package com.zy.core.network.real;
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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.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasCrnpOpt;
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import com.zy.asrs.entity.BasDualCrnp;
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import com.zy.asrs.entity.BasDualCrnpOpt;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.service.BasCrnpOptService;
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import com.zy.asrs.service.BasDualCrnpOptService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.command.DualCrnCommand;
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import com.zy.core.network.api.ZyDualCrnConnectApi;
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import com.zy.core.network.entity.ZyDualCrnStatusEntity;
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import java.text.MessageFormat;
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import java.util.Date;
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public class ZyDualCrnRealConnect implements ZyDualCrnConnectApi {
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private SiemensS7Net siemensNet;
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private DeviceConfig deviceConfig;
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public ZyDualCrnRealConnect(DeviceConfig deviceConfig) {
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this.deviceConfig = deviceConfig;
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}
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public boolean connect() {
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boolean connected = false;
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siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
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OperateResult connect = siemensNet.ConnectServer();
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if(connect.IsSuccess){
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connected = true;
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OutputQueue.CRN.offer(MessageFormat.format( "【{0}双工位堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
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News.info("双工位堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}双工位堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
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News.error("双工位堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
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}
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// siemensNet.ConnectClose();
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return connected;
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}
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@Override
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public boolean disconnect() {
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siemensNet.ConnectClose();
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return true;
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}
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@Override
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public ZyDualCrnStatusEntity getStatus() {
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try {
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OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 70);
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if (result.IsSuccess) {
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ZyDualCrnStatusEntity crnStatus = new ZyDualCrnStatusEntity();
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crnStatus.setCrnNo(deviceConfig.getDeviceNo());
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crnStatus.setMode((int) siemensNet.getByteTransform().TransInt16(result.Content, 0));
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//工位1
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crnStatus.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result.Content, 2));
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crnStatus.setStatus((int) siemensNet.getByteTransform().TransInt16(result.Content, 4));
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crnStatus.setBay((int) siemensNet.getByteTransform().TransInt16(result.Content, 6));
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crnStatus.setLevel((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
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crnStatus.setForkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 10));
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crnStatus.setLoaded((int) siemensNet.getByteTransform().TransInt16(result.Content, 12));
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crnStatus.setTaskReceive((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
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//工位2
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crnStatus.setTaskNoTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 16));
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crnStatus.setStatusTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 18));
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crnStatus.setBayTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 20));
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crnStatus.setLevelTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 22));
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crnStatus.setForkPosTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 24));
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crnStatus.setLoadedTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 26));
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crnStatus.setTaskReceiveTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 28));
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crnStatus.setWalkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 30));
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crnStatus.setWalkPosTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 32));
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crnStatus.setLiftPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 34));
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crnStatus.setAlarm((int) siemensNet.getByteTransform().TransInt16(result.Content, 36));
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crnStatus.setXSpeed((double) siemensNet.getByteTransform().TransSingle(result.Content, 38));
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crnStatus.setYSpeed((double) siemensNet.getByteTransform().TransSingle(result.Content, 42));
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crnStatus.setZSpeed((double) siemensNet.getByteTransform().TransSingle(result.Content, 46));
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crnStatus.setZSpeedTwo((double) siemensNet.getByteTransform().TransSingle(result.Content, 50));
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crnStatus.setXDistance((double) siemensNet.getByteTransform().TransSingle(result.Content, 54));
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crnStatus.setYDistance((double) siemensNet.getByteTransform().TransSingle(result.Content, 58));
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crnStatus.setXDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 62));
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crnStatus.setYDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 66));
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if ((crnStatus.getStatus() == 0 || crnStatus.getStatus() == 20) && crnStatus.getTaskReceive() == 0) {
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OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.0", (short) 18);
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if (taskResult.IsSuccess) {
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short taskNo = siemensNet.getByteTransform().TransInt16(taskResult.Content, 0);
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short taskMode = siemensNet.getByteTransform().TransInt16(taskResult.Content, 2);
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short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 4);
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short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 6);
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short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 8);
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short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 10);
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short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 12);
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short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 14);
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short confirm = siemensNet.getByteTransform().TransInt16(taskResult.Content, 16);
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if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {
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short[] array = new short[9];
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array[0] = (short) 0;
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array[1] = (short) 0;
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array[2] = (short) 0;
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array[3] = (short) 0;
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array[4] = (short) 0;
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array[5] = (short) 0;
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array[6] = (short) 0;
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array[7] = (short) 0;
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array[8] = (short) 0;
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());
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if (lock == null) {
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OperateResult taskClearResult = siemensNet.Write("DB100.0", array);
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redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 3);
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}
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}
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}
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}
