agv请求实体类和plc初始化连接

ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java

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+package com.ruoyi.schedule.data;
+
+
+import com.ruoyi.schedule.plc.domain.ConvPortRead;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.plc4x.java.PlcDriverManager;
+import org.apache.plc4x.java.api.PlcConnection;
+import org.apache.plc4x.java.api.messages.PlcReadRequest;
+import org.apache.plc4x.java.api.messages.PlcReadResponse;
+import org.apache.plc4x.java.api.types.PlcResponseCode;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 获取输送机plc连接
+ */
+@Slf4j
+@Service
+public class ConvConnection {
+
+    Integer convPortCount = 10;
+
+    String ipConv = "127.0.0.1";
+
+    PlcConnection convConnection;
+
+    /**
+     * 初始化输送机plc连接
+     */
+    @PostConstruct
+    public void initializeConvConnection() {
+        try {
+            convConnection = new PlcDriverManager().getConnection("s7://" + ipConv);
+            log.info("【输送机连接初始化】输送机连接成功！");
+        }catch (Exception e){
+            log.warn("【输送机连接初始化】输送机连接失败:" + e.getMessage());
+        }
+    }
+
+
+    /**
+     * 获取所有输送机状态参数
+     * @return
+     */
+    public List<ConvPortRead> getConvPortStatus() {
+
+        List<ConvPortRead> convPorts = new ArrayList<>();
+
+        for (int i = 0; i < convPortCount; i++) {
+            try {
+                PlcReadRequest.Builder builder = convConnection.readRequestBuilder();
+
+                builder.addItem("value-test","%M0.0:BOOL");
+                builder.addItem("conv-inPostion","%DB501.DBW" + (0 + i * 30) + ":INT");
+                builder.addItem("conv-height","%DB501.DBW" + (2 + i * 30) + ":INT");
+                builder.addItem("conv-isException","%DB501.DBD" + (4 + i * 30) + ":DINT");
+                builder.addItem("conv-free","%DB501.DBW" + (6 + i * 30) + ":INT");
+                builder.addItem("conv-taskId","%DB501.DBD" + (8 + i * 30) + ":INT");
+                builder.addItem("conv-palletId","%DB501.DBD" + (16 + i * 30) + ":STRING");
+
+                PlcReadRequest readRequest = builder.build();
+
+                PlcReadResponse response=readRequest.execute().get(2000, TimeUnit.MILLISECONDS);
+
+                if (response.getResponseCode("value-test") == PlcResponseCode.OK) {
+                    convPorts.get(i).setInPostion(response.getInteger("conv-inPostion"));
+                    convPorts.get(i).setHeight(response.getInteger("conv-height"));
+                    convPorts.get(i).setIsException(response.getInteger("conv-isException"));
+                    convPorts.get(i).setFree(response.getInteger("conv-free"));
+                    convPorts.get(i).setTaskId(response.getString("conv-taskId"));
+                    convPorts.get(i).setPalletId(response.getString("conv-palletId"));
+
+                }else{
+                    log.warn("【获取出入口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
+                    return null;
+                }
+
+            } catch (Exception e) {
+                log.warn("【获取出入口输送机状态】获取状态参数失败:" + e.getMessage());
+                return null;
+            }
+        }
+
+        return convPorts;
+
+    }
+
+
+
+
+}

ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java

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+package com.ruoyi.schedule.plc.domain;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class ConvBaseRead {
+
+    /**
+     * 输送机编号
+     */
+    private String convName;
+
+    /**
+     * 任务号
+     */
+    private String taskId;
+
+    /**
+     * 是否空闲
+     * 1-空闲 0-占用
+     */
+    private Integer free;
+
+    /**
+     * 输送到位
+     * 0-未到位 1-到位
+     */
+    private Integer inPostion;
+
+    /**
+     * 入库到位
+     * 0-未到位 1-到位
+     */
+    private Integer inPostionForStockIn;
+
+    /**
+     * 出库到位
+     * 0-未到位 1-到位
+     */
+    private Integer inPostionForStockOut;
+
+}