package com.zy.core.thread; 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.core.common.DateUtils; import com.core.common.SpringUtils; import com.zy.core.CrnThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.CrnTaskModeType; import com.zy.core.enums.SlaveType; import com.zy.core.model.CrnSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.entity.BasCrnOpt; import com.zy.entity.BasCrnp; import com.zy.service.BasCrnOptService; import com.zy.service.BasCrnpService; import com.zy.utils.News; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * 堆垛机线程 * Created by vincent on 2020/8/4 */ @Data @Slf4j public class SiemensCrnThread implements Runnable, CrnThread { private SiemensS7Net siemensNet; private CrnSlave slave; private CrnProtocol crnProtocol; private boolean resetFlag = false; public boolean isRunning = true; public Long sign = System.currentTimeMillis(); /** * 堆垛机是否在回原点运动中标记 */ private boolean backHpFlag = false; public SiemensCrnThread(CrnSlave slave) { this.slave = slave; } @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { this.connect(); while (isRunning) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Crn, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((CrnCommand) task.getData()); break; // 复位 case 3: CrnCommand command = (CrnCommand) task.getData(); if (null == command) { command = new CrnCommand(); } command.setCrnNo(slave.getId()); // 堆垛机编号 command.setTaskNo((short)0); // 工作号 command.setAckFinish((short) 1); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.RESET); // 任务模式 command.setSourcePosX((short)0); // 源库位排 command.setSourcePosY((short)0); // 源库位列 command.setSourcePosZ((short)0); // 源库位层 command.setDestinationPosX((short)0); // 目标库位排 command.setDestinationPosY((short)0); // 目标库位列 command.setDestinationPosZ((short)0); // 目标库位层 command.setCommand((short)0); write(command); break; default: break; } Thread.sleep(500); } catch (Exception e) { // e.printStackTrace(); } } } /** * 初始化堆垛机状态 */ private void initCrn() { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } crnProtocol.setCrnNo(slave.getId()); crnProtocol.setMode((short) -1); // crnProtocol.setTaskNo((short)0); crnProtocol.setStatus((short) -1); crnProtocol.setBay((short) 0); crnProtocol.setLevel((short) 0); crnProtocol.setForkPos((short) -1); crnProtocol.setLiftPos((short) -1); crnProtocol.setWalkPos((short) 0); crnProtocol.setLoaded((short) 0); crnProtocol.setAlarm((short) 0); crnProtocol.setxSpeed((short) 0); crnProtocol.setySpeed((short) 0); crnProtocol.setzSpeed((short) 0); crnProtocol.setxDistance((short) 0); crnProtocol.setyDistance((short) 0); crnProtocol.setxDuration((short) 0); crnProtocol.setyDuration((short) 0); try { // 根据实时信息更新数据库 BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class); BasCrnp basCrnp = new BasCrnp(); basCrnp.setCrnErr(crnProtocol.getAlarm() == null ? 0 : crnProtocol.getAlarm().longValue()); basCrnp.setCrnNo(slave.getId()); basCrnp.setCrnSts((int) crnProtocol.getMode()); if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) { News.error("MelsecCrn" + " - 4" + " - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } } catch (Exception e) { } } @Override public boolean connect() { boolean result = false; siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp()); siemensNet.setRack(slave.getRack().byteValue()); siemensNet.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensNet.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [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("SiemensCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [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("SiemensCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); initCrn(); } // siemensNet.ConnectClose(); return result; } /** * 读取状态 */ private void readStatus(){ try { OperateResultExOne result = siemensNet.Read("DB101.0", (short) 56); if (result.IsSuccess) { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } crnProtocol.setCrnNo(slave.getId()); crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2)); crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4)); crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6)); crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8)); crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10)); crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12)); crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14)); crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16)); crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18)); crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20)); crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22)); crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24)); crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26)); crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28)); crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32)); crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36)); crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40)); crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44)); crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48)); crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52)); // crnProtocol.setTaskReceive(siemensNet.getByteTransform().TransInt16(result.Content, 60)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); // if (crnProtocol.getStatus() == 0 && crnProtocol.getTaskReceive() == 0) { // OperateResultExOne taskResult = siemensNet.Read("DB100.0", (short) 20); // if (taskResult.IsSuccess) { // short taskNo = siemensNet.getByteTransform().TransInt16(taskResult.Content, 2); // short taskMode = siemensNet.getByteTransform().TransInt16(taskResult.Content, 4); // short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 6); // short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 8); // short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 10); // short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 12); // short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 14); // short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 16); // short confirm = siemensNet.getByteTransform().TransInt16(taskResult.Content, 18); // // if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) { // short[] array = new short[10]; // array[0] = (short) 0; // array[1] = (short) 0; // array[2] = (short) 0; // array[3] = (short) 0; // array[4] = (short) 0; // array[5] = (short) 0; // array[6] = (short) 0; // array[7] = (short) 0; // array[8] = (short) 0; // array[9] = (short) 0; // siemensNet.Write("DB100.0", array); // // // 最后任务完成时间 // basCrnp.setModiTime(new Date()); // Thread.sleep(300); // } // } // } // 复位信号 // if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) { // News.info("{}号堆垛机，收到任务{}完成信号",crnProtocol.getCrnNo(),crnProtocol.getTaskNo()); // if (resetFlag) { // if(crnProtocol.getTaskNo()==9999){ // backHpFlag = false; // } // CrnCommand crnCommand = new CrnCommand(); // crnCommand.setAckFinish((short)1); // if (write(crnCommand)) { // resetFlag = false; // } // } // } try { // 根据实时信息更新数据库 BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class); BasCrnp basCrnp = new BasCrnp(); basCrnp.setCrnNo(slave.getId()); basCrnp.setCrnSts((int)crnProtocol.getMode()); if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){ News.error("SiemensCrn"+" - 3"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception ignore){} } else { initCrn(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [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("SiemensCrn"+" - 4"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception e) { e.printStackTrace(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); initCrn(); } } /** * 写入数据 */ private boolean write(CrnCommand command) throws InterruptedException { if (null == command) { News.error("堆垛机写入命令为空"); return false; } // 任务完成确认位是否置0 int writeAck = 0; boolean commandResult = false; do { OperateResult result = siemensNet.Write("DB100.0", (short) 0); if (result.IsSuccess) { OperateResultExOne commandReadResult = siemensNet.Read("DB100.0", (short) 2); if (commandReadResult.IsSuccess) { short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0); if (commandRead == 1) { Thread.sleep(500); } else { commandResult = true; break; } } } writeAck++; Thread.sleep(200); } while (writeAck < 5); if (!commandResult) { News.error("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "任务状态位异常"); return false; } if(command.getTaskModeType() == CrnTaskModeType.RESET) { short[] array = new short[9]; array[0] = command.getAckFinish(); array[1] = (short) 0; array[2] = (short) 0; array[3] = (short) 0; array[4] = (short) 0; array[5] = (short) 0; array[6] = (short) 0; array[7] = (short) 0; array[8] = (short) 0; // 写入任务数据 int idx = 0; boolean commandDataResult = false; do { OperateResult result = siemensNet.Write("DB100.0", array); if (result.IsSuccess) { OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 20); if (resultRead.IsSuccess) { short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2); short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4); short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6); short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8); short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10); short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12); short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14); short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16); if (taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0) { result = siemensNet.Write("DB100.0", array); } else { commandDataResult = true; break; } } } idx++; Thread.sleep(200); } while (idx < 5); if (!commandDataResult) { News.error("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "堆垛机写入任务数据失败"); return false; } BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class); BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); basCrnp.setModiTime(new Date()); basCrnpService.updateById(basCrnp); } else { short[] array = new short[9]; array[0] = command.getAckFinish(); array[1] = command.getTaskNo(); array[2] = command.getTaskMode(); array[3] = command.getSourcePosX(); array[4] = command.getSourcePosY(); array[5] = command.getSourcePosZ(); array[6] = command.getDestinationPosX(); array[7] = command.getDestinationPosY(); array[8] = command.getDestinationPosZ(); // 写入任务数据 int idx = 0; boolean commandDataResult = false; do { OperateResult result = siemensNet.Write("DB100.0", array); if (result.IsSuccess) { OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 20); if (resultRead.IsSuccess) { short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2); short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4); short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6); short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8); short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10); short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12); short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14); short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16); if (taskNo != command.getTaskNo() || taskMode != command.getTaskMode() || sourcePosX != command.getSourcePosX() || sourcePosY != command.getSourcePosY() || sourcePosZ != command.getSourcePosZ() || destinationPosX != command.getDestinationPosX() || destinationPosY != command.getDestinationPosY() || destinationPosZ != command.getDestinationPosZ()) { result = siemensNet.Write("DB100.0", array); } else { commandDataResult = true; break; } } } idx++; Thread.sleep(200); } while (idx < 5); if (!commandDataResult) { News.error("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "堆垛机写入任务数据失败"); return false; } // 下发任务下发确认位 int writeConfirmIdx = 0; boolean commandConfirmResult = false; do { OperateResult result = siemensNet.Write("DB100.18", (short) 1); if (result.IsSuccess) { OperateResultExOne commandReadResult = siemensNet.Read("DB100.18", (short) 2); if (commandReadResult.IsSuccess) { short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0); if (commandRead == 0) { Thread.sleep(500); } else { commandConfirmResult = true; break; } } } writeConfirmIdx++; Thread.sleep(200); } while (writeConfirmIdx < 5); if (!commandConfirmResult) { News.error("堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo()); return false; } } // 向堆垛机发任务前的堆垛机状态 // try{ // OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 24); // if (resultRead.IsSuccess) { // CrnCommand one = new CrnCommand(); // one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); // one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); // one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); // one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); // one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); // one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); // one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); // one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); // if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) // || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) // || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) // || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) // ){ // News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // } else { // News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // } // } // }catch (Exception e){ // News.error("堆垛机命令地址写入后回读出错"); // } // // command.setCrnNo(slave.getId()); // // short[] array = new short[10]; // array[0] = command.getAckFinish(); // 任务完成确认位 // array[1] = command.getTaskNo(); // 任务号 // array[2] = command.getTaskMode(); // 模式 // array[3] = command.getSourcePosX(); // 源位置排号 // array[4] = command.getSourcePosY(); // 源位置列号 // array[5] = command.getSourcePosZ(); // 源位置层号 // array[6] = command.getDestinationPosX(); // 目标位置排号 // array[7] = command.getDestinationPosY(); // 目标位置列号 // array[8] = command.getDestinationPosZ(); // 目标位置层号 // array[9] = command.getCommand(); //// array[10] = 0; //备用1 // // OperateResult result = siemensNet.Write("DB100.0", array); // News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); // // if (!result.IsSuccess) { // News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); // MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); // Thread.sleep(100); // readStatus(); // return false; // } // // //堆垛机任务写入后，回读一次，看是否成功 // Thread.sleep(200); // try{ // OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 24); // if (resultRead.IsSuccess) { // CrnCommand one = new CrnCommand(); // one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); // one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); // one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); // one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); // one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); // one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); // one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); // one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); // one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22)); // if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) // || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) // || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) // || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) // // ){ // try{ // News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // }catch (Exception e){ // try{ // News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); // }catch (Exception e1){ // News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); // } // } // News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); // MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); // Thread.sleep(100); // readStatus(); // return false; // } else { // News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // } // } // }catch (Exception e){ // News.error("堆垛机命令地址写入后回读出错"); // } // // // if (command.getAckFinish() == 0) { // if (result.IsSuccess) { // Thread.sleep(300); // //任务下发次数 // int writeCount2 = 0; // // do { // writeCount2++; // short commandFinish = (short) 1; // result = siemensNet.Write("DB100.18", commandFinish); // if(result.IsSuccess){ // //堆垛机任务写入后，回读一次，看是否成功 // Thread.sleep(200); // OperateResultExOne resultRead = siemensNet.Read("DB100.18", (short) 2); // if (resultRead.IsSuccess) { // commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); // if (commandFinish != 1){ // News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次"); // }else{ // //任务命令写入成功 // News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); // break; // } // }else { // News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次"); // } // } else { // News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次"); // } // }while (writeCount2<5); // } // } else { // BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class); // BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); // basCrnp.setModiTime(new Date()); // basCrnpService.updateById(basCrnp); // } // if (command.getAckFinish() == 1) { // } try { // 日志记录 BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class); BasCrnOpt basCrnOpt = new BasCrnOpt( command.getTaskNo().intValue(), // 任务号 command.getCrnNo(), // 堆垛机[非空] new Date(), // 下发时间 command.getTaskModeType().toString(), // 模式 command.getSourcePosX().intValue(), // 源排 command.getSourcePosY().intValue(), // 源列 command.getSourcePosZ().intValue(), // 源层 null, // 源站 command.getDestinationPosX().intValue(), // 目标排 command.getDestinationPosY().intValue(), // 目标列 command.getDestinationPosZ().intValue(), // 目标层 null, // 目标站 null, // 响应结果 null, // 修改时间 null // 修改人员 ); bean.insert(basCrnOpt); } catch (Exception ignore) {} // if (result.IsSuccess) { // this.readStatus(); News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; // } else { // OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); // News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); // return false; // } } @Override public void close() { siemensNet.ConnectClose(); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { CrnSlave slave = new CrnSlave(); slave.setId(3); slave.setIp("10.10.10.100"); slave.setRack(0); slave.setSlot(0); SiemensCrnThread crnThread = new SiemensCrnThread(slave); crnThread.connect(); crnThread.readStatus(); System.out.println(JSON.toJSONString(crnThread.crnProtocol)); Thread.sleep(3000L); // 1.入库 源和目标都发 CrnCommand command = new CrnCommand(); command.setCrnNo(1); // 堆垛机编号 command.setTaskNo((short) 80); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式 command.setSourcePosX((short) 11); // 源库位排 command.setSourcePosY((short) 4); // 源库位列 command.setSourcePosZ((short) 1); // 源库位层 command.setDestinationPosX((short) 12); // 目标库位排 command.setDestinationPosY((short) 5); // 目标库位列 command.setDestinationPosZ((short) 1); // 目标库位层 command.setCommand((short) 1); // 目标库位层 crnThread.write(command); // 2.出库 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(2); // 堆垛机编号 // command.setTaskNo((short) 80); // 工作号 //// command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式 // command.setSourcePosX((short) 5); // 源库位排 // command.setSourcePosY((short) 1); // 源库位列 // command.setSourcePosZ((short) 1); // 源库位层 // command.setDestinationPosX((short) 7); // 目标库位排 // command.setDestinationPosY((short) 1); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // command.setCommand((short) 1); // crnThread.write(command); // // 3.库位移转 源和目标都发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(2); // 堆垛机编号 // command.setTaskNo((short) 88); // 工作号 //// command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)2); // 源库位排 // command.setSourcePosY((short)1); // 源库位列 // command.setSourcePosZ((short)1); // 源库位层 // command.setDestinationPosX((short)3); // 目标库位排 // command.setDestinationPosY((short)1); // 目标库位列 // command.setDestinationPosZ((short)1); // 目标库位层 // command.setCommand((short)1); // crnThread.write(command); // 4.站位移转 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(slave.getId()); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)1); // 源库位排 // command.setSourcePosY((short)0); // 源库位列 // command.setSourcePosZ((short)1); // 源库位层 // command.setDestinationPosX((short)2); // 目标库位排 // command.setDestinationPosY((short)0); // 目标库位列 // command.setDestinationPosZ((short)1); // 目标库位层 // crnThread.write(command); // // 5.回原点 不用发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 0); // 目标库位排 // command.setDestinationPosY((short) 0); // 目标库位列 // command.setDestinationPosZ((short) 0); // 目标库位层 // crnThread.write(command); // // 7.坐标移行 目标发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 2); // 目标库位排 // command.setDestinationPosY((short) 1); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // crnThread.write(command); // 只有出现指定异常才进行复位 // if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr // || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr // || crnThread.crnProtocol.getCrnError2().leftPutLoadErr // || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) { // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setAckFinish((short) 1); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.NONE); // 任务模式 // Thread.sleep(3000L); // crnThread.write(command); // } } }