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.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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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.BasDevp;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.service.BasDevpService;
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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.model.CommandResponse;
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import com.zy.core.model.StationObjModel;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.network.api.ZyStationConnectApi;
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import com.zy.core.network.entity.ZyStationStatusEntity;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.util.Collections;
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import java.util.Comparator;
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import java.util.Date;
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import java.util.List;
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/**
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* 输送站真实连接（PLC）
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*/
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@Slf4j
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public class ZyStationV4RealConnect implements ZyStationConnectApi {
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private static final int TASK_AREA_LENGTH = 48;
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private static final int TASK_AREA_SLOT_SIZE = 12;
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private static final int TASK_AREA_SLOT_COUNT = 3;
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private List<ZyStationStatusEntity> statusList;
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private List<StationObjModel> barcodeOriginList;
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private SiemensS7Net siemensNet;
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private DeviceConfig deviceConfig;
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private RedisUtil redisUtil;
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public ZyStationV4RealConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
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this.deviceConfig = deviceConfig;
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this.redisUtil = redisUtil;
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}
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@Override
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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.DEVP.offer(MessageFormat.format("【{0}】输送站plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]",
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DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
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deviceConfig.getPort()));
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News.info("输送站plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]",
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deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送站plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]",
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DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
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deviceConfig.getPort()));
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News.error("输送站plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]",
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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 List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
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if (statusList == null) {
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BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
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if (basDevpService == null) {
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return Collections.emptyList();
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}
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BasDevp basDevp = basDevpService
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.getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
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if (basDevp == null) {
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return Collections.emptyList();
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}
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statusList = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
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if (statusList != null) {
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statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
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}
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barcodeOriginList = basDevp.getBarcodeStationList$();
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}
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if (siemensNet == null) {
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return statusList;
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}
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OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 10));
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if (result.IsSuccess) {
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for (int i = 0; i < statusList.size(); i++) {
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ZyStationStatusEntity statusEntity = statusList.get(i); // 站点编号
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statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 10)); // 工作号
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statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 10 + 4)); // 目标站
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boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 10 + 6, 1);
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statusEntity.setAutoing(status[0]); // 自动
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statusEntity.setLoading(status[1]); // 有物
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statusEntity.setInEnable(status[2]); // 可入
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statusEntity.setOutEnable(status[3]);// 可出
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statusEntity.setEmptyMk(status[4]); // 空托盘
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statusEntity.setFullPlt(status[5]); // 满托盘
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boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 10 + 7, 1);
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statusEntity.setEnableIn(status2[1]);//启动入库
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statusEntity.setRunBlock(status2[2]);//重新规划路线
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Integer palletHeight = null;
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if (status[7]) {
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palletHeight = 1;//低
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}
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if (status2[0]) {
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palletHeight = 2;//中
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}
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if (status[6]) {
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palletHeight = 3;//高
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}
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statusEntity.setPalletHeight(palletHeight);//高低信号
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statusEntity.setError(0);//默认无报警
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statusEntity.setTaskWriteIdx((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 10 + 8));//任务可写区
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}
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}
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// 条码扫描器
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OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.16", (short) (barcodeOriginList.size() * 16));
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if (result2.IsSuccess) {
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for (int i = 0; i < barcodeOriginList.size(); i++) {
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ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
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if (barcodeEntity == null) {
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continue;
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}
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String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 16 + 2, 14, "UTF-8");
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barcode = barcode.trim();
