From a68bf17ab81df98882e19b79628e6876bb260468 Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期三, 18 六月 2025 10:04:26 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/fyxc_shuttle_wcs' into fyxc_shuttle_wcs
---
src/main/java/com/zy/core/thread/LiftThread.java | 381 +++++-------------------------------------------------
1 files changed, 35 insertions(+), 346 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 1fe3e6c..23f189c 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -1,380 +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 HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
-import com.alibaba.fastjson.JSON;
-import com.core.common.DateUtils;
-import com.core.common.SpringUtils;
-import com.core.exception.CoolException;
-import com.zy.asrs.entity.BasLift;
-import com.zy.asrs.entity.BasLiftOpt;
-import com.zy.asrs.entity.WrkMast;
-import com.zy.asrs.mapper.WrkMastMapper;
-import com.zy.asrs.service.BasLiftOptService;
-import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.utils.Utils;
-import com.zy.common.utils.CommonUtils;
-import com.zy.common.utils.RedisUtil;
-import com.zy.core.DevpThread;
-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.cache.SlaveConnection;
-import com.zy.core.enums.*;
-import com.zy.core.model.LiftSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.*;
+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 com.zy.core.model.protocol.StaProtocol;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
+import com.zy.core.model.protocol.LiftStaProtocol;
-import java.text.MessageFormat;
-import java.util.ArrayList;
-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 SiemensS7Net siemensS7Net;
- private LiftSlave slave;
- private LiftProtocol liftProtocol;
- private RedisUtil redisUtil;
+ LiftProtocol getStatus();//鑾峰彇鎻愬崌鏈虹姸鎬�
- public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
- this.slave = slave;
- this.redisUtil = redisUtil;
- }
+ 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:
- read();
- break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((NyLiftCommand) task.getData());
- break;
- //鍒嗛厤浠诲姟
- case 3:
- assignWork((LiftAssignCommand) 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�------------------------//
- siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
- OperateResult connect = siemensS7Net.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());
- }
- siemensS7Net.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() {
- siemensS7Net.ConnectClose();
- }
+ CommandResponse palletInOut(LiftCommand command);//鎵樼洏鍑哄叆
- private void read() {
- try {
- readStatus();
+ CommandResponse lock(LiftCommand command);//閿佸畾鎻愬崌鏈�
- //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
- if (liftProtocol.getBusy()) {
- liftProtocol.setPakMk(true);
- }
+ CommandResponse unlock(LiftCommand command);//瑙ｉ攣鎻愬崌鏈�
- //鎻愬崌鏈哄浜庢湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
- if (!liftProtocol.getBusy()
- && liftProtocol.getPakMk()
- && liftProtocol.getTaskNo() != 0) {
- //杩樻湁鏈畬鎴愮殑鍛戒护
- executeWork(liftProtocol.getTaskNo());
- }
- } 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()));
- }
- }
+ CommandResponse reset(LiftCommand command);//澶嶄綅
- private void readStatus() {
- try {
- OperateResultExOne<byte[]> result = siemensS7Net.Read("M100.0", (short) 28);
- if (result.IsSuccess) {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- liftProtocol.setLiftNo(slave.getId().shortValue());
- }
+ boolean isIdle();//鏄惁绌洪棽
- //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
- //鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //妯″紡
- liftProtocol.setModel(siemensS7Net.getByteTransform().TransBool(content, 0));
- //蹇欓棽
- liftProtocol.setBusy(siemensS7Net.getByteTransform().TransBool(content, 1));
- //鍓嶈秴闄�
- liftProtocol.setFrontOverrun(siemensS7Net.getByteTransform().TransBool(content, 7));
- //鍚庤秴闄�
- liftProtocol.setBackOverrun(siemensS7Net.getByteTransform().TransBool(content, 8));
- //宸﹁秴闄�
- liftProtocol.setLeftOverrun(siemensS7Net.getByteTransform().TransBool(content, 9));
- //鍙宠秴闄�
- liftProtocol.setRightOverrun(siemensS7Net.getByteTransform().TransBool(content, 10));
- //瓒呴珮
- liftProtocol.setOverHeight(siemensS7Net.getByteTransform().TransBool(content, 11));
- //瓒呴噸
- liftProtocol.setOverWeight(siemensS7Net.getByteTransform().TransBool(content, 12));
- //鏈夋墭鐩�
- liftProtocol.setHasTray(siemensS7Net.getByteTransform().TransBool(content, 16));
- //鏈夊皬杞�
- liftProtocol.setHasCar(siemensS7Net.getByteTransform().TransBool(content, 17));
- //璁惧鏁呴殰
- liftProtocol.setDeviceError(siemensS7Net.getByteTransform().TransBool(content, 18));
- //浠诲姟鍙�
- liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(content, 19));
- //浠诲姟鍦板潃
- liftProtocol.setTaskAddress(siemensS7Net.getByteTransform().TransInt16(content, 21));
- //鐩殑鍦板潃
- liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(content, 21));
- //宸插畬鎴愪换鍔″彿
- liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(content, 23));
- //褰撳墠妤煎眰
- liftProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(content, 25));
+ boolean isDeviceIdle();//璁惧鏄惁绌洪棽
- ///璇诲彇鎻愬崌鏈虹姸鎬�-end
+ boolean isDeviceIdle(ExecuteSupport support);//璁惧鏄惁绌洪棽
- //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
- BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
- if (basLift == null) {
- basLift = new BasLift();
- //鎻愬崌鏈哄彿
- basLift.setLiftNo(slave.getId());
- liftService.insert(basLift);
- }
- basLift.setStatus(liftProtocol.getProtocolStatus());
- basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
