoading(false); // 鏈夌墿
+ staProtocol.setInEnable(false); // 鍙叆
+ staProtocol.setOutEnable(false); // 鍙嚭
+ staProtocol.setEmptyMk(false); // 绌烘澘淇″彿
+ staProtocol.setStaNo((short) 0); // 鐩爣绔�
+
+ }
+ }
/**
* 鍒濆鍖朢GV鐘舵��
@@ -137,22 +173,44 @@
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);
+ rgvProtocol.setWrkTaskPri((short)0);
+ //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);
+ rgvProtocol.setWrkTaskMove1((short)0);
+ //宸ヤ綅2鐘舵��
+ rgvProtocol.setTaskNo2(0);
+ rgvProtocol.setStatus2((short)-1);
+ rgvProtocol.setLoaded2(false);
+ rgvProtocol.setWrkTaskMove2((short)0);
+// rgvProtocol.setAlarm((short)0);
+// rgvProtocol.setxSpeed((short) 0);
+// rgvProtocol.setxDistance((short) 0);
+// rgvProtocol.setxDuration((short) 0);
}
-
+ private ArrayList<Integer> getStaNo() {
+ switch (slave.getId()) {
+ case 1:
+ return staNos1;
+ case 2:
+ return staNos2;
+ default:
+ throw new CoolException("鏈嶅姟鍣ㄥ紓甯�");
+ }
+ }
@Override
public boolean connect() {
boolean result = false;
@@ -173,64 +231,89 @@
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
+ }
+ }
+ private void updateFlagInDb(String field, boolean value) {
+ try {
+ BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
+
+ EntityWrapper<BasRgv> wrapper = new EntityWrapper<>();
+ wrapper.eq("rgv_no", slave.getId());
+
+ BasRgv entity = new BasRgv();
+ switch (field) {
+ case "pak_mk": entity.setPakMk(value ? "1" : "0"); break;
+ case "pak_in": entity.setPakIn(value ? "1" : "0"); break;
+ case "pak_out": entity.setPakOut(value ? "1" : "0"); break;
+ case "pak_rgv": entity.setPakRgv(value ? "1" : "0"); break;
+ case "pak_to_crn":entity.setPakToCrn(value ? "1" : "0"); break;
+ case "paking":entity.setPaking(value ? "1" : "0"); break;
+ case "pak_all":entity.setPakAll(value ? "1" : "0"); break;
+ default:
+ log.warn("鏈煡鏍囧織浣嶅瓧娈�: {}", field);
+ return;
+ }
+
+ basRgvService.update(entity, wrapper);
+// log.info("RGV鏍囧織浣嶆洿鏂版垚鍔� [rgv_no:{}] {}={}", slave.getId(), field, value ? "1" : "0");
+
+ } catch (Exception e) {
+ log.error("鏇存柊RGV鏍囧織浣嶅紓甯� [rgv_no:{}] {}={} 閿欒锛歿}", slave.getId(), field, value, e.getMessage());
+ }
+ }
+
+
+ public void setPakMk(boolean pakMk) {
+ this.PakMk = pakMk;
+ updateFlagInDb("pak_mk", pakMk);
+ }
+
/**
* 璇诲彇鐘舵��
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
+ ArrayList<Integer> staNos = getStaNo();
+
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
- rgvProtocol.setRgvNo(slave.getId());
- }
- 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.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- 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.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
- 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));
-// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
-// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
-// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
+ rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0));
+ }
+ 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.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
+ rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
+ rgvProtocol.setStaNo1(siemensNet.getByteTransform().TransInt32(result.Content, 28));
+ rgvProtocol.setStaNo2(siemensNet.getByteTransform().TransInt32(result.Content, 32));
+ boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 1);
+ rgvProtocol.setLoaded1(status1[0]);
+ rgvProtocol.setLoaded2(status1[1]);
+ boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 36,1);
+ 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]);
+ rgvProtocol.setErr8(status2[7]);
+ boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);
+ rgvProtocol.setErr9(status3[0]);
+ rgvProtocol.setErr10(status3[1]);
+ rgvProtocol.setErr11(status3[2]);
+ rgvProtocol.setErr12(status3[3]);
+// BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
OutputQueue.RGV.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()));
-
- // 宸ヤ綅1澶嶄綅淇″彿
- if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag1) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish1((short)1);
- if (write(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;
-// }
-// }
-// }
-
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
@@ -247,198 +330,325 @@
} 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
+ * 灏忚溅宸ヤ綅鍐欏叆鍐欏叆鏁版嵁
*/
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);
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
+ if (result1.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ News.info("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));
+ }
+ byte[] writeBytes = new byte[14];
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(specialSites.contains(command.getTargetPosition())){
+ command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
+ }
+ writeInt32(writeBytes, 0, command.getWrkTaskPri());
+ writeInt32(writeBytes, 4, command.getTargetPosition());
+ writeInt16(writeBytes, 8, (short)command.getTaskStatus());
+ writeInt32(writeBytes, 10, command.getTaskNo());
+ OperateResult result = siemensNet.Write("DB100.0", writeBytes);
-// 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);
-// }
+ 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(2,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) 14);
+ if (resultRead.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ if (
+ !command.getTaskNo().equals(one.getTaskNo()) ||
+ !command.getTaskStatus().equals(one.getTaskStatus()) ||
+ !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
+ !command.getTargetPosition().equals(one.getTargetPosition())
+ ) {
+ 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(2, 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 (result.IsSuccess) { //浠诲姟涓嬪彂纭
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+ do {
+ writeCount2++;
