From 09fcc4ec56a1ce6c0fcb308348d8dd5e2c08d336 Mon Sep 17 00:00:00 2001
From: fyxc <fyxc@qq.com>
Date: 星期四, 22 五月 2025 14:33:06 +0800
Subject: [PATCH] server commit files
---
src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java | 67 ++++++++++++++++++++++++++-------
1 files changed, 52 insertions(+), 15 deletions(-)
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 7504b2d..03bc4eb 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -17,8 +17,8 @@
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.ForkLiftIoModeType;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.RedisKeyType;
@@ -32,7 +32,10 @@
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
-import java.util.*;
+import java.util.ArrayList;
+import java.util.Base64;
+import java.util.Date;
+import java.util.List;
@Slf4j
@SuppressWarnings("all")
@@ -66,12 +69,12 @@
siemensS7Net.setRack(slave.getRack().byteValue());
siemensS7Net.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensS7Net.ConnectServer();
- if(connect.IsSuccess){
+ if (connect.IsSuccess) {
result = true;
- OutputQueue.FORKLIFT.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()));
+ OutputQueue.FORKLIFT.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.FORKLIFT.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()));
+ OutputQueue.FORKLIFT.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();
@@ -166,8 +169,23 @@
InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
forkLiftProtocol.setExtend(forkLiftExtend);
- }else {
+ } else {
OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
+ }
+
+ OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB102.0", (short) 8);
+ if (result2.IsSuccess) {
+ for (int i = 0; i < this.slave.getSta().size(); i++) {
+ ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
+ if (forkLiftStaProtocols.isEmpty()) {
+ continue;
+ }
+
+ ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
+ boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2);
+ forkLiftStaProtocol.setHasTray(status1[0]);
+ forkLiftStaProtocol.setHasCar(status1[1]);
+ }
}
if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
@@ -204,7 +222,7 @@
//璁惧鐘舵��
basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
if (basLiftService.updateById(basLift)) {
- OutputQueue.FORKLIFT.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()), forkLiftProtocol.getLiftNo()));
+ OutputQueue.FORKLIFT.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()), forkLiftProtocol.getLiftNo()));
}
} catch (Exception e) {
@@ -241,7 +259,7 @@
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());
+ OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
if (result2.IsSuccess) {
response.setResult(true);
}
@@ -284,6 +302,7 @@
if (this.forkLiftProtocol.getTaskNo() == null
|| this.forkLiftProtocol.getProtocolStatus() == null
|| this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
) {
return false;
}
@@ -291,7 +310,8 @@
boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
&& this.forkLiftProtocol.getWrkNo() == 0
&& this.forkLiftProtocol.getTaskNo() == 0
- && this.forkLiftProtocol.getModel() == 2;
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0;
return res;
}
@@ -312,13 +332,15 @@
if (this.forkLiftProtocol.getTaskNo() == null
|| this.forkLiftProtocol.getProtocolStatus() == null
|| this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
) {
return false;
}
boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
&& this.forkLiftProtocol.getWrkNo() == 0
- && this.forkLiftProtocol.getModel() == 2;
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0;
return res;
}
@@ -334,19 +356,31 @@
}
@Override
+ public boolean switchIOMode(ForkLiftIoModeType type) {
+ OperateResult result = siemensS7Net.Write("DB103.12", type.id.shortValue());
+ if (result.IsSuccess) {
+ return true;
+ }
+ return false;
+ }
+
+ @Override
public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
return taskNo;
}
@Override
public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
List<ForkLiftCommand> commands = new ArrayList<>();
ForkLiftCommand command = new ForkLiftCommand();
command.setLiftNo(slave.getId());
command.setTaskNo(taskNo.shortValue());
command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
- command.setPick(pick.shortValue());
- command.setPut(put.shortValue());
+ command.setPick(realPick.shortValue());
+ command.setPut(realPut.shortValue());
command.setConfirm((short) 1);
commands.add(command);
@@ -354,14 +388,17 @@
}
@Override
- public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer originLev, Integer targetLev) {
+ public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
List<ForkLiftCommand> commands = new ArrayList<>();
ForkLiftCommand command = new ForkLiftCommand();
command.setLiftNo(slave.getId());
command.setTaskNo(taskNo.shortValue());
command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
- command.setPick(originLev.shortValue());
- command.setPut(targetLev.shortValue());
+ command.setPick(realPick.shortValue());
+ command.setPut(realPut.shortValue());
command.setConfirm((short) 1);
commands.add(command);
--
Gitblit v1.9.1