From fd5d26ae0d1dbf71f90b99ef84d09a34e2d10d83 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 07 一月 2025 10:45:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 4
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 4
src/main/java/com/zy/asrs/controller/ShuttleController.java | 18 ++--
src/main/java/com/zy/core/action/ShuttleAction.java | 10 +-
src/main/java/com/zy/core/action/ForkLiftAction.java | 6
src/main/java/com/zy/core/model/ForkLiftSlave.java | 4 +
src/main/java/com/zy/asrs/controller/ForkLiftController.java | 16 ++--
src/main/java/com/zy/core/enums/RedisKeyType.java | 7 +
src/main/resources/application.yml | 2
src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java | 27 ++++++
src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java | 94 +++++++++++++++++++++--
11 files changed, 151 insertions(+), 41 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ForkLiftController.java b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
index b42a56f..f9e1d89 100644
--- a/src/main/java/com/zy/asrs/controller/ForkLiftController.java
+++ b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
@@ -164,7 +164,7 @@
@RequestMapping(value = "/command/query")
public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -176,13 +176,13 @@
@RequestMapping(value = "/command/rollback")
public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep) {
- Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
redisCommand.setCommandStep(commandStep);
- redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
@@ -191,7 +191,7 @@
public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep
, @RequestParam("complete") Integer complete) {
- Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -200,14 +200,14 @@
List<ForkLiftCommand> commands = assignCommand.getCommands();
ForkLiftCommand command = commands.get(commandStep);
command.setComplete(complete != 0);
- redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
//閲嶅惎浠诲姟(鍛戒护)
@RequestMapping(value = "/command/restart")
public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -232,11 +232,11 @@
//鍒犻櫎浠诲姟(鍛戒护)
@RequestMapping(value = "/command/del")
public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
- redisUtil.del(RedisKeyType.LIFT.key + wrkNo);
+ redisUtil.del(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
return R.ok();
}
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 4e03ad6..30d15d4 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -81,7 +81,7 @@
shuttleData.put("moveAdvancePath", null);//绌挎杞﹂璁¤矾寰�
if (shuttleProtocol.getTaskNo() != 0) {
//瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
- Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
if (object != null) {
ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//绌挎杞﹂璁¤矾寰�
@@ -165,7 +165,7 @@
@RequestMapping(value = "/command/query")
public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -177,13 +177,13 @@
@RequestMapping(value = "/command/rollback")
public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
redisCommand.setCommandStep(commandStep);
- redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
@@ -192,7 +192,7 @@
public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep
, @RequestParam("complete") Integer complete) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -201,14 +201,14 @@
List<ShuttleCommand> commands = assignCommand.getCommands();
ShuttleCommand command = commands.get(commandStep);
command.setComplete(complete != 0);
- redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
//閲嶅惎浠诲姟(鍛戒护)
@RequestMapping(value = "/command/restart")
public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -230,11 +230,11 @@
//鍒犻櫎浠诲姟(鍛戒护)
@RequestMapping(value = "/command/del")
public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
- redisUtil.del(RedisKeyType.SHUTTLE.key + wrkNo);
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
return R.ok();
}
diff --git a/src/main/java/com/zy/core/action/ForkLiftAction.java b/src/main/java/com/zy/core/action/ForkLiftAction.java
index c72deec..3c412e4 100644
--- a/src/main/java/com/zy/core/action/ForkLiftAction.java
+++ b/src/main/java/com/zy/core/action/ForkLiftAction.java
@@ -50,7 +50,7 @@
redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
redisCommand.setAssignCommand(assignCommand);//鍛戒护
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- if (redisUtil.set(RedisKeyType.FORK_LIFT.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
+ if (redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
forkLiftThread.setSyncTaskNo(assignCommand.getTaskNo().intValue());
return true;
}
@@ -58,7 +58,7 @@
}
public synchronized boolean executeWork(Integer liftNo, Integer taskNo) {
- Object obj = redisUtil.get(RedisKeyType.FORK_LIFT.key + taskNo);
