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.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.DateUtils; import com.core.common.SpringUtils; import com.zy.asrs.entity.*; import com.zy.asrs.service.*; import com.zy.core.CrnThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.*; 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 lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.*; /** * 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 SiemensCrnThread(CrnSlave slave) { this.slave = slave; } @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { initCrnProtocol(); this.connect(); while (true) { 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: write5((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.NONE); // 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 write(command); break; case 4: writeAuto((CrnCommand) task.getData()); break; case 5: write((CrnCommand) task.getData()); break; default: break; } Thread.sleep(500); } catch (Exception e) { // e.printStackTrace(); } } } /** * 初始化堆垛机 */ private void initCrnProtocol(){ crnProtocol = new CrnProtocol(); crnProtocol.setMode((short) 0); crnProtocol.setStatus((short) 0); crnProtocol.setTaskNo((short) 0); crnProtocol.setTaskFinish((short) 0); crnProtocol.setValid((short) 0); crnProtocol.setBay((short) 0); crnProtocol.setLevel((short) 0); crnProtocol.setRow((short) 0); crnProtocol.setLane((short) 0); } @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())); log.info("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())); log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败"); initCrnProtocol(); } // siemensNet.ConnectClose(); return result; } /** * 读取状态 */ private void readStatus(){ OperateResultExOne result = siemensNet.Read("DB101.0", (short) 56); if (result.IsSuccess) { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } 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)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); // 复位信号 if (crnProtocol.getTaskFinish() == 0) { if (resetFlag) { 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))){ log.error("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){} DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.deleteDeviceError("crn", slave.getId()); } else { 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())); log.error("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()); DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); deviceErrorService.addDeviceError("crn", slave.getId(), "读取堆垛机plc状态信息失败"); } } /** * 写入数据 */ private boolean write(CrnCommand command){ if (null == command) { log.error("堆垛机写入命令为空"); return false; } //转换前克隆一份 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(command.getCrnNo()); crnCommand.setAckFinish(command.getAckFinish()); crnCommand.setTaskNo(command.getTaskNo()); crnCommand.setTaskMode(command.getTaskMode()); crnCommand.setSourcePosX(command.getSourcePosX()); crnCommand.setSourcePosY(command.getSourcePosY()); crnCommand.setSourcePosZ(command.getSourcePosZ()); crnCommand.setDestinationPosX(command.getDestinationPosX()); crnCommand.setDestinationPosY(command.getDestinationPosY()); crnCommand.setDestinationPosZ(command.getDestinationPosZ()); // crnCommand.setSourceStaNo(command.getSourceStaNo()); // crnCommand.setDestinationStaNo(command.getDestinationStaNo()); crnCommand.setCommand(command.getCommand()); if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) { command.setTaskNo((short) 999); } command.setCrnNo(slave.getId()); short[] array = new short[10]; 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(); array[9] = command.getCommand(); // 作业信息 OperateResult result = siemensNet.Write("DB100.0", array); if (result.IsSuccess) { log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); return false; } } /** * 写入数据 */ private synchronized boolean write5(CrnCommand command) throws InterruptedException { String methodName = Thread.currentThread().getStackTrace()[1].getMethodName(); if (null == command) { log.error("堆垛机写入命令为空"); return false; } // convertRow(command); command.setCrnNo(slave.getId()); short[] array = new short[10]; 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(); // array[9] = command.getSourceStaNo(); // array[10] = command.getDestinationStaNo(); array[9] = command.getCommand(); OperateResult result18 = siemensNet.Write("DB100.18", (short)0); Thread.sleep(100L); OperateResult result = siemensNet.Write("DB100.0", array); int i=0; do{ //堆垛机任务写入后，回读一次，看是否成功 Thread.sleep(100); OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 20); 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()) ){ i++; log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one)); result = siemensNet.Write("DB100.0", array); }else{ break; } } }while(i<5); if (command.getAckFinish() == 0) { short commandFinish = 1; Thread.sleep(100L); result = siemensNet.Write("DB100.18", commandFinish); int signFinish = 1; while (signFinish<5){ OperateResultExOne result10018 = siemensNet.Read("DB100.18", (short) 2); short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0); if (transInt16 != commandFinish){ log.info("下发DB100.18 回读失败" + "commandFinish:"+commandFinish); log.info("下发DB100.18 