package com.zy.core.thread;
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import HslCommunication.Profinet.Siemens.SiemensS7Net;
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import com.zy.core.ThreadHandler;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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/**
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* RoboticArm 机械手线程
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* Created by Monkey D. Luffy on 2025/8/22
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*/
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@Data
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@Slf4j
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public class RoboticArmThread implements Runnable, ThreadHandler {
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private SiemensS7Net siemensS7Net;
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// private RoboticArmSlave slave;
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// private RoboticArmProtocol roboticArmProtocol;
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private short heartBeatVal = 1;
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private boolean connectRoboticArm = false;
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// public RoboticArmThread(RoboticArmSlave slave) {
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// this.slave = slave;
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// }
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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connectRoboticArm = this.connect();
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while(!connectRoboticArm){
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try {
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connectRoboticArm = this.connect();
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Thread.sleep(100);
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} catch (Exception e){
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}
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}
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// 启动线程自动重连
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new Thread(this::roboticArmConnect).start();
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// 启动读数据线程
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// new Thread(this::readStatusRoboticArm).start();
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// 启动任务下发线程
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new Thread(this::taskIssued).start();
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}
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/**
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* 任务下发
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*/
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private void taskIssued() {
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while (true) {
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try {
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// int step = 1;
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// Task task = MessageQueue.poll(SlaveType.RoboticArm, slave.getId());
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// if (task != null) {
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// step = task.getStep();
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// }
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// switch (step) {
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// case 1:
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// break;
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// case 2:
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//// write((RoboticArmCommand) task.getData());
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// break;
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// default:
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// break;
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// }
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// 心跳
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// heartbeat();
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Thread.sleep(200);
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} catch (Exception e) {
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log.error("RoboticArm写线程异常"+e.getMessage());
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}
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}
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}
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private void roboticArmConnect() {
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while (true) {
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try {
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Thread.sleep(1000);
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if(!connectRoboticArm){
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try {
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connectRoboticArm = this.connect();
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Thread.sleep(100);
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} catch (Exception e){
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}
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}
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} catch (Exception e) {
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initSte();
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}
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}
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}
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private void readStatusRoboticArm() {
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while (true) {
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try {
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Thread.sleep(50);
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readStatus();
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} catch (Exception e) {
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initSte();
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}
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}
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}
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/**
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* 初始化状态
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*/
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private void initSte() {
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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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return result;
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}
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/**
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* 读取状态
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*/
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private void readStatus(){
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}
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//
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// /**
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// * 写入数据
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// */
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// private synchronized boolean write(String command){
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//
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// }
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@Override
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public void close() {
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}
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/**
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* 心跳
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*/
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private void heartbeat(){
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}
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}
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