package com.zy.asrs.wcs.rcs.thread.impl;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.Profinet.Siemens.SiemensPLCS;
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import HslCommunication.Profinet.Siemens.SiemensS7Net;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.DateUtils;
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import com.zy.asrs.framework.common.SpringUtils;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.common.ExecuteSupport;
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import com.zy.asrs.wcs.core.domain.dto.BasLiftStaDto;
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import com.zy.asrs.wcs.core.entity.BasLift;
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import com.zy.asrs.wcs.core.model.command.LiftCommand;
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import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
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import com.zy.asrs.wcs.core.service.BasLiftService;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.OutputQueue;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
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import com.zy.asrs.wcs.rcs.model.enums.LiftProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
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import com.zy.asrs.wcs.rcs.thread.LiftThread;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.util.*;
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@Slf4j
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@SuppressWarnings("all")
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public class NyLiftThread implements LiftThread {
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private Device device;
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private RedisUtil redisUtil;
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private LiftProtocol liftProtocol;
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private SiemensS7Net siemensS7Net;
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private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();
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private List<BasLiftStaDto> staList = new ArrayList<>();
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public NyLiftThread(Device device, RedisUtil redisUtil) {
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this.device = device;
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this.redisUtil = redisUtil;
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//初始化站点
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BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
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.eq(BasLift::getDeviceId, device.getId()));
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List<BasLiftStaDto> staList = JSON.parseArray(basLift.getSta(), BasLiftStaDto.class);
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this.staList = staList;
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for (BasLiftStaDto sta : staList) {
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LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
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liftStaProtocol.setStaNo(sta.getStaNo());//站点号
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liftStaProtocol.setLev(sta.getLev());//站点楼层
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String locNo = Utils.getLocNo(sta.getRow(), sta.getBay(), sta.getLev());
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liftStaProtocol.setLocNo(locNo);//站点库位号
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liftStaProtocol.setLiftNo(basLift.getLiftNo());//提升机号
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liftStaProtocols.add(liftStaProtocol);
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}
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}
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@Override
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public void run() {
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News.info("{}号提升机线程启动", device.getDeviceNo());
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this.connect();
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while (true) {
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try {
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read();
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Thread.sleep(500);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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private void read() {
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try {
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readStatus();
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//提升机处于运行状态，将标记置为false
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if (liftProtocol.getRun()) {
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liftProtocol.setPakMk(false);
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}
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} catch (Exception e) {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
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}
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}
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private void readStatus() {
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try {
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//获取提升机数据
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OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
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if (result1.IsSuccess) {
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if (null == liftProtocol) {
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liftProtocol = new LiftProtocol();
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liftProtocol.setLiftNo(Integer.valueOf(device.getDeviceNo()));
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liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
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liftProtocol.setDevice(device);
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InnerLiftExtend innerLiftExtend = new InnerLiftExtend();
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liftProtocol.setExtend(innerLiftExtend);
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}
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//----------读取提升机状态-----------
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//读取4.0-4.7数据
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boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 1);
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//读取5.0-5.7数据
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boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, 1, 1);
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//模式
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liftProtocol.setModel(status1[0]);
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//忙闲
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liftProtocol.setRun(!status1[1]);
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//前超限
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liftProtocol.setFrontOverrun(status1[4]);
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//后超限
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liftProtocol.setBackOverrun(status1[5]);
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//左超限
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liftProtocol.setLeftOverrun(status1[6]);
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//右超限
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liftProtocol.setRightOverrun(status1[7]);
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//超高
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liftProtocol.setOverHeight(status2[0]);
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//超重
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liftProtocol.setOverWeight(status2[1]);
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//有托盘
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liftProtocol.setHasTray(status2[5]);
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//有小车
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liftProtocol.setHasCar(status2[6]);
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//设备故障
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liftProtocol.setErrorCode(String.valueOf(status2[7]));
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//目的地址
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liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
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//已完成任务号
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liftProtocol.setCompleteTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6)));
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//当前楼层
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short lev = siemensS7Net.getByteTransform().TransInt16(result1.Content, 8);
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liftProtocol.setLev((int) lev);
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//************补充扩展字段*************
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InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend();
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//任务号
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liftExtend.setLiftTaskNo(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2)));
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liftProtocol.setExtend(liftExtend);
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}else {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}读取提升机状态信息失败", DateUtils.convert(new Date()), device.getId()));
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throw new CoolException(MessageFormat.format( "读取提升机状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getId(), device.getIp(), device.getPort()));
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}
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Thread.sleep(200);
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//获取提升机站点数据
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OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB82.14.0", (short) (10 * liftStaProtocols.size()));
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if (result1.IsSuccess) {
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for (int i = 0; i < this.staList.size(); i++) {
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LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i);
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int i1 = 0 + (i * 10);
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int i2 = 1 + (i * 10);
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//读取x4.0-x4.7数据
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boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i1, 1);
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//读取x5.0-x5.7数据
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boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result2.Content, i2, 1);
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//模式
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liftStaProtocol.setModel(status1[0]);
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//忙闲
