package com.zy.core.thread;
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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.Cools;
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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.BasCrnOpt;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.service.BasCrnOptService;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.core.CrnThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.*;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.cpmmandParam.CrnCommandParam;
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import com.zy.core.model.protocol.CrnProtocol;
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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.Date;
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/**
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* 堆垛机线程
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* Created by vincent on 2020/8/4
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*/
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@Data
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@Slf4j
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public class SiemensCrnThread implements Runnable, CrnThread {
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private SiemensS7Net siemensNet;
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private CrnSlave slave;
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private CrnProtocol crnProtocol;
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private boolean resetFlag = false;
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private boolean resetFlagTwo = false;
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public Long sign = System.currentTimeMillis();
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public boolean isRunning = true;
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/**
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* 堆垛机是否在回原点运动中标记
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*/
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private boolean backHpFlag = false;
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private boolean backHpFlagTwo = false;
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public SiemensCrnThread(CrnSlave 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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this.connect();
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sign = System.currentTimeMillis();
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while (isRunning) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Crn, 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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// 读数据
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case 1:
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readStatus();
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break;
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// 写入数据
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case 2:
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write((CrnCommand) task.getData());
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break;
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// 复位
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case 3:
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CrnCommand command = (CrnCommand) task.getData();
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if (null == command) {
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command = new CrnCommand();
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}
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command.setCrnNo(slave.getId()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 1); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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command.setSourcePosX((short)0); // 源库位排
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command.setSourcePosY((short)0); // 源库位列
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command.setSourcePosZ((short)0); // 源库位层
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command.setDestinationPosX((short)0); // 目标库位排
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command.setDestinationPosY((short)0); // 目标库位列
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command.setDestinationPosZ((short)0); // 目标库位层
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write(command);
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break;
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// 写入数据
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case 5:
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write5((CrnCommand) task.getData());
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break;
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// 复位
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case 6:
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CrnCommand command2 = (CrnCommand) task.getData();
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if (null == command2) {
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command2 = new CrnCommand();
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}
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command2.setCrnNo(slave.getId()); // 堆垛机编号
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command2.setTaskNo((short) 0); // 工作号
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command2.setAckFinish((short) 1); // 任务完成确认位
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command2.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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command2.setSourcePosX((short)0); // 源库位排
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command2.setSourcePosY((short)0); // 源库位列
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command2.setSourcePosZ((short)0); // 源库位层
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command2.setDestinationPosX((short)0); // 目标库位排
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command2.setDestinationPosY((short)0); // 目标库位列
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command2.setDestinationPosZ((short)0); // 目标库位层
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write5(command2);
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break;
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// 复位
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case 7:
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write9((CrnCommandParam) 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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Thread.sleep(500);
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} catch (Exception e) {
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// e.printStackTrace();
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}
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// System.out.println("第"+slave.getId()+"个堆垛机线程运行一轮："+(System.currentTimeMillis()-sign));
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sign = System.currentTimeMillis();
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}
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}
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/**
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* 初始化堆垛机状态
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*/
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private void initCrn() {
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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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}
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crnProtocol.setMode((short) -1);
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// crnProtocol.setTaskNo((short)0);
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crnProtocol.setStatus((short)-1);
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crnProtocol.setStatusTwo((short)-1);
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crnProtocol.setBay((short)0);
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crnProtocol.setLevel((short)0);
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crnProtocol.setForkPos((short) -1);
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crnProtocol.setLiftPos((short) -1);
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crnProtocol.setWalkPos((short)0);
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crnProtocol.setLoaded((short)0);
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crnProtocol.setAlarm((short)0);
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crnProtocol.setxSpeed((short) 0);
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crnProtocol.setySpeed((short) 0);
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crnProtocol.setzSpeed((short) 0);
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crnProtocol.setxDistance((short) 0);
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crnProtocol.setyDistance((short) 0);
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crnProtocol.setxDuration((short) 0);
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crnProtocol.setyDuration((short) 0);
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// 根据实时信息更新数据库
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BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
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BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
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basCrnp.setCrnSts((int)crnProtocol.getMode());
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basCrnp.setCrnStatusOne(-1);
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basCrnp.setCrnStatusTwo(-1);
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if (!basCrnpService.updateById(basCrnp)){
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log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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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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siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensNet.setRack(slave.getRack().byteValue());
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siemensNet.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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initCrn();
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}
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// siemensNet.ConnectClose();
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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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try {
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OperateResultExOne<byte[]> result = new OperateResultExOne<byte[]>();