回读失败" + "array:"+ JSON.toJSONString(array)); result = siemensNet.Write("DB100.18", commandFinish); signFinish++; }else { log.info("下发DB100.18" + "commandFinish:"+commandFinish); log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array)); break; } } } 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 != null && result.IsSuccess) { Thread.sleep(300); this.readStatus(); log.info(methodName + ":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())); log.error(methodName + ":写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } /** * 写入数据 */ private boolean write2(CrnCommand command){ if (null == command) { log.error("堆垛机写入命令为空"); return false; } //转换前克隆一份 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(command.getCrnNo()); crnCommand.setAckFinish(command.getAckFinish()); crnCommand.setTaskNo(command.getTaskNo()); crnCommand.setTaskMode(command.getTaskMode()); crnCommand.setSourcePosX(command.getSourcePosX()); crnCommand.setSourcePosY(command.getSourcePosY()); crnCommand.setSourcePosZ(command.getSourcePosZ()); crnCommand.setDestinationPosX(command.getDestinationPosX()); crnCommand.setDestinationPosY(command.getDestinationPosY()); crnCommand.setDestinationPosZ(command.getDestinationPosZ()); // crnCommand.setSourceStaNo(command.getSourceStaNo()); // crnCommand.setDestinationStaNo(command.getDestinationStaNo()); crnCommand.setCommand(command.getCommand()); if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) { command.setTaskNo((short) 999); } command.setCrnNo(slave.getId()); short[] array = new short[10]; if (Cools.isEmpty(command.getAckFinish())) { array[0] = 5; } else { 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(); array[9] = command.getCommand(); // 作业信息 OperateResult result = siemensNet.Write("DB100.0", array); // 日志记录 if (command.getAckFinish() != 1) { 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() == null ? null : 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) {} //更新命令日志 CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class); CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class); CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId()); if (Cools.isEmpty(commandInfo)){ commandInfo = commandInfoService.selectOne(new EntityWrapper() .eq("wrk_no",crnProtocol.getTaskNo()) .eq("device","Crn")); } CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class); commandInfoLog.setId(null); if (result.IsSuccess) { Date now = new Date(); //更新指令日志 commandInfoLog.setDeviceLog("指令下发成功"); commandInfoLogService.insert(commandInfoLog); //线程暂存指令ID crnProtocol.setCommandId(command.getCommandId()); //更新指令状态 commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//执行中 commandInfo.setExecuteTime(now); commandInfoService.updateById(commandInfo); //更新任务步序 TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class); TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue()); if (taskWrk != null) { taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序 taskWrkService.updateById(taskWrk); } } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } return true; } private boolean writeAuto(CrnCommand command){ if (null == command) { log.error("堆垛机写入命令为空"); return false; } OperateResult result = new OperateResult(); short[] array = new short[1]; array[0] = command.getAuto(); if(command.getAuto() !=0){ array[0] = command.getAuto(); result = siemensNet.Write("DB103.0", array); }else if (command.getOnlineWrk1() != 0){ array[0] = command.getOnlineWrk1(); result = siemensNet.Write("DB103.2", array); }else if (command.getOnlineWrk2() !=0){ array[0] = command.getOnlineWrk2(); result = siemensNet.Write("DB103.4", array); }else if (command.getOnlineWrk3() != 0){ array[0] = command.getOnlineWrk3(); result = siemensNet.Write("DB103.6", array); }else if (command.getOnlineWrk4() != 0){ array[0] = command.getOnlineWrk4(); result = siemensNet.Write("DB103.8", array); } else if (command.getReset() != 0) { array[0] = command.getReset(); result = siemensNet.Write("DB103.10", array); } if (result.IsSuccess) { log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); 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(1); slave.setIp("192.168.6.9"); 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) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 // 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) 3); // 目标库位列 // command.setDestinationPosZ((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(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.PAKOUT); // 任务模式 // command.setSourcePosX((short) 2); // 源库位排 // command.setSourcePosY((short) 4); // 源库位列 // command.setSourcePosZ((short) 3); // 源库位层 // command.setDestinationPosX((short) 1); // 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); // // 3.库位移转 源和目标都发 pass // 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.LOC_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)2); // 源库位排 // command.setSourcePosY((short)2); // 源库位列 // command.setSourcePosZ((short)3); // 源库位层 // command.setDestinationPosX((short)2); // 目标库位排 // command.setDestinationPosY((short)4); // 目标库位列 // command.setDestinationPosZ((short)4); // 目标库位层 // 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); // } } }