From fcb71b8fc63f74cd00d3faa76c73f4c5566ee352 Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期三, 07 五月 2025 23:23:09 +0800
Subject: [PATCH] 解决提升机在本层，而没有锁提升机的问题
---
src/main/java/com/zy/core/thread/LiftThread.java | 252 ++++++++------------------------------------------
1 files changed, 42 insertions(+), 210 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 0f9a811..23f189c 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -1,237 +1,69 @@
package com.zy.core.thread;
-import HslCommunication.Core.Transfer.DataFormat;
-import HslCommunication.Core.Types.OperateResult;
-import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.ModBus.ModbusTcpNet;
-import com.alibaba.fastjson.JSON;
-import com.core.common.DateUtils;
-import com.core.exception.CoolException;
-import com.zy.core.News;
+import com.zy.common.ExecuteSupport;
+import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.SlaveType;
-import com.zy.core.model.LiftSlave;
-import com.zy.core.model.Task;
+import com.zy.core.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.LiftCommandModeType;
+import com.zy.core.enums.LiftProtocolStatusType;
+import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
+import com.zy.core.model.protocol.LiftStaProtocol;
-import java.text.MessageFormat;
-import java.util.Date;
+import java.util.List;
-/**
- * 鎻愬崌鏈虹嚎绋�
- */
-@Data
-@Slf4j
-public class LiftThread implements Runnable, ThreadHandler {
+public interface LiftThread extends ThreadHandler {
- private ModbusTcpNet modbusTcpNet;
- private LiftSlave slave;
- private LiftProtocol liftProtocol;
+ LiftProtocol getStatus();//鑾峰彇鎻愬崌鏈虹姸鎬�
- public LiftThread(LiftSlave slave) {
- this.slave = slave;
- }
+ LiftProtocol getStatus(boolean clone);//鑾峰彇鎻愬崌鏈虹姸鎬�
- @Override
- public void run() {
- this.connect();
- while (true) {
- try {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Lift, slave.getId());
- if (task != null) {
- step = task.getStep();
- }
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- readStatus();
- break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((LiftCommand) task.getData());
- break;
- default:
- break;
- }
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
+ List<LiftStaProtocol> getLiftStaProtocols();
- @Override
- public boolean connect() {
- boolean result = false;
- //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
- // 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
- modbusTcpNet.setDataFormat(DataFormat.ABCD);
- OperateResult connect = modbusTcpNet.ConnectServer();
- if(connect.IsSuccess){
- result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戞彁鍗囨満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.info("鎻愬崌鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- } else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鎻愬崌鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- }
- modbusTcpNet.ConnectClose();
- //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- return result;
- }
+ CommandResponse move(LiftCommand command);//鍗囬檷绉诲姩
- @Override
- public void close() {
- modbusTcpNet.ConnectClose();
- }
+ CommandResponse palletInOut(LiftCommand command);//鎵樼洏鍑哄叆
- private void readStatus() {
- try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 17);
- if (result.IsSuccess) {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- liftProtocol.setLiftNo(slave.getId().shortValue());
- }
+ CommandResponse lock(LiftCommand command);//閿佸畾鎻愬崌鏈�
- //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
- //鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //鎻愬崌鏈洪攣瀹�
- liftProtocol.setLiftLock(modbusTcpNet.getByteTransform().TransBool(content,0));
- //浣嶇疆鍒拌揪鍙嶉
- liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
- //鍑嗗灏辩华
- liftProtocol.setReady(modbusTcpNet.getByteTransform().TransBool(content,3));
- //杩愯涓�
- liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4));
- //鑱旀満/鍗曟満
- liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5));
- //杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6));
- //杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7));
- //杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8));
- //杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9));
- //杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
- //杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11));
- //鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12));
- //骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13));
- //骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14));
- //骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15));
- //鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16));
- //浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17));
- //浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18));
- //浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19));
- //浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20));
- //鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,21));
+ CommandResponse unlock(LiftCommand command);//瑙ｉ攣鎻愬崌鏈�
- ///璇诲彇鎻愬崌鏈虹姸鎬�-end
+ CommandResponse reset(LiftCommand command);//澶嶄綅
- OutputQueue.LIFT.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()));
-// log.info(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()));
+ boolean isIdle();//鏄惁绌洪棽
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- //.....
+ boolean isDeviceIdle();//璁惧鏄惁绌洪棽
- }else {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆憑1}鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
- throw new CoolException(MessageFormat.format( "鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
- }
- } catch (Exception e) {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- initLift();
- }
- }
+ boolean isDeviceIdle(ExecuteSupport support);//璁惧鏄惁绌洪棽
- private boolean write(LiftCommand command){
- if (null == command) {
- News.error("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
- return false;
- }
+ boolean setProtocolStatus(LiftProtocolStatusType status);//璁剧疆宸ヤ綔鐘舵��
- command.setLiftNo(slave.getId());
- // 寮�濮嬩换鍔�
- short[] array = new short[30];
- //寮�濮嬭繍琛�
- array[0] = command.getRun();
- //鐩爣浣嶇疆
- array[1] = command.getDistPosition();
- //杩愯閫熷害
- array[2] = command.getSpeed();
- //浜屽眰楂樺害璁惧畾
- array[3] = command.getHeight2();
- //涓夊眰楂樺害璁惧畾
- array[4] = command.getHeight3();
- //鍥涘眰楂樺害璁惧畾
- array[5] = command.getHeight4();
- //鎻愬崌鏈洪攣瀹�
- array[29] = command.getLiftLockShortValue();
+ boolean setSyncTaskNo(Integer taskNo);//璁剧疆宸ヤ綔鍙�
- OperateResult result = modbusTcpNet.Write("0", 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)));
- return true;
- } else {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戝啓鍏ユ彁鍗囨満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
+ boolean isLock(ExecuteSupport support);
- /**
- * 鍒濆鍖栨彁鍗囨満
- */
- private void initLift() {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- }
- }
+ int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type);//鐢熸垚纭欢璁惧宸ヤ綔鍙�
- /******************************************************************************************/
- /**************************************** 娴嬭瘯涓撶敤 *****************************************/
- /*****************************************************************************************/
- public static void main(String[] args) throws InterruptedException {
- LiftSlave slave = new LiftSlave();
- slave.setId(1);
- slave.setIp("192.168.4.24");
- slave.setPort(502);
- LiftThread thread = new LiftThread(slave);
- thread.connect();
- thread.readStatus();
+ String getLiftLocNo(int lev);//鑾峰彇鎻愬崌鏈轰綅缃�
- LiftCommand command = new LiftCommand();
- command.setRun((short) 0);
- command.setDistPosition((short) 12);
- command.setSpeed((short) 300);
- command.setHeight2((short) 100);
- command.setHeight3((short) 200);
- command.setHeight4((short) 303);
- command.setLiftLock(true);
- thread.write(command);
+ String getLiftStandByLocNo(int lev, boolean in);//鑾峰彇鎻愬崌鏈哄緟鏈轰綅
- }
+ List<NavigateNode> getLiftStaNodes(int lev);
+
+ Integer getLevToStaNo(int lev);
+
+ //***************鑾峰彇鍛戒护*****************
+ List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//鎻愬崌鏈虹Щ鍔�
+
+ List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//杞借溅绉诲姩
+
+ List<LiftCommand> getPalletInCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//鎵樼洏鍏�
+
+ List<LiftCommand> getPalletOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//鎵樼洏鍑�
+
+ List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock);//閿佸畾/瑙ｉ攣鎻愬崌鏈�
+
+ List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal);//灏忚溅宸插埌浣�/宸查┒绂讳俊鍙�
}
--
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