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.asrs.entity.BasCrnOpt; import com.zy.asrs.entity.BasCrnp; import com.zy.asrs.entity.CommandInfo; import com.zy.asrs.service.BasCrnOptService; import com.zy.asrs.service.BasCrnpService; import com.zy.asrs.service.CommandInfoService; import com.zy.asrs.service.DeviceErrorService; 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.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 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: 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.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; 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"); } siemensNet.ConnectClose(); return result; } /** * 读取状态 */ private void readStatus(){ OperateResultExOne result = siemensNet.Read("DB11.2", (short) 104); if (result.IsSuccess) { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); // 2 crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); // 4 crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 4)); // 6 crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 6)); // 8 crnProtocol.setValid(siemensNet.getByteTransform().TransInt16(result.Content, 8)); // 10 crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // 16 crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 16)); // 18 crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18)); // 20 crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20)); // 22 // 异常 crnProtocol.setAlarm1(0); crnProtocol.setAlarm2(0); crnProtocol.setAlarm3(0); crnProtocol.setAlarm4(0); boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1); // 30 if (err1[0]) { crnProtocol.setAlarm1(1); } if (err1[1]) { crnProtocol.setAlarm1(2); } if (err1[2]) { crnProtocol.setAlarm1(3); } boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1); // 31 if (err2[0]) { crnProtocol.setAlarm1(4); } if (err2[1]) { crnProtocol.setAlarm1(5); } if (err2[2]) { crnProtocol.setAlarm1(6); } boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1); // 32 if (err3[6]) { crnProtocol.setAlarm1(7); } if (err3[7]) { crnProtocol.setAlarm1(8); } boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1); // 33 if (err4[1]) { crnProtocol.setAlarm1(9); } if (err4[5]) { crnProtocol.setAlarm1(10); } if (err4[6]) { crnProtocol.setAlarm1(11); } if (err4[7]) { crnProtocol.setAlarm1(12); } boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1); // 34 if (err5[0]) { crnProtocol.setAlarm2(13); } if (err5[2]) { crnProtocol.setAlarm2(14); } if (err5[3]) { crnProtocol.setAlarm2(15); } if (err5[5]) { crnProtocol.setAlarm2(16); } if (err5[6]) { crnProtocol.setAlarm2(17); } if (err5[7]) { crnProtocol.setAlarm2(18); } boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1); // 35 if (err6[1]) { crnProtocol.setAlarm2(19); } if (err6[2]) { crnProtocol.setAlarm2(20); } if (err6[3]) { crnProtocol.setAlarm2(21); } if (err6[4]) { crnProtocol.setAlarm2(22); } boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1); // 36 if (err7[4]) { crnProtocol.setAlarm2(23); } if (err7[5]) { crnProtocol.setAlarm2(24); } if (err7[6]) { crnProtocol.setAlarm2(25); } boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1); // 38 if (err8[0]) { crnProtocol.setAlarm3(26); } if (err8[1]) { crnProtocol.setAlarm3(27); } if (err8[2]) { crnProtocol.setAlarm3(28); } if (err8[3]) { crnProtocol.setAlarm3(29); } if (err8[4]) { crnProtocol.setAlarm3(30); } if (err8[5]) { crnProtocol.setAlarm3(31); } if (err8[6]) { crnProtocol.setAlarm3(32); } if (err8[7]) { crnProtocol.setAlarm3(33); } boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1); // 39 if (err9[0]) { crnProtocol.setAlarm3(34); } if (err9[1]) { crnProtocol.setAlarm3(35); } if (err9[2]) { crnProtocol.setAlarm3(36); } if (err9[3]) { crnProtocol.setAlarm3(37); } if (err9[4]) { crnProtocol.setAlarm3(38); } if (err9[5]) { crnProtocol.setAlarm3(39); } if (err9[6]) { crnProtocol.setAlarm3(40); } if (err9[7]) { crnProtocol.setAlarm3(41); } boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1); // 40 if (err10[0]) { crnProtocol.setAlarm3(42); } if (err10[1]) { crnProtocol.setAlarm3(43); } if (err10[2]) { crnProtocol.setAlarm3(44); } if (err10[3]) { crnProtocol.setAlarm3(45); } if (err10[4]) { crnProtocol.setAlarm3(46); } boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1); // 41 if (err11[0]) { crnProtocol.setAlarm3(47); } if (err11[1]) { crnProtocol.setAlarm3(48); } if (err11[2]) { crnProtocol.setAlarm3(49); } boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1); // 42 if (err12[0]) { crnProtocol.setAlarm4(50); } if (err12[1]) { crnProtocol.setAlarm4(51); } if (err12[2]) { crnProtocol.setAlarm4(52); } if (err12[3]) { crnProtocol.setAlarm4(53); } if (err12[4]) { crnProtocol.setAlarm4(54); } if (err12[5]) { crnProtocol.setAlarm4(55); } boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1); // 43 if (err13[0]) { crnProtocol.setAlarm4(56); } if (err13[1]) { crnProtocol.setAlarm4(57); } if (err13[2]) { crnProtocol.setAlarm4(58); } if (err13[3]) { crnProtocol.setAlarm4(59); } boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1); // 44 if (err14[0]) { crnProtocol.setAlarm4(60); } if (err14[1]) { crnProtocol.setAlarm4(61); } if (err14[2]) { crnProtocol.setAlarm4(62); } if (err14[3]) { crnProtocol.setAlarm4(63); } if (err14[4]) { crnProtocol.setAlarm4(64); } if (err14[5]) { crnProtocol.setAlarm4(65); } if (err14[6]) { crnProtocol.setAlarm4(66); } if (err14[7]) { crnProtocol.setAlarm4(67); } boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1); // 45 if (err15[1]) { crnProtocol.setAlarm4(68); } if (err15[2]) { crnProtocol.setAlarm4(69); } if (err15[3]) { crnProtocol.setAlarm4(70); } if (err15[4]) { crnProtocol.setAlarm4(71); } if (err15[5]) { crnProtocol.setAlarm4(72); } if (err15[6]) { crnProtocol.setAlarm4(73); } boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1); // 62 crnProtocol.setConnStatus(bool1[0]); crnProtocol.setCorrection(bool1[3]); crnProtocol.setTuError(bool1[4]); crnProtocol.setNoneError(bool1[5]); crnProtocol.setStockError(bool1[6]); crnProtocol.setJobInvalid(bool1[7]); boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1); // 63 crnProtocol.setIdle(bool2[0]); crnProtocol.setControl(bool2[1]); crnProtocol.setStopQuasi(bool2[2]); crnProtocol.setRunning(bool2[3]); crnProtocol.setFault(bool2[4]); crnProtocol.setForkHome(bool2[5]); crnProtocol.setForkSingleLeft(bool2[6]); crnProtocol.setForkSingleRight(bool2[7]); boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1); // 64 crnProtocol.setForkDoubleLeft(bool3[0]); crnProtocol.setForkDoubleRight(bool3[1]); crnProtocol.setSingleHigh(bool3[2]); crnProtocol.setSingleLow(bool3[3]); crnProtocol.setDoubleHigh(bool3[4]); crnProtocol.setDoubleLow(bool3[5]); crnProtocol.setPlatformHigh(bool3[6]); crnProtocol.setPlatformLow(bool3[7]); boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1); // 66 crnProtocol.setLoaded((short) (bool4[4]?1:0)); // 有物 // 速度 crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22)); // 24 crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26 crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28 // 累计里程、时长 crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90 crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94 crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98 crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102 // 增强 if (crnProtocol.getForkHome()) { crnProtocol.setForkPos(CrnForkPosType.HOME); } if (crnProtocol.getForkSingleLeft()) { crnProtocol.setForkPos(CrnForkPosType.LEFT); } if (crnProtocol.getForkSingleRight()) { crnProtocol.setForkPos(CrnForkPosType.RIGHT); } if (crnProtocol.getForkDoubleLeft()) { crnProtocol.setForkPos(CrnForkPosType._LEFT); } if (crnProtocol.getForkDoubleRight()) { crnProtocol.setForkPos(CrnForkPosType._RIGHT); } if (crnProtocol.getSingleHigh()) { crnProtocol.setLiftPos(CrnLiftPosType.UP); } if (crnProtocol.getSingleLow()) { crnProtocol.setLiftPos(CrnLiftPosType.DOWN); } if (crnProtocol.getDoubleHigh()) { crnProtocol.setLiftPos(CrnLiftPosType._UP); } if (crnProtocol.getDoubleLow()) { crnProtocol.setLiftPos(CrnLiftPosType._DOWN); } if (crnProtocol.getIdle()) { crnProtocol.setStatus(CrnStatusType.IDLE); } 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() == 1) { 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; } if (command.getTaskNo() == 0 && command.getAckFinish() == 0) { command.setTaskNo((short) 9999); } CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class); CommandInfo commandInfo = new CommandInfo(); commandInfo.setWrkNo(command.getTaskNo().intValue()); commandInfo.setCommandStatus(1); commandInfo.setStartTime(new Date()); commandInfo.setDevice("crn"); commandInfo.setCommand(JSON.toJSONString(command)); commandInfoService.insert(commandInfo); command.setCrnNo(slave.getId()); short[] array = new short[9]; if (command.getAckFinish() == 0) { array[0] = 5; } else { array[0] = 0; } if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)1){ array[1] = (short)0; array[2] = (short)0; }else if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)41){ array[1] = (short)0; array[2] = (short)42; }else { array[1] = command.getSourcePosZ(); array[2] = command.getSourcePosY(); } if (command.getSourcePosX()==(short)3){ array[3] = (short)1; }else if (command.getSourcePosX()==(short)4){ array[3] = (short)2; }else { array[3] = command.getSourcePosX(); } if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)1){ array[4] = (short)0; array[5] = (short)0; }else if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)41){ array[4] = (short)0; array[5] = (short)42; }else { array[4] = command.getDestinationPosZ(); array[5] = command.getDestinationPosY(); } if (command.getDestinationPosX()==(short)3){ array[6] = (short)1; }else if (command.getDestinationPosX()==(short)4){ array[6] = (short)2; }else { array[6] = command.getDestinationPosX(); } if ((array[1]==(short)0 && array[2] == (short)0) || (array[1]==(short)0 && array[2] == (short)42)){ array[7]=(short)1; }else { array[7]=(short)0; } // array[7] = command.getSourceStaNo(); if ((array[4]==(short)0 && array[5] == (short)0) || (array[4]==(short)0 && array[5] == (short)42)){ array[8]=(short)1; }else { array[8]=(short)0; } // array[8] = command.getDestinationStaNo(); // 作业信息 OperateResult result = siemensNet.Write("DB10.0", array); // 任务号 + 完成位 short[] array2 = new short[2]; array2[0] = command.getTaskNo(); array2[1] = command.getAckFinish(); OperateResult result1 = siemensNet.Write("DB10.24", array2); // 结束位 if (command.getAckFinish() == 0) { OperateResult result2 = siemensNet.Write("DB10.28.1", true); } // 日志记录 try { 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().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 && result1.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); // } } }