From c904f735e0b8a488ef56744c08f8e10258639bce Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 05 六月 2025 15:54:58 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/SiemensRgvThread.java | 180 +++++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 131 insertions(+), 49 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensRgvThread.java b/src/main/java/com/zy/core/thread/SiemensRgvThread.java
index 4bef755..13e064e 100644
--- a/src/main/java/com/zy/core/thread/SiemensRgvThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensRgvThread.java
@@ -5,6 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
@@ -23,6 +24,7 @@
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
import java.text.MessageFormat;
import java.util.Date;
@@ -85,8 +87,8 @@
command = new RgvCommand();
}
command.setRgvNo(slave.getId()); // RGV缂栧彿
- command.setTaskNo1((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskNo1( 0); // 宸ヤ綔鍙�
+ command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short)0); // 婧愮珯
command.setDestinationStaNo1((short)0); // 鐩爣绔�
@@ -100,8 +102,8 @@
commandAvoidanceXY = new RgvCommand();
}
commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
- commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ commandAvoidanceXY.setTaskNo1( 9999); // 宸ヤ綔鍙�
+ commandAvoidanceXY.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
@@ -112,6 +114,13 @@
// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
commandAvoidanceXY.setCommand((short)0);
write(commandAvoidanceXY);
+ break;
+ case 10:
+ write10((String) task.getData());
+ break;
+ //鍗曟満鍐欏叆鏁版嵁
+ case 11:
+ write11((RgvCommand) task.getData());
break;
default:
break;
@@ -133,7 +142,7 @@
}
rgvProtocol.setMode((short) -1);
rgvProtocol.setStatus((short)-1);
- rgvProtocol.setTaskNo1((short)0);
+ rgvProtocol.setTaskNo1(0);
rgvProtocol.setStatus1((short)-1);
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
@@ -142,9 +151,13 @@
// rgvProtocol.setStatus2((short)-1);
// rgvProtocol.setLoaded2((short)0);
rgvProtocol.setAlarm((short)0);
- rgvProtocol.setxSpeed((short) 0);
- rgvProtocol.setxDistance((short) 0);
- rgvProtocol.setxDuration((short) 0);
+ rgvProtocol.setXSpeed(0.0F);
+ rgvProtocol.setXDistance(0.0F);
+ rgvProtocol.setXDuration(0.0F);
+ rgvProtocol.setSouSta((short)0);
+ rgvProtocol.setEndSta((short)0);
+ rgvProtocol.setList32(new boolean[8]);
+ rgvProtocol.setRgvPos(8000);
}
@Override
@@ -172,20 +185,30 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 16);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 36);
if (result.IsSuccess) {
if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
rgvProtocol = new RgvProtocol();
rgvProtocol.setRgvNo(slave.getId());
}
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- rgvProtocol.setSouSta(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));
- rgvProtocol.setSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setRgvPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));
+// rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
+ rgvProtocol.setRgvPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ rgvProtocol.setCode(siemensNet.getByteTransform().TransInt32(result.Content, 12));
+ rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+ rgvProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 20));
+ rgvProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 24));
+ rgvProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 28));
+ rgvProtocol.setList32(siemensNet.getByteTransform().TransBool(result.Content, 32, 1));
+ rgvProtocol.setList33(siemensNet.getByteTransform().TransBool(result.Content, 33, 1));
+ rgvProtocol.setList34(siemensNet.getByteTransform().TransBool(result.Content, 34, 1));
+ rgvProtocol.setList35(siemensNet.getByteTransform().TransBool(result.Content, 35, 1));
+
+
OutputQueue.RGV.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()));
@@ -264,7 +287,12 @@
result = siemensNet.Write("DB99.0.3", true);
}
else if (command.isReset()) {
+ siemensNet.Write("DB99.0.3", false);
+ Thread.sleep(100);
result = siemensNet.Write("DB99.0.4", true);
+ }
+ else if (command.isNoStop()) {
+ result = siemensNet.Write("DB99.0.3", false);
}
// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
@@ -296,21 +324,21 @@
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
-
-// siemensNet.Write("DB100.20", command.getCommand());
+ siemensNet.Write("DB100.16", false);
command.setRgvNo(slave.getId());
- short[] array = new short[5];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
+ short[] array = new short[4];
+ array[0] = command.getSourceStaNo1();
+ array[1] = command.getDestinationStaNo1();
array[2] = command.getTaskMode1();
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
- siemensNet.Write("DB100.10", command.getCommand());
+// array[4] = command.getTaskNo1().shortValue();
+ OperateResult result1 = siemensNet.Write("DB100.0",command.isAckFinish1());
+ OperateResult result2 = siemensNet.Write("DB100.2", array);
+ OperateResult result3 = siemensNet.Write("DB100.8", command.getTaskNo1());
+// OperateResult result3 = siemensNet.Write("DB100.14.1", command.getAckFinish1() != 0);
- OperateResult result = siemensNet.Write("DB100.0", array);
- if (!result.IsSuccess){
+ if (!result1.IsSuccess && !result2.IsSuccess){
