From fed17b9162273d70043f7d5e9061bc7afd17c6ef Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 27 七月 2023 16:36:19 +0800
Subject: [PATCH] 地图显示
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 220 ++++++++++++++++++++++++++++--------------------------
1 files changed, 115 insertions(+), 105 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 7b303b0..8a43bc3 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -64,7 +64,7 @@
switch (step) {
// 璇绘暟鎹�
case 1:
- readStatus();
+ read();
break;
// 鍐欏叆鏁版嵁
case 2:
@@ -108,6 +108,23 @@
@Override
public void close() {
modbusTcpNet.ConnectClose();
+ }
+
+ private void read() {
+ try {
+ readStatus();
+ //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
+ if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getPakMk()) {
+ //鎵ц涓嬩竴姝ユ寚浠�
+ executeWork(shuttleProtocol.getTaskNo());
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ initShuttle();
+ }
}
private void readStatus() {
@@ -173,95 +190,61 @@
shuttleProtocol.setPakMk(true);
}
-// if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
-// //鍑虹幇閿欒
-// resetAndTryFix(shuttleProtocol.getTaskNo());
+// //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+// BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+// BasShuttle basShuttle = shuttleService.selectById(slave.getId());
+// if (basShuttle == null) {
+// basShuttle = new BasShuttle();
+// //鍥涘悜绌挎杞﹀彿
+// basShuttle.setShuttleNo(slave.getId());
+// shuttleService.insert(basShuttle);
// }
-//
-// if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
-// && shuttleProtocol.getTaskNo() != 0
-// && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
-// //澶勪簬鏁呴殰淇鐘舵��
-// //鎵ц涓嬩竴姝ユ寚浠�
-// executeWork(shuttleProtocol.getTaskNo());
+// //灏忚溅蹇欑姸鎬佷綅
+// basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
+// //褰撳墠浜岀淮鐮�
+// basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
+// //鐢垫睜鐢甸噺鐧惧垎姣�
+// basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
+// //鐢垫睜娓╁害
+// basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
+// //閿欒缂栧彿
+// basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
+// //Plc杈撳嚭鐘舵�両O
+// basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
+// //閿欒淇℃伅鐮�
+// basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
+// //PLC杈撳叆鐘舵��
+// basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
+// //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
+// basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
+// //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
+// basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
+// //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
+// basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
+// //褰撳墠鐨勭數鍘嬪��
+// basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
+// //褰撳墠鐨勬ā鎷熼噺鍊�
+// basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
+// //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
+// basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
+// //褰撳墠鐨勮璧颁己鏈嶉�熷害
+// basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
+// //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+// basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
+// //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
+// basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
+// //褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
+// basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
+// //浠诲姟鍙�
+// basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
+// //淇敼鏃堕棿
+// basShuttle.setUpdateTime(new Date());
+// //浣滀笟鏍囪
+// basShuttle.setPakMk(shuttleProtocol.getPakMk());
+// if (shuttleService.updateById(basShuttle)) {
+// OutputQueue.SHUTTLE.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()));
// }
-
- //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
- if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
- && shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getPakMk()) {
- //鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getTaskNo());
- }
-
-// //妫�娴嬫槸鍚︽湁鎻愬崌鏈洪攣瀹氭爣璁帮紝鏈夊垯妫�娴嬫彁鍗囨満鏄惁鍒颁綅锛屾槸鍚﹁兘璧颁笅涓�姝ュ懡浠�
-// if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
-// && shuttleProtocol.getTaskNo() != 0) {
-// Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
-// if (o != null) {
-// ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
-// if (redisCommand.getLiftSecurityMk()) {
-// //鎵ц涓嬩竴姝ユ寚浠�
-// executeWork(shuttleProtocol.getTaskNo());
-// }
-// }
-// }
-
- //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
- BasShuttle basShuttle = shuttleService.selectById(slave.getId());
- if (basShuttle == null) {
- basShuttle = new BasShuttle();
- //鍥涘悜绌挎杞﹀彿
- basShuttle.setShuttleNo(slave.getId());
- shuttleService.insert(basShuttle);
- }
- //灏忚溅蹇欑姸鎬佷綅
- basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
- //褰撳墠浜岀淮鐮�
- basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
- //鐢垫睜鐢甸噺鐧惧垎姣�
- basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
- //鐢垫睜娓╁害
- basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
- //閿欒缂栧彿
- basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
- //Plc杈撳嚭鐘舵�両O
- basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
- //閿欒淇℃伅鐮�
- basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
- //PLC杈撳叆鐘舵��
- basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
- //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
- basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
- //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
- basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
- //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
- basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
- //褰撳墠鐨勭數鍘嬪��
- basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
- //褰撳墠鐨勬ā鎷熼噺鍊�
- basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
- //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
- basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
- //褰撳墠鐨勮璧颁己鏈嶉�熷害
- basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
- //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
- basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
- //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
- basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
- //褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
- basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
- //浠诲姟鍙�
- basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
- //淇敼鏃堕棿
- basShuttle.setUpdateTime(new Date());
- //浣滀笟鏍囪
- basShuttle.setPakMk(shuttleProtocol.getPakMk());
- if (shuttleService.updateById(basShuttle)) {
- OutputQueue.SHUTTLE.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()));
- }
}else {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆憑1}鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
@@ -292,18 +275,40 @@
}
command.setShuttleNo(slave.getId().shortValue());
short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
- OperateResult result = modbusTcpNet.Write("0", array);;
+ OperateResult result = modbusTcpNet.Write("0", array);
if (result != null && result.IsSuccess) {
+ News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.SHUTTLE.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)));
+
try {
- Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�1s
+ Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
- News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.SHUTTLE.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)));
+
+ for (int i = 0; i < 5; i++) {
+ if (command.getCommandWord().intValue() == 5 || command.getCommandWord().intValue() == 6) {
+ break;//鍏呯數寮�鍏冲拰绯荤粺澶嶄綅涓嶉渶瑕侀噸鍙戞満鍒�
+ }
+ readStatus();//閲嶆柊璇诲彇鐘舵��
+ if (shuttleProtocol.getBusyStatusType().equals(ShuttleStatusType.BUSY)) {
+ break;
+ }
+
+ //鍒ゆ柇鏄惁杩愯涓紝濡備笉杩愯锛岄噸鏂颁笅鍙戝懡浠�
+ result = modbusTcpNet.Write("0", array);
+ News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {},娆℃暟锛歿}", slave.getId(), JSON.toJSON(command), i);
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2},娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
+ try {
+ Thread.sleep(300);//鍛戒护涓嬪彂鍚庝紤鐪�
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ }
+
return true;
} else {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ洓鍚戠┛姊溅plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ洓鍚戠┛姊溅plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}],娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
News.error("鍐欏叆鍥涘悜绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
@@ -389,6 +394,7 @@
* 鍒濆鍖栧洓鍚戠┛姊溅
*/
private void initShuttle() {
+ this.connect();
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
}
@@ -408,12 +414,12 @@
//鑾峰彇灏忚溅绉诲姩閫熷害
BasShuttle basShuttle = shuttleService.selectById(slave.getId());
Integer runSpeed = 1000;
- if (basShuttle != null) {
- Integer runSpeed1 = basShuttle.getRunSpeed();
- if (runSpeed1 != null) {
- runSpeed = runSpeed1;
- }
- }
+// if (basShuttle != null) {
+// Integer runSpeed1 = basShuttle.getRunSpeed();
+// if (runSpeed1 != null) {
+// runSpeed = runSpeed1;
+// }
+// }
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
@@ -439,7 +445,7 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
//姝ｅ父绉诲姩鍛戒护
Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
@@ -475,7 +481,7 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
//姝ｅ父绉诲姩鍛戒护
Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
@@ -537,7 +543,7 @@
Short liftArrival = liftProtocol.getPositionArrivalFeedback();//鎻愬崌鏈轰綅缃弽棣�
String liftSiteLocNo = Utils.liftArrivalToOutInStaLocNo(liftArrival);
LocMast locMast1 = locMastService.selectById(liftSiteLocNo);
- ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1400, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
+ ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1600, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
commands.add(moveCommand);
//璧峰浣嶇疆淇敼涓烘彁鍗囨満鍙ｇ珯鐐逛綅缃�
@@ -564,7 +570,7 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//涓棿浜岀淮鐮�
Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//鐩爣浜岀淮鐮�
@@ -601,7 +607,7 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//涓棿浜岀淮鐮�
Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//鐩爣浜岀淮鐮�
@@ -617,7 +623,7 @@
}
//澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, runSpeed);
+ ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, runSpeed);
commands.add(moveCommand);
break;
default:
@@ -945,6 +951,10 @@
}
}
+ if (commands.size() == 0) {
+ return false;
+ }
+
//褰撳墠绛夊緟鎵ц鐨勬寚浠�
ShuttleCommand command = commands.get(commandStep);
--
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