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if ((crnStatus.getStatusTwo() == 0 || crnStatus.getStatusTwo() == 20) && crnStatus.getTaskReceiveTwo() == 0) {
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OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.18", (short) 18);
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if (taskResult.IsSuccess) {
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short taskNo = siemensNet.getByteTransform().TransInt16(taskResult.Content, 0);
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short taskMode = siemensNet.getByteTransform().TransInt16(taskResult.Content, 2);
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short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 4);
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short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 6);
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short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 8);
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short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 10);
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short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 12);
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short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 14);
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short confirm = siemensNet.getByteTransform().TransInt16(taskResult.Content, 16);
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if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {
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short[] array = new short[9];
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array[0] = (short) 0;
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array[1] = (short) 0;
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array[2] = (short) 0;
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array[3] = (short) 0;
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array[4] = (short) 0;
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array[5] = (short) 0;
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array[6] = (short) 0;
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array[7] = (short) 0;
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array[8] = (short) 0;
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());
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if (lock == null) {
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OperateResult taskClearResult = siemensNet.Write("DB100.18", array);
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}
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}
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}
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}
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return crnStatus;
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
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News.error("读取双工位堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
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News.error("读取双工位堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
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}
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return null;
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}
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@Override
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public CommandResponse sendCommand(DualCrnCommand command) {
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RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
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redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 5);
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CommandResponse response = new CommandResponse(false);
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try {
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if (null == command) {
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News.error("双工位堆垛机写入命令为空");
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response.setMessage("双工位堆垛机写入命令为空");
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return response;
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}
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String address = "DB100.0";
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if (command.getStation() == 1) {
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//工位1
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address = "DB100.0";
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}else {
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//工位2
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address = "DB100.18";
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}
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String confirmAddress = "DB100.16";
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if (command.getStation() == 1) {
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//工位1
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confirmAddress = "DB100.16";
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}else {
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//工位2
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confirmAddress = "DB100.34";
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}
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short[] array = new short[9];
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array[0] = command.getTaskNo().shortValue();
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array[1] = command.getTaskMode().shortValue();
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array[2] = command.getSourcePosX().shortValue();
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array[3] = command.getSourcePosY().shortValue();
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array[4] = command.getSourcePosZ().shortValue();
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array[5] = command.getDestinationPosX().shortValue();
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array[6] = command.getDestinationPosY().shortValue();
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array[7] = command.getDestinationPosZ().shortValue();
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array[8] = (short) 0;
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OperateResult result = siemensNet.Write(address, array);
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if (!result.IsSuccess) {
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News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
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response.setMessage("双工位堆垛机写入堆垛机plc数据失败");
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return response;
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}
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int idx = 0;
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do {
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OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 18);
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if (resultRead.IsSuccess) {
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short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
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short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
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short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
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short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
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short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
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short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
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short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
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short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
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if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
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result = siemensNet.Write(address, array);
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} else {
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break;
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}
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}
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idx++;
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Thread.sleep(500);
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} while (idx < 5);
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OperateResult confirmResult = siemensNet.Write(confirmAddress, (short) 1);
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if (!confirmResult.IsSuccess) {
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News.error("双工位堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
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response.setMessage("双工位堆垛机写入确认数据失败");
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return response;
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}
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if (result != null && result.IsSuccess) {
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News.info("双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
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response.setResult(true);
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response.setMessage("命令下发成功");
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} else {
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News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
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response.setResult(false);
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response.setMessage("命令下发失败");
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}
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return response;
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} catch (Exception e) {
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e.printStackTrace();
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}
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return response;
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}
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}
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