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liftStaProtocol.setBusy(!status1[1]);
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//有托盘
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liftStaProtocol.setHasTray(status1[2]);
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//前超限
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liftStaProtocol.setFrontOverrun(status1[4]);
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//后超限
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liftStaProtocol.setBackOverrun(status1[5]);
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//左超限
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liftStaProtocol.setLeftOverrun(status1[6]);
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//右超限
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liftStaProtocol.setRightOverrun(status1[7]);
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//超高
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liftStaProtocol.setOverHeight(status2[0]);
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//超重
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liftStaProtocol.setOverWeight(status2[1]);
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//有小车
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liftStaProtocol.setHasCar(status2[6]);
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//设备故障
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liftStaProtocol.setDeviceError(status2[7]);
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//任务号
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liftStaProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 2));
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//已完成任务号
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liftStaProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 6));
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}
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}
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if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) {
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//采集时间超过5s，保存一次数据记录
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//保存数据记录
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DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
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deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol));
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deviceDataLog.setType("lift");
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deviceDataLog.setDeviceNo(String.valueOf(liftProtocol.getLiftNo()));
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deviceDataLog.setCreateTime(new Date());
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deviceDataLog.setHostId(device.getHostId());
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deviceDataLogService.save(deviceDataLog);
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//更新采集时间
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liftProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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//将提升机状态保存至数据库
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BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
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.eq(BasLift::getLiftNo, device.getDeviceNo())
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.eq(BasLift::getHostId, device.getHostId()));
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if (basLift == null) {
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basLift = new BasLift();
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//提升机号
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basLift.setLiftNo(Integer.valueOf(device.getDeviceNo()));
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basLift.setStatus(1);
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basLift.setDeleted(0);
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basLift.setHostId(device.getHostId());
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basLift.setDeviceId(device.getId());
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basLiftService.save(basLift);
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}
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//任务号
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basLift.setTaskNo(liftProtocol.getTaskNo().intValue());
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//修改时间
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basLift.setUpdateTime(new Date());
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//设备状态
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basLift.setProtocol(JSON.toJSONString(liftProtocol));
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if (basLiftService.updateById(basLift)) {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
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}
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} catch (Exception e) {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
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}
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}
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@Override
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public LiftProtocol getStatus() {
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return this.liftProtocol.clone();
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}
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@Override
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public Device getDevice() {
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return this.device;
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}
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@Override
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public boolean move(LiftCommand command) {
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return write(command);
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}
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@Override
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public boolean palletInOut(LiftCommand command) {
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return write(command);
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}
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private boolean write(LiftCommand command) {
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if (null == command) {
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News.error("提升机写入命令为空");
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return false;
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}
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List<Short> shorts = JSON.parseArray(command.getBody(), Short.class);
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short[] array = new short[shorts.size()];//获取命令报文
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for (int i = 0; i < shorts.size(); i++) {
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array[i] = shorts.get(i);
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}
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OperateResult result = siemensS7Net.Write("DB83.0", array);
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if (result != null && result.IsSuccess) {
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liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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News.info("提升机命令下发[id:{}] >>>>> {}", device.getId(), JSON.toJSON(command));
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), device.getId(), JSON.toJSON(command)));
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return true;
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} else {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
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News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", device.getId(), device.getIp(), device.getPort());
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return false;
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}
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}
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@Override
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public boolean lock(LiftCommand command) {
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return true;
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}
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@Override
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public boolean unlock(LiftCommand command) {
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return true;
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}
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@Override
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public boolean reset(LiftCommand command) {
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return false;
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}
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@Override
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public boolean isIdle() {
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return isIdle(null);
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}
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@Override
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public boolean isIdle(ExecuteSupport support) {
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if (null != support) {
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if (!support.judgement()) {
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return false;
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}
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}
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// 判断提升机是否自动、就绪、空闲
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if (this.liftProtocol.getModel()
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&& !this.liftProtocol.getRun()
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&& this.liftProtocol.getReady()
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&& this.liftProtocol.getPakMk()
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&& this.liftProtocol.getErrorCode().equals("0")
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&& this.liftProtocol.getProtocolStatus().equals(LiftProtocolStatusType.IDLE)
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) {
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return true;
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}
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return false;
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}
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@Override
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public synchronized boolean setProtocolStatus(LiftProtocolStatusType status) {
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this.liftProtocol.setProtocolStatus(status);
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return true;
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}
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@Override
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public synchronized boolean setSyncTaskNo(Integer taskNo) {