+ Object obj = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + taskNo);
if (obj == null) {
return false;
}
@@ -125,7 +125,7 @@
//鏇存柊redis鏁版嵁
redisCommand.setCommandStep(commandStep);
// 鏇存柊redis鏁版嵁
- redisUtil.set(RedisKeyType.FORK_LIFT.key + taskNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + taskNo, JSON.toJSONString(redisCommand));
}
return true;
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index fb12232..a083581 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -61,7 +61,7 @@
redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
redisCommand.setAssignCommand(assignCommand);//鍛戒护
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- if (redisUtil.set(RedisKeyType.SHUTTLE.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
+ if (redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
shuttleThread.setSyncTaskNo(assignCommand.getTaskNo());
return true;
}
@@ -69,7 +69,7 @@
}
public synchronized boolean executeWork(Integer shuttleNo, Integer taskNo) {
- Object obj = redisUtil.get(RedisKeyType.SHUTTLE.key + taskNo);
+ Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
if (obj == null) {
return false;
}
@@ -192,7 +192,7 @@
if(updateCommand) {
// 鏇存柊redis鏁版嵁
- redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
}
if (!command.getComplete()) {
@@ -226,7 +226,7 @@
}
//鍒犻櫎redis
- redisUtil.del(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo());
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
return false;//绂佹鍐嶄笅鍙戝懡浠�
}
}
@@ -264,7 +264,7 @@
//鏇存柊redis鏁版嵁
redisCommand.setCommandStep(commandStep);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
return true;
}
diff --git a/src/main/java/com/zy/core/enums/RedisKeyType.java b/src/main/java/com/zy/core/enums/RedisKeyType.java
index 2a9af30..821dc8e 100644
--- a/src/main/java/com/zy/core/enums/RedisKeyType.java
+++ b/src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -2,9 +2,10 @@
public enum RedisKeyType {
- SHUTTLE("shuttle_wrk_no_"),
- LIFT("lift_wrk_no_"),
- FORK_LIFT("fork_lift_wrk_no_"),
+ SHUTTLE_WORK_FLAG("shuttle_wrk_no_"),
+ SHUTTLE_FLAG("shuttle_"),
+ FORK_LIFT_WORK_FLAG("fork_lift_wrk_no_"),
+ FORK_LIFT_FLAG("fork_lift_"),
MAP("realtimeBasMap_"),
BASIC_MAP("basicMap_"),
;
diff --git a/src/main/java/com/zy/core/model/ForkLiftSlave.java b/src/main/java/com/zy/core/model/ForkLiftSlave.java
index f8102fe..cc901ae 100644
--- a/src/main/java/com/zy/core/model/ForkLiftSlave.java
+++ b/src/main/java/com/zy/core/model/ForkLiftSlave.java
@@ -11,6 +11,10 @@
@Data
public class ForkLiftSlave extends Slave {
+ private Integer rack;
+
+ private Integer slot;
+
//鎻愬崌鏈虹珯鐐�
private List<Sta> sta = new ArrayList<>();
diff --git a/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java b/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java
index fdbaa2a..9d6ecb5 100644
--- a/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java
@@ -1,11 +1,14 @@
package com.zy.core.model.protocol;
+import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasLiftErr;
import com.zy.asrs.service.BasLiftErrService;
+import com.zy.common.utils.RedisUtil;
import com.zy.core.enums.ForkLiftIoModeType;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.RedisKeyType;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -30,6 +33,11 @@
* 浠诲姟鍙�
*/
private Integer taskNo = 0;
+
+ /**
+ * PLC浠诲姟鍙�
+ */
+ private Integer wrkNo;
/**
* 浠诲姟鐘舵��
@@ -159,6 +167,25 @@
return basLiftErr.getErrName();
}
+ public Integer getTaskNo() {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ if (null != redisUtil) {
+ Object o = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + this.liftNo);
+ if (!Cools.isEmpty(o)) {
+ this.taskNo = Integer.parseInt(String.valueOf(o));
+ }
+ }
+ return this.taskNo == null ? 0 : this.taskNo;
+ }
+
+ public synchronized void setSyncTaskNo(Integer taskNo) {
+ RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+ if (null != redisUtil) {
+ redisUtil.set(RedisKeyType.FORK_LIFT_FLAG.key + this.liftNo, taskNo);
+ this.taskNo = taskNo;
+ }
+ }
+
@Override
public ForkLiftProtocol clone() {
try {
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index 932cd79..003af3f 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -195,7 +195,7 @@
public Integer getTaskNo() {
RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
if (null != redisUtil) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + this.shuttleNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo);
if (!Cools.isEmpty(o)) {
this.taskNo = Integer.parseInt(String.valueOf(o));
}
@@ -206,7 +206,7 @@
public synchronized void setSyncTaskNo(Integer taskNo) {
RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
if (null != redisUtil) {
- redisUtil.set(RedisKeyType.SHUTTLE.key + this.shuttleNo, taskNo);