log.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
Thread.sleep(100);
@@ -324,12 +352,13 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 12);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
-// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
- one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
- one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
- one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
- if (
+ one.setAckFinish1(siemensNet.getByteTransform().TransBool(resultRead.Content, 0));
+ one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 8));
+// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ if ( !command.isAckFinish1() == one.isAckFinish1() ||
!command.getTaskNo1().equals(one.getTaskNo1()) ||
!command.getTaskMode1().equals(one.getTaskMode1()) ||
!command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
@@ -357,23 +386,22 @@
log.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (command.getAckFinish1() == 0) {
- if (result.IsSuccess) {
+ if (!command.isAckFinish1()) {
+ if (result1.IsSuccess) {
Thread.sleep(300);
//浠诲姟涓嬪彂娆℃暟
int writeCount2 = 0;
do {
writeCount2++;
- short commandFinish = (short) 1;
- result = siemensNet.Write("DB100.10", commandFinish);
- if(result.IsSuccess){
+ result1 = siemensNet.Write("DB100.16", true);
+ if(result1.IsSuccess){
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.10", (short) 2);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.16", (short) 2);
if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
- if (commandFinish != 1){
+ boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
+ if (!commandFinish){
log.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}else{
//浠诲姟鍛戒护鍐欏叆鎴愬姛
@@ -381,24 +409,18 @@
break;
}
}else {
- log.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ log.error("RGV浠诲姟纭浣嶅洖璇诲け璐ワ紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}
} else {
- log.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ log.error("RGV浠诲姟纭浣嶅啓鍏ュけ璐ワ紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}
}while (writeCount2<5);
}
}
-// if (command.getAckFinish1() == 0) {
-// short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
-// Thread.sleep(200);
-// result = siemensNet.Write("DB100.10", commandFinish);
-// }
-
- if (result != null && result.IsSuccess) {
+ if (result1 != null && result1.IsSuccess) {
Thread.sleep(200);
this.readStatus();
log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
@@ -452,6 +474,66 @@
}
}
+ //灏忚溅寮哄埗銆佸浣嶃�佹姤璀︽秷闊炽�佸惎鍔ㄣ�佸仠姝€�佹�ュ仠銆佸浣嶃�佹墜鍔ㄣ�佹墜鍔ㄥ畾浣嶃�佸崟鏈恒�佽仈鏈恒�佽揣鍙夊洖涓�
+ private boolean write10(String status) throws InterruptedException {
+ if (Cools.isEmpty(status)) {
+ log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+ OperateResult result = siemensNet.Write("DB19."+status, true);
+ if (result != null && result.IsSuccess) {
+ Thread.sleep(200);
+ this.readStatus();
+ log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("DB19."+status));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), "DB19."+status));
+ return true;
+ } else {
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [DB鍧楋細{4}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status));
+ log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [DB鍧楋細{4}]", slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status);
+ return false;
+ }
+ }
+
+ //鍗曟浠诲姟
+ private boolean write11(RgvCommand command) throws InterruptedException {
+ if (null == command) {
+ log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+ String status = "";
+ command.setRgvNo(slave.getId());
+ short[] array = new short[2];
+ array[0] = command.getDestinationStaNo1();
+ array[1] = command.getSourceStaNo1();
+
+ OperateResult result = siemensNet.Write("DB19.0", array);
+ if (command.getTaskMode1().equals(RgvTaskModeType.FETCH.id.shortValue())){
+ status = "4.1";
+ } else if (command.getTaskMode1().equals(RgvTaskModeType.PUT.id.shortValue())){
+ status = "4.2";
+ } else if (command.getTaskMode1().equals(RgvTaskModeType.X_MOVE.id.shortValue())){
+ status = "4.0";
+ } else if (command.getTaskMode1().equals(RgvTaskModeType.FETCH_PUT.id.shortValue())){
+ status = "4.3";
+ } else {
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [DB鍧楋細{4}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status));
+ log.error("鍐欏叆RGV plc鏁版嵁澶辫触 鏈煡浠诲姟绫诲瀷 ===>> [id:{}] [ip:{}] [port:{}] [DB鍧楋細{4}]", slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status);
+ return false;
+ }
+ OperateResult result1 = siemensNet.Write("DB19."+status, true);
+ if (result != null && result.IsSuccess && result1 != null && result1.IsSuccess) {
+ Thread.sleep(200);
+ this.readStatus();
+ log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("DB19."+status));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), "DB19."+status));
+ return true;
+ } else {
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [DB鍧楋細{4}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status));
+ log.error("鍐欏叆RGV plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [DB鍧楋細{4}]", slave.getId(), slave.getIp(), slave.getPort(), "DB19."+status);
+ return false;
+ }
+ }
+
@Override
public void close() {
siemensNet.ConnectClose();
--
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