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this.liftProtocol.setTaskNo(taskNo);
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return true;
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}
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@Override
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public boolean isLock(ExecuteSupport support) {
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if (support != null) {
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return support.judgement();
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}
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return true;
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}
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@Override
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public boolean commandFinished(Integer taskNo) {
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return false;
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}
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@Override
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public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
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/**
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* 任务类型
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* 1=移托盘；升降机将源站台托盘移到目标站台
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* 2=移小车，升降机移到目标层，等待
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*/
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short taskMode = 2;
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if (mode.equals(LiftCommandModeType.PALLET_INOUT)) {
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taskMode = 1;
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}
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// 开始任务
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short[] array = new short[4];
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//任务类型
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array[0] = taskMode;
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//源站台编号
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array[1] = sourceLev.shortValue();
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//目标站台编号
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array[2] = targetLev.shortValue();
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//任务号
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array[3] = taskNo.shortValue();
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LiftCommand command = new LiftCommand();
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command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
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command.setBody(JSON.toJSONString(array));
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command.setMode(LiftCommandModeType.MOVE.id);
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command.setOriginLev(sourceLev);
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command.setTargetLev(targetLev);
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return command;
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}
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@Override
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public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
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return getMoveCommand(taskNo, sourceLev, targetLev, mode);
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}
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@Override
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public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
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return getMoveCommand(taskNo, sourceLev, targetLev, mode);
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}
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@Override
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public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {
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return null;
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}
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@Override
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public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
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return null;
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}
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@Override
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public boolean connect() {
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boolean result = false;
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//-------------------------提升机连接方法------------------------//
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siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, device.getIp());
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OperateResult connect = siemensS7Net.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.LIFT.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
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log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", device.getId(), device.getIp(), device.getPort());
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} else {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
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log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", device.getId(), device.getIp(), device.getPort());
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}
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siemensS7Net.ConnectClose();
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//-------------------------提升机连接方法------------------------//
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return result;
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}
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@Override
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public void close() {
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siemensS7Net.ConnectClose();
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}
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/**
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* 扩展字段
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*/
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@Data
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private class InnerLiftExtend {
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/**
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* 提升机内部工作号
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*/
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private String liftTaskNo;
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}
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@Data
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public class LiftStaProtocol {
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/**
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* 站点号
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*/
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private Integer staNo;
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/**
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* 模式
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*/
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private Boolean model;
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/**
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* 忙闲
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*/
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private Boolean busy;
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/**
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* 前超限
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*/
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private Boolean frontOverrun;
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/**
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* 后超限
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*/
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private Boolean backOverrun;
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/**
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* 左超限
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*/
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private Boolean leftOverrun;
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/**
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* 右超限
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*/
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private Boolean rightOverrun;
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/**
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* 超高
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*/
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private Boolean overHeight;
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/**
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* 超重
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*/
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private Boolean overWeight;
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/**
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* 有托盘
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*/
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private Boolean hasTray;
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/**
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* 有小车
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*/
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private Boolean hasCar;
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/**
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* 设备故障
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*/
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private Boolean deviceError;
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/**
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* 当前执行任务号
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*/
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private Short taskNo;
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/**
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* 已完成的任务号
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*/
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private Short completeTaskNo;
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/**
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* 层
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*/
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private Integer lev;
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/**
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* 站点库位号
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*/
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private String locNo;
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/**
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* 提升机号
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*/
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private Integer liftNo;
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}
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}
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