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if (slave.getId()>2 && slave.getId()<6){
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result = siemensNet.Read("DB101.0", (short) 66);
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} else {
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result = siemensNet.Read("DB101.0", (short) 56);
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}
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if (result.IsSuccess) {
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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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crnProtocol.setCrnNo(slave.getId());
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}
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crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
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crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
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crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
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crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
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if (slave.getId()<3 || slave.getId()>5){
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crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
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crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
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crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
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crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
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crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
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crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
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crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
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crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
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crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
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crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
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crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
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} else {
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crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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crnProtocol.setStatusTwo(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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crnProtocol.setBayTwo(siemensNet.getByteTransform().TransInt16(result.Content, 18));
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crnProtocol.setLevelTwo(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 22));
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crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 24));
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crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 26));
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crnProtocol.setWalkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 28));
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crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 30));
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crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));
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crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
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crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));
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crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));
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// crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));
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crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 50));
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crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 54));
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crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 58));
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crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 62));
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}
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// 复位信号
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if (!Cools.isEmpty(crnProtocol.getStatusType()) && (crnProtocol.getStatusType().equals(CrnStatusType.WAITING) || crnProtocol.getStatusType().equals(CrnStatusType.SEPARATE_WAITING))) {
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log.error("-------------------------工位1-------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为{}，等待确认！！",
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slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物",crnProtocol.getStatusType());
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if (resetFlag) {
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if(crnProtocol.getTaskNo()==9999){
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backHpFlag = false;
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}
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setAckFinish((short)1);
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if (write(crnCommand)) {
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resetFlag = false;
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}
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}
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}
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// 复位信号
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if (!Cools.isEmpty(crnProtocol.getStatusTypeTwo()) && (crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING) || crnProtocol.getStatusTypeTwo().equals(CrnStatusType.SEPARATE_WAITING))) {
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log.error("-------------------------工位2-------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为{}，等待确认！！",
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slave.getId(),crnProtocol.getTaskNoTwo(), crnProtocol.getLoadedTwo()==1 ? "有物" : "无物",crnProtocol.getStatusTypeTwo());
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if (resetFlagTwo) {
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if(crnProtocol.getTaskNoTwo()==9999){
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backHpFlagTwo = false;
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}
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setAckFinish((short)1);
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if (write5(crnCommand)) {
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resetFlagTwo = false;
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}
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}
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}
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try {
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// 根据实时信息更新数据库
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BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
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BasCrnp basCrnp = new BasCrnp();
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basCrnp.setCrnNo(slave.getId());
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basCrnp.setCrnSts((int)crnProtocol.getMode());
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if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
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log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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} catch (Exception ignore){}
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} else {
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initCrn();
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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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}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initCrn();
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}
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}
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private void convertRow(CrnCommand crnCommand) {
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if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) {
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crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4)));
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}
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if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) {
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crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4)));
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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 boolean write(CrnCommand command) throws InterruptedException {
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if (null == command) {
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log.error("堆垛机写入命令为空");
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return false;
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}
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// convertRow(command);
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command.setCrnNo(slave.getId());
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short[] array = new short[10];
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array[0] = command.getAckFinish();
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array[1] = command.getTaskNo();
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array[2] = command.getTaskMode();
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array[3] = command.getSourcePosX();
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array[4] = command.getSourcePosY();
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array[5] = command.getSourcePosZ();
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array[6] = command.getDestinationPosX();
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array[7] = command.getDestinationPosY();
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array[8] = command.getDestinationPosZ();
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// array[9] = command.getSourceStaNo();
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// array[10] = command.getDestinationStaNo();