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barcodeEntity.setBarcode(barcode);
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}
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}
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// 称重
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OperateResultExOne<byte[]> result3 = siemensNet.Read("DB102.4", (short) (barcodeOriginList.size() * 4));
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if (result3.IsSuccess) {
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for (int i = 0; i < barcodeOriginList.size(); i++) {
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ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
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if (barcodeEntity == null) {
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continue;
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}
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double weight = (double) siemensNet.getByteTransform().TransSingle(result3.Content, i * 4);
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barcodeEntity.setWeight(weight);
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}
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}
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// 报警信息
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OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.2", (short) (barcodeOriginList.size() * 2));
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if (result4.IsSuccess) {
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for (int i = 0; i < barcodeOriginList.size(); i++) {
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ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
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if (barcodeEntity == null) {
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continue;
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}
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StringBuilder sb = new StringBuilder();
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boolean[] status1 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2, 1);
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boolean[] status2 = siemensNet.getByteTransform().TransBool(result4.Content, i * 2 + 1, 1);
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if(status1[0]){
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sb.append("左超宽报警;");
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}
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if(status1[1]) {
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sb.append("右超宽报警;");
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}
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if(status1[2]) {
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sb.append("前超长报警;");
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}
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if(status1[3]) {
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sb.append("后超长报警;");
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}
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if(status1[4]) {
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sb.append("超高报警;");
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}
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if(status1[5]) {
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sb.append("有货报警，空托入库时检测托盘上有无货物;");
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}
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if(status1[6]) {
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sb.append("重量异常报警;");
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}
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if(status1[7]) {
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sb.append("扫码异常;");
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}
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if(sb.length() > 0) {
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barcodeEntity.setError(1);
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}else {
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barcodeEntity.setError(0);
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}
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barcodeEntity.setErrorMsg(sb.toString());
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}
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}
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return statusList;
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}
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@Override
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public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
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CommandResponse commandResponse = new CommandResponse(false);
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if (null == command) {
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commandResponse.setMessage("命令为空");
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return commandResponse;
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}
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getStatus(deviceNo);
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int stationIdx = findIndex(command.getStationId());
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if (stationIdx == -1) {
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commandResponse.setMessage("命令下发失败，未找到站点状态");
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return commandResponse;
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}
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ZyStationStatusEntity statusEntity = statusList.get(stationIdx);
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Integer taskWriteIdx = statusEntity == null ? null : statusEntity.getTaskWriteIdx();
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if (taskWriteIdx == null || taskWriteIdx <= 0) {
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commandResponse.setMessage("命令下发失败，当前无可用任务写入区");
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return commandResponse;
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}
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if (isDuplicateStationCommand(statusEntity, command)) {
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log.info("输送线命令重复，已跳过当前站点命令。任务号={}，站点号={}，目标站={}",
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command.getTaskNo(), command.getStationId(), command.getTargetStaNo());
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commandResponse.setResult(true);
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commandResponse.setMessage("命令重复，已跳过下发");
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return commandResponse;
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}
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if (existsDuplicateTaskAreaCommand(stationIdx, command)) {
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log.info("输送线命令重复，已跳过任务写入区重复命令。任务号={}，站点号={}，目标站={}",
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command.getTaskNo(), command.getStationId(), command.getTargetStaNo());
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commandResponse.setResult(true);
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commandResponse.setMessage("任务区已有相同命令，已跳过下发");
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return commandResponse;
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}
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int useTaskWriteIdx = getTaskWriteIdx(stationIdx, taskWriteIdx);
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if (useTaskWriteIdx == -1) {
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commandResponse.setMessage("命令下发超时，无法找到可用下发区域");
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return commandResponse;
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}
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OperateResult writeTaskNo = siemensNet.Write("DB13." + (stationIdx * TASK_AREA_LENGTH + (useTaskWriteIdx * TASK_AREA_SLOT_SIZE)), command.getTaskNo());
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if (!writeTaskNo.IsSuccess) {
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log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
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commandResponse.setResult(false);
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commandResponse.setMessage("命令下发失败，写入工作号失败");
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return commandResponse;
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}
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OperateResult writeData = siemensNet.Write("DB13." + (stationIdx * TASK_AREA_LENGTH + (useTaskWriteIdx * TASK_AREA_SLOT_SIZE + 4)), command.getTargetStaNo().shortValue());
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if (!writeData.IsSuccess) {