+ redisUtil.set(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo, taskNo);
this.taskNo = taskNo;
}
}
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index b70f987..dd31655 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -106,7 +106,7 @@
continue;
}
- Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + slave.getId());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
if (object == null) {
continue;
}
@@ -713,7 +713,7 @@
ArrayList<NavigateNode> path = new ArrayList<>();
if (shuttleProtocol.getTaskNo() != 0) {
//瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
- Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
if (object != null) {
ShuttleRedisCommand redisCommand = null;
try {
diff --git a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
index 82bc397..03ebd42 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -1,6 +1,8 @@
package com.zy.core.thread.impl;
+import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -14,9 +16,12 @@
import com.zy.common.ExecuteSupport;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
+import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.ForkLiftCommand;
@@ -56,7 +61,21 @@
@Override
public boolean connect() {
- return false;
+ boolean result = false;
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500, slave.getIp());
+ siemensS7Net.setRack(slave.getRack().byteValue());
+ siemensS7Net.setSlot(slave.getSlot().byteValue());
+ OperateResult connect = siemensS7Net.ConnectServer();
+ if(connect.IsSuccess){
+ result = true;
+ OutputQueue.DEVP.offer(MessageFormat.format( "銆恵0}銆戣揣鍙夋彁鍗囨満杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ News.info("璐у弶鎻愬崌鏈鸿繛鎺ユ垚鍔� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ } else {
+ OutputQueue.DEVP.offer(MessageFormat.format( "銆恵0}銆戣揣鍙夋彁鍗囨満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()));
+ News.error("璐у弶鎻愬崌鏈鸿繛鎺ュけ璐ワ紒锛侊紒 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+ // siemensS7Net.ConnectClose();
+ return result;
}
@Override
@@ -72,9 +91,28 @@
try {
read();
Thread.sleep(200);
+ execute();
} catch (Exception e) {
e.printStackTrace();
}
+ }
+ }
+
+ private void execute() {
+ ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
+ if (forkLiftAction == null) {
+ return;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
+ if (object == null) {
+ return;
+ }
+
+ Integer taskNo = Integer.valueOf(String.valueOf(object));
+ if (taskNo != 0) {
+ //瀛樺湪浠诲姟闇�瑕佹墽琛�
+ boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
}
}
@@ -109,8 +147,8 @@
//----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
//妯″紡
forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
- //浠诲姟鍙�
- forkLiftProtocol.setTaskNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
+ //PLC浠诲姟鍙�
+ forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
//浠诲姟鐘舵��
forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
//浠诲姟妯″紡
@@ -194,22 +232,59 @@
@Override
public CommandResponse pickAndPut(ForkLiftCommand command) {
- return null;
+ CommandResponse response = new CommandResponse(false);
+
+ short[] array = new short[4];
+ array[0] = command.getTaskNo();//浠诲姟鍙�
+ array[1] = command.getMode();//浠诲姟妯″紡
+ array[2] = command.getPick();//鍙栬揣鏁版嵁
+ array[3] = command.getPut();//鏀捐揣鏁版嵁
+ OperateResult result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
}
@Override
public CommandResponse shuttleSwitch(ForkLiftCommand command) {
- return null;
+ CommandResponse response = new CommandResponse(false);
+
+ short[] array = new short[4];
+ array[0] = command.getTaskNo();//浠诲姟鍙�
+ array[1] = command.getMode();//浠诲姟妯″紡
+ array[2] = command.getPick();//鍙栬揣鏁版嵁
+ array[3] = command.getPut();//鏀捐揣鏁版嵁
+ OperateResult result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
}
@Override
public CommandResponse reset(ForkLiftCommand command) {
- return null;
+ CommandResponse response = new CommandResponse(false);
+ return response;
}
@Override
public boolean isIdle() {
- return false;
+ if (this.forkLiftProtocol.getTaskNo() == null
+ || this.forkLiftProtocol.getProtocolStatus() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
+ && this.forkLiftProtocol.getTaskNo() == 0;
+ return res;
}
@Override
@@ -229,12 +304,13 @@
@Override
public boolean setSyncTaskNo(Integer taskNo) {
- return false;
+ this.forkLiftProtocol.setSyncTaskNo(taskNo);
+ return true;
}
@Override
public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
- return 0;
+ return taskNo;
}
@Override
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 45b0c92..db898dd 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -163,6 +163,8 @@
id: 1
ip: 10.10.10.131
port: 102
+ rack: 0
+ slot: 0
staRow: 13
staBay: 22
sta[0]:
--
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