- basLift.setUpdateTime(new Date());
- basLift.setPakMk(liftProtocol.getPakMk());
- basLift.setModel(liftProtocol.getModel());
- basLift.setBusy(liftProtocol.getBusy());
- basLift.setFrontOverrun(liftProtocol.getFrontOverrun());
- basLift.setBackOverrun(liftProtocol.getBackOverrun());
- basLift.setLeftOverrun(liftProtocol.getLeftOverrun());
- basLift.setRightOverrun(liftProtocol.getRightOverrun());
- basLift.setOverHeight(liftProtocol.getOverHeight());
- basLift.setOverWeight(liftProtocol.getOverWeight());
- basLift.setHasTray(liftProtocol.getHasTray());
- basLift.setHasCar(liftProtocol.getHasCar());
- basLift.setDeviceError(liftProtocol.getDeviceError());
- basLift.setTaskAddress(liftProtocol.getTaskAddress().intValue());
- basLift.setDistAddress(liftProtocol.getDistAddress().intValue());
- basLift.setCompleteTaskNo(liftProtocol.getCompleteTaskNo().intValue());
- basLift.setLev(liftProtocol.getLev().intValue());
- if (liftService.updateById(basLift)) {
- 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 setProtocolStatus(LiftProtocolStatusType status);//璁剧疆宸ヤ綔鐘舵��
- }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()));
- }
- }
+ boolean setSyncTaskNo(Integer taskNo);//璁剧疆宸ヤ綔鍙�
- private boolean write(NyLiftCommand command){
- if (null == command) {
- News.error("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
- return false;
- }
+ boolean isLock(ExecuteSupport support);
- command.setLiftNo(slave.getId().shortValue());
- short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+ int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type);//鐢熸垚纭欢璁惧宸ヤ綔鍙�
- OperateResult result = siemensS7Net.Write("41088", 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}],娆℃暟锛歿}", 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;
- }
- }
+ String getLiftLocNo(int lev);//鑾峰彇鎻愬崌鏈轰綅缃�
- //鑾峰彇鍛戒护鎶ユ枃
- private short[] getCommandArr(NyLiftCommand command) {
- // 寮�濮嬩换鍔�
- short[] array = new short[4];
- if (command.getTaskModel() != null) {
- //浠诲姟绫诲瀷
- array[0] = command.getTaskModel();
- }
- if (command.getSourceSta() != null) {
- //婧愮珯鍙扮紪鍙�
- array[1] = command.getSourceSta();
- }
- if (command.getTargetSta() != null) {
- //鐩爣绔欏彴缂栧彿
- array[2] = command.getTargetSta();
- }
- if (command.getTaskNo() != null) {
- //浠诲姟鍙�
- array[3] = command.getTaskNo();
- }
- return array;
- }
+ String getLiftStandByLocNo(int lev, boolean in);//鑾峰彇鎻愬崌鏈哄緟鏈轰綅
- //鍒嗛厤浠诲姟
- private void assignWork(LiftAssignCommand assignCommand) {
- LiftRedisCommand redisCommand = new LiftRedisCommand();
- redisCommand.setLiftNo(assignCommand.getLiftNo());//鎻愬崌鏈哄彿
- redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
- 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
- redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
- liftProtocol.setAssignCommand(assignCommand);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand.getTaskNo());
- }
+ List<NavigateNode> getLiftStaNodes(int lev);
- //鎵ц浠诲姟
- private boolean executeWork(Short wrkNo) {
- //璇诲彇redis鏁版嵁
- if (wrkNo == null) {
- return false;
- }
+ Integer getLevToStaNo(int lev);
- WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return false;
- }
- LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
- List<NyLiftCommand> commands = redisCommand.getAssignCommand().getCommands();
- //褰撳墠姝ュ簭
- int commandStep = redisCommand.getCommandStep();
- //鎬绘搴�
- int size = commands.size();
+ //***************鑾峰彇鍛戒护*****************
+ List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//鎻愬崌鏈虹Щ鍔�
- //鍙栧嚭鍛戒护
- NyLiftCommand command = commands.get(commandStep);
+ List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//杞借溅绉诲姩
- //涓嬪彂鍛戒护
- if (!write(command)) {
- News.error("鎻愬崌鏈哄懡浠や笅鍙戝け璐ワ紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- return false;
- }
+ List<LiftCommand> getPalletInCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//鎵樼洏鍏�
- News.info("鎻愬崌鏈哄懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+ List<LiftCommand> getPalletOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//鎵樼洏鍑�
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- liftProtocol.setPakMk(false);
+ List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock);//閿佸畾/瑙ｉ攣鎻愬崌鏈�
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
- if (liftOptService != null) {
- short[] commandArr = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
- BasLiftOpt opt = new BasLiftOpt(
- redisCommand.getWrkNo().intValue(),
- redisCommand.getLiftNo().intValue(),
- new Date(),
- null,
- null,
- null,
- JSON.toJSONString(command),
- JSON.toJSONString(commandArr)
- );
- liftOptService.insert(opt);
- }
-
- //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < size - 1) {
- //鏇存柊redis鏁版嵁
- //姝ュ簭澧炲姞
- commandStep++;
- redisCommand.setCommandStep(commandStep);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- }else {
- //宸叉墽琛屽畬鎴�
- //鍒犻櫎redis
- redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
-
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
- News.info("鎻愬崌鏈轰换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }
-
- return true;
- }
-
- /******************************************************************************************/
- /**************************************** 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();
-//
-// LiftCommand command = new LiftCommand();
-// command.setRun((short) 1);
-// 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);
-
- }
+ List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal);//灏忚溅宸插埌浣�/宸查┒绂讳俊鍙�
}
--
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