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 | 190 +++++++++++++++++++++++++++++++++++++++++------
1 files changed, 164 insertions(+), 26 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 82bc397..03bc4eb 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.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;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.ForkLiftCommand;
@@ -27,7 +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")
@@ -56,7 +64,21 @@
@Override
public boolean connect() {
- return false;
+ boolean result = false;
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
+ siemensS7Net.setRack(slave.getRack().byteValue());
+ siemensS7Net.setSlot(slave.getSlot().byteValue());
+ OperateResult connect = siemensS7Net.ConnectServer();
+ 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()));
+ 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()));
+ 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 +94,28 @@
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);
}
}
@@ -96,7 +137,7 @@
private void readStatus() {
try {
//鑾峰彇鎻愬崌鏈烘暟鎹�
- OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 32);
+ OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 16);
if (result1.IsSuccess) {
if (null == forkLiftProtocol) {
forkLiftProtocol = new ForkLiftProtocol();
@@ -109,27 +150,42 @@
//----------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, 2));
//浠诲姟鐘舵��
- forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
+ forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
//浠诲姟妯″紡
- forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
+ forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
//鍙栬揣鏁版嵁
- forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));
+ forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
//鏀捐揣鏁版嵁
- forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 20));
+ forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10));
//鍑哄叆搴撴ā寮�
- forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 24));
+ forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
//鏁呴殰鐮�
- forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 28));
+ forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
//************琛ュ厖鎵╁睍瀛楁*************
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) {
@@ -166,7 +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) {
@@ -194,32 +250,98 @@
@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("DB103.8", 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("DB103.8", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
}
@Override
- public CommandResponse reset(ForkLiftCommand command) {
- return null;
+ public CommandResponse reset() {
+ CommandResponse response = new CommandResponse(false);
+ OperateResult result = siemensS7Net.Write("DB103.10", (short) 1);
+ if (result.IsSuccess) {
+ News.info("璐у弶鎻愬崌鏈虹‘璁ゅ懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}", forkLiftProtocol.getLiftNo());
+ response.setResult(true);
+ }
+ return response;
}
@Override
public boolean isIdle() {
- return false;
+ 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.getTaskNo() == 0
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0;
+ return res;
}
@Override
public boolean isDeviceIdle() {
- return false;
+ return isDeviceIdle(null);
}
@Override
public boolean isDeviceIdle(ExecuteSupport support) {
- return false;
+ if (null != support) {
+ Boolean judgement = support.judgement();
+ if (judgement != null && !judgement) {
+ return true;
+ }
+ }
+
+ 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.getErrorCode() == 0;
+ return res;
}
@Override
@@ -229,23 +351,36 @@
@Override
public boolean setSyncTaskNo(Integer taskNo) {
+ this.forkLiftProtocol.setSyncTaskNo(taskNo);
+ return true;
+ }
+
+ @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 0;
+ 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);
@@ -253,14 +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