+ Short commandFinish = 1;
+ result = siemensNet.Write("DB100.34.0", 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("DB100.34", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish !=1){
+ 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.getTaskNo(),
command.getRgvNo(),
new Date(),
- command.getTaskModeType1().toString(),
- command.getSourceStaNo1().intValue(),
- command.getDestinationStaNo1().intValue(),
- command.getSourceStaNo2().intValue(),
- command.getDestinationStaNo2().intValue(),
- null,
- new Date(),
- null
+ command.getTaskStatus().toString(),
+ command.getTargetPosition(),
+ command.getWrkTaskPri(),
+ new Date()
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
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)));
+ log.info("RGV 宸ヤ綅鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅鍛戒护涓嬪彂锛� {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());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
}
-
- /**
- * 宸ヤ綅1鍐欏叆鏁版嵁
- */
- private boolean write1(RgvCommand command) throws InterruptedException {
- if (null == command) {
- log.error("RGV鍐欏叆鍛戒护涓虹┖");
- return false;
- }
-
- siemensNet.Write("DB100.20", command.getCommand());
-
- 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("DB100.20", 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("DB100.20", 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 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅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宸ヤ綅1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宸ヤ綅1鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
-
- /**
- * 宸ヤ綅2鍐欏叆鏁版嵁
- */
private boolean write2(RgvCommand command) throws InterruptedException {
if (null == command) {
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
-
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
+ if (result1.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ News.info("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));
+ }
+ byte[] writeBytes = new byte[36];
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();
+ if(specialSites.contains(command.getTargetPosition())){
+ command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
+ }
+ writeInt32(writeBytes, 0, command.getWrkTaskPri());
+ writeInt32(writeBytes, 4, command.getTargetPosition());
+ writeInt16(writeBytes, 8, (short)command.getTaskStatus());
+ writeInt32(writeBytes, 10, command.getTaskNo());
+ writeBool(writeBytes, 34, 0, command.getCommand());
+ OperateResult result = siemensNet.Write("DB100.0", writeBytes);
- OperateResult result = siemensNet.Write("DB100.10", array);
-
- 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(2,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) 14);
+ if (resultRead.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ if (
+ !command.getTaskNo().equals(one.getTaskNo()) ||
+ !command.getTaskStatus().equals(one.getTaskStatus()) ||
+ !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
+ !command.getTargetPosition().equals(one.getTargetPosition())
+ ) {
+ 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(2, 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 (result.IsSuccess) { //浠诲姟涓嬪彂纭
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+ do {
+ writeCount2++;
+ Short commandFinish = 1;
+ result = siemensNet.Write("DB100.34.0", 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("DB100.34", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish !=1){
+ 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.getTaskNo(),
command.getRgvNo(),
new Date(),
- command.getTaskModeType1().toString(),
- command.getSourceStaNo1().intValue(),
- command.getDestinationStaNo1().intValue(),
- command.getSourceStaNo2().intValue(),
- command.getDestinationStaNo2().intValue(),
- null,
- new Date(),
- null
+ command.getTaskStatus().toString(),
+ command.getTargetPosition(),
+ command.getWrkTaskPri(),
+ new Date()
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
this.readStatus();
- log.info("RGV 宸ヤ綅2鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅2鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ log.info("RGV 宸ヤ綅鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅鍛戒护涓嬪彂锛� {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宸ヤ綅2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宸ヤ綅2鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
}
+ public static void writeInt32(byte[] buffer, int index, int value) {
+ buffer[index] = (byte)((value >> 24) & 0xFF);
+ buffer[index + 1] = (byte)((value >> 16) & 0xFF);
+ buffer[index + 2] = (byte)((value >> 8) & 0xFF);
+ buffer[index + 3] = (byte)(value & 0xFF);
+ }
+
+
+ public static void writeInt16(byte[] buffer, int index, short value) {
+ buffer[index] = (byte)((value >> 8) & 0xFF); // 楂樺瓧鑺�
+ buffer[index + 1] = (byte)(value & 0xFF); // 浣庡瓧鑺�
+ }
+
+ public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
+ if (value) {
+ buffer[byteIndex] |= (1 << bitIndex);
+ } else {
+ buffer[byteIndex] &= ~(1 << bitIndex);
+ }
+ }
+
+ public Integer getRgvPosI(Integer pos) {
+ if (pos == null) return 0;
+
+ // key: 绔欑偣鍙� value: 鍩哄噯鐗╃悊浣嶇疆
+ Map<Integer, Integer> posMap = new HashMap<>();
+ posMap.put(1004, 6534);
+ posMap.put(1007, 33634);
+ posMap.put(1010, 75174);
+ posMap.put(1014, 102124);
+ posMap.put(1018, 138224);
+ posMap.put(1021, 178034);
+ posMap.put(1024, 219684);
+ posMap.put(1028, 246724);
+ posMap.put(1031, 288194);
+ posMap.put(1035, 315204);
+ int tolerance = 50; // 鍏佽璇樊鑼冨洿
+
+ for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
+ int site = entry.getKey();
+ int basePos = entry.getValue();
+ if (Math.abs(pos - basePos) <= tolerance) {
+ return site;
+ }
+ }
+
+ return 0; // 娌″尮閰嶅埌绔欑偣
+ }
@Override
public void close() {
--
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