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.model.enums.MotionCtgType;
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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 JxgtLiftThread 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<BasLiftStaDto> staList = new ArrayList<>();
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public JxgtLiftThread(Device device, RedisUtil redisUtil) {
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this.device = device;
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this.redisUtil = redisUtil;
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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true
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if (liftProtocol.getRun()) {
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liftProtocol.setPakMk(true);
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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("DB100.0", (short) 20);
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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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//模式
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liftProtocol.setModel(siemensS7Net.getByteTransform().TransInt16(result1.Content, 0) == 1);
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//忙闲
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liftProtocol.setRun(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2) == 0);
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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(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4) == 1);
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//有小车
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liftProtocol.setHasCar(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6) == 1);
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//当前楼层
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liftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
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// //工作号
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// liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt32(result1.Content, 12));
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//设备故障
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liftProtocol.setError(siemensS7Net.getByteTransform().TransInt16(result1.Content, 16) == 1);
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//故障码
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liftProtocol.setErrorCode(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result1.Content, 18)));
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//************补充扩展字段*************
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InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend();
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//锁定
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liftExtend.setLock(siemensS7Net.getByteTransform().TransInt16(result1.Content, 10) == 1);
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liftProtocol.setExtend(liftExtend);
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boolean ready = true;
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if (!liftProtocol.getModel() || liftProtocol.getRun()) {
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ready = false;
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}
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liftProtocol.setReady(ready);//就绪状态
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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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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<Integer> list = JSON.parseArray(command.getBody(), Integer.class);
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int[] array = new int[list.size()];//获取命令报文
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for (int i = 0; i < list.size(); i++) {
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array[i] = list.get(i);
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}
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OperateResult result = null;
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if (command.getMode() == LiftCommandModeType.MOVE.id) {
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//移动
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result = siemensS7Net.Write("DB101.2", (short) array[0]);
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result = siemensS7Net.Write("DB101.4", (int) array[1]);
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} else if (command.getMode() == LiftCommandModeType.PALLET_INOUT.id) {
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//托盘出入
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result = siemensS7Net.Write("DB101.8", array);
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} else if (command.getMode() == LiftCommandModeType.LOCK.id || command.getMode() == LiftCommandModeType.UNLOCK.id) {
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//提升机锁定/解锁
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result = siemensS7Net.Write("DB101.0", (short) array[0]);
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}
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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}]", 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 write(command);
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}
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@Override
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public boolean unlock(LiftCommand command) {
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return write(command);
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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(MotionCtgType flag) {
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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.getError()
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&& this.liftProtocol.getErrorCode().equals("0")
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&& (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
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|| this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
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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 boolean isDeviceIdle() {
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return isDeviceIdle(null);
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}
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@Override
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public boolean isDeviceIdle(ExecuteSupport support) {
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if (null != support) {
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Boolean judgement = support.judgement();
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if (judgement != null && !judgement) {
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return true;
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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.getError()
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&& this.liftProtocol.getErrorCode().equals("0")
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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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InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();
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return extend.getLock();
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}
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@Override
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public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
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int deviceTaskNo = taskNo;
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try {
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deviceTaskNo = Utils.getTaskNo("LIFT_TASK_NO");
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} catch (Exception e) {
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return taskNo;
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}
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return deviceTaskNo;
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}
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@Override
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public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
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// 开始任务
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short[] array = new short[2];
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array[0] = targetLev.shortValue();//目标层
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array[1] = taskNo.shortValue();//工作号
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LiftCommand command = new LiftCommand();
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command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
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command.setTaskNo(taskNo);
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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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ArrayList<LiftCommand> list = new ArrayList<>();
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list.add(command);
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return list;
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}
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@Override
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public List<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 List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
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// 开始任务
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short[] array = new short[3];
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array[0] = originSta.shortValue();//起始站
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array[1] = targetSta.shortValue();//目标站
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array[2] = taskNo.shortValue();//工作号
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LiftCommand command = new LiftCommand();
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command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
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command.setTaskNo(taskNo);
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command.setBody(JSON.toJSONString(array));
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command.setMode(LiftCommandModeType.PALLET_INOUT.id);
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command.setOriginLev(sourceLev);
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command.setTargetLev(targetLev);
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ArrayList<LiftCommand> list = new ArrayList<>();
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list.add(command);
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return list;
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}
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@Override
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public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
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// 开始任务
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short[] array = new short[2];
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array[0] = lock ? (short) 1 : (short) 0;
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LiftCommand command = new LiftCommand();
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command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
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command.setTaskNo(taskNo);
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command.setBody(JSON.toJSONString(array));
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command.setMode(lock ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
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ArrayList<LiftCommand> list = new ArrayList<>();
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list.add(command);
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return list;
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}
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@Override
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public List<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.S1500, 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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* 提升机锁定
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*/
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private Boolean lock = false;
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}
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}
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