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log.error("写入输送线命令失败。站点编号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
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commandResponse.setResult(false);
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commandResponse.setMessage("命令下发失败，写入数据区域失败");
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return commandResponse;
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}
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log.info("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command));
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commandResponse.setResult(true);
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return commandResponse;
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}
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@Override
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public synchronized CommandResponse sendOriginCommand(String address, short[] data) {
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CommandResponse commandResponse = new CommandResponse(false);
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if (null == data || data.length == 0) {
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commandResponse.setMessage("数据为空");
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return commandResponse;
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}
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OperateResult write = siemensNet.Write(address, data);
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if (write.IsSuccess) {
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log.info("写入原始命令成功。地址={}，数据={}", address, JSON.toJSON(data));
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commandResponse.setResult(true);
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} else {
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log.error("写入原始命令失败。地址={}，数据={}", address, JSON.toJSON(data));
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commandResponse.setResult(false);
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}
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return commandResponse;
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}
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@Override
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public byte[] readOriginCommand(String address, int length) {
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OperateResultExOne<byte[]> result = siemensNet.Read(address, (short) length);
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if (result.IsSuccess) {
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return result.Content;
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}
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return new byte[0];
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}
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private ZyStationStatusEntity findStatusEntityByBarcodeIdx(Integer barcodeIdx) {
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Integer stationId = null;
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for (StationObjModel stationObjModel : barcodeOriginList) {
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if (stationObjModel.getBarcodeIdx().equals(barcodeIdx)) {
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stationId = stationObjModel.getStationId();
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break;
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}
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}
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for (ZyStationStatusEntity zyStationStatusEntity : statusList) {
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if(zyStationStatusEntity.getStationId().equals(stationId)) {
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return zyStationStatusEntity;
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}
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}
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return null;
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}
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private int getTaskWriteIdx(int stationIdx, Integer taskWriteIdx) {
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int useIdx = -1;
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if (stationIdx < 0 || taskWriteIdx == null || taskWriteIdx <= 0) {
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return useIdx;
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}
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OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationIdx * TASK_AREA_LENGTH), (short) TASK_AREA_LENGTH);
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if (resultTask.IsSuccess) {
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int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE);
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int startPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE + 4);
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int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, taskWriteIdx * TASK_AREA_SLOT_SIZE + 6);
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if (taskNo == 0 && startPoint == 0 && targetPoint == 0) {
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useIdx = taskWriteIdx;
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}
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}
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return useIdx;
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}
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private boolean isDuplicateStationCommand(ZyStationStatusEntity statusEntity, StationCommand command) {
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if (statusEntity == null || command == null) {
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return false;
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}
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return command.getTaskNo() != null
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&& command.getTargetStaNo() != null
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&& command.getTaskNo().equals(statusEntity.getTaskNo())
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&& command.getTargetStaNo().equals(statusEntity.getTargetStaNo());
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}
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private boolean existsDuplicateTaskAreaCommand(int stationIdx, StationCommand command) {
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if (stationIdx < 0 || command == null || command.getTaskNo() == null || command.getTargetStaNo() == null) {
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return false;
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}
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OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB13." + (stationIdx * TASK_AREA_LENGTH), (short) TASK_AREA_LENGTH);
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if (!resultTask.IsSuccess || resultTask.Content == null) {
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return false;
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}
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for (int slotIdx = 1; slotIdx <= TASK_AREA_SLOT_COUNT; slotIdx++) {
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int offset = slotIdx * TASK_AREA_SLOT_SIZE;
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int taskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, offset);
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int targetPoint = siemensNet.getByteTransform().TransInt16(resultTask.Content, offset + 6);
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if (command.getTaskNo().equals(taskNo) && command.getTargetStaNo().equals(targetPoint)) {
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return true;
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}
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}
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return false;
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}
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private int findIndex(Integer stationId) {
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for (int i = 0; i < statusList.size(); i++) {
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ZyStationStatusEntity statusEntity = statusList.get(i);
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if (statusEntity.getStationId().equals(stationId)) {
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return i;
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}
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}
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return -1;
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}
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}
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