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array[9] = command.getCommand();
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OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
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OperateResult result = siemensNet.Write("DB100.0", array);
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log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
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//堆垛机任务写入后，回读一次，看是否成功
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Thread.sleep(200);
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int writeCount = 1;
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do {
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try{
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if(!result.IsSuccess){
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log.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(command),writeCount);
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result = siemensNet.Write("DB100.0", array);
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Thread.sleep(100);
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writeCount++;
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continue;
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}
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
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if (resultRead.IsSuccess) {
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CrnCommand one = new CrnCommand();
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one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
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one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
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one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
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one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
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one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
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one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
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one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
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one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
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if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
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|| !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
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|| !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
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|| !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
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){
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try{
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log.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));
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}catch (Exception e){
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try{
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log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(resultRead));
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}catch (Exception e1){
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log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
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}
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}
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try{
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Thread.sleep(100);
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}catch (Exception e){
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}
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log.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(command),writeCount);
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result = siemensNet.Write("DB100.0", array);
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writeCount++;
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continue;
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} else {
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log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));
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break;
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}
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}
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}catch (Exception e){
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log.error("堆垛机命令地址写入后回读出错,异常："+e);
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}
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writeCount++;
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} while (writeCount<6);
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if (command.getAckFinish() == 0) {
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short commandFinish = 1;
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Thread.sleep(100L);
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result = siemensNet.Write("DB100.18", commandFinish);
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int signFinish = 1;
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while (signFinish<5){
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OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
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short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
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if (transInt16 != commandFinish){
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log.info("下发DB100.18 回读失败" + "commandFinish:"+commandFinish);
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log.info("下发DB100.18 回读失败" + "array:"+ JSON.toJSONString(array));
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result = siemensNet.Write("DB100.18", commandFinish);
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signFinish++;
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}else {
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log.info("下发DB100.18" + "commandFinish:"+commandFinish);
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log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
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break;
|
}
|
}
|
}
|
|
try {
|
// 日志记录
|
BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
|
BasCrnOpt basCrnOpt = new BasCrnOpt(
|
command.getTaskNo().intValue(), // 任务号
|
command.getCrnNo(), // 堆垛机[非空]
|
new Date(), // 下发时间
|
command.getTaskModeType().toString(), // 模式
|
command.getSourcePosX().intValue(), // 源排
|
command.getSourcePosY().intValue(), // 源列
|
command.getSourcePosZ().intValue(), // 源层
|
null, // 源站
|
command.getDestinationPosX().intValue(), // 目标排
|
command.getDestinationPosY().intValue(), // 目标列
|
command.getDestinationPosZ().intValue(), // 目标层
|
null, // 目标站
|
null, // 响应结果
|
null, // 修改时间
|
null // 修改人员
|
);
|
bean.insert(basCrnOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
|
return true;
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 写入数据 工位2
|
*/
|
private boolean write5(CrnCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("堆垛机写入命令为空");
|
return false;
|
}
|
// convertRow(command);
|
command.setCrnNo(slave.getId());
|
short[] array = new short[10];
|
array[0] = command.getAckFinish();
|
array[1] = command.getTaskNo();
|
array[2] = command.getTaskMode();
|
array[3] = command.getSourcePosX();
|
array[4] = command.getSourcePosY();
|
array[5] = command.getSourcePosZ();
|
array[6] = command.getDestinationPosX();
|
array[7] = command.getDestinationPosY();
|
array[8] = command.getDestinationPosZ();
|
// array[9] = command.getSourceStaNo();
|
// array[10] = command.getDestinationStaNo();
|
array[9] = command.getCommand();
|
OperateResult result18 = siemensNet.Write("DB100.38", (short)0);
|
OperateResult result = siemensNet.Write("DB100.20", array);
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
|
|
//堆垛机任务写入后，回读一次，看是否成功
|
Thread.sleep(200);
|
int writeCount = 1;
|
do {
|
try{
|
if(!result.IsSuccess){
|
log.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(command),writeCount);
|
result = siemensNet.Write("DB100.20", array);
|
Thread.sleep(100);
|
writeCount++;
|
continue;
|
}
|
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 24);
|
if (resultRead.IsSuccess) {
|
CrnCommand one = new CrnCommand();
|
one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
|
one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
|
one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
|
one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
|
one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
|
one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
|
one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
|
one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
|
if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
|
|| !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
|
|| !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
|
|| !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
|
){
|
try{
|
log.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));
|
}catch (Exception e){
|
try{
|
log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(resultRead));
|
}catch (Exception e1){
|
log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
|
}
|
}
|
try{
|
Thread.sleep(100);
|
}catch (Exception e){
|
|
}
|
log.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(command),writeCount);
|
result = siemensNet.Write("DB100.20", array);
|
writeCount++;
|
continue;
|
} else {
|
log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));
|
break;
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机命令地址写入后回读出错,异常："+e);
|
}
|
writeCount++;
|
} while (writeCount<6);
|
|
if (command.getAckFinish() == 0) {
|
short commandFinish = 1;
|
Thread.sleep(100L);
|
result = siemensNet.Write("DB100.38", commandFinish);
|
int signFinish = 1;
|
while (signFinish<5){
|
OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.38", (short) 2);
|
short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
|
if (transInt16 != commandFinish){
|
log.info("下发DB100.38 回读失败" + "commandFinish:"+commandFinish);
|
log.info("下发DB100.38 回读失败" + "array:"+ JSON.toJSONString(array));
|
result = siemensNet.Write("DB100.38", commandFinish);
|
signFinish++;
|
}else {
|
log.info("下发DB100.38" + "commandFinish:"+commandFinish);
|
log.info("下发DB100.38" + "array:"+ JSON.toJSONString(array));
|
break;
|
}
|
}
|
}
|
|
try {
|
// 日志记录
|
BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
|
BasCrnOpt basCrnOpt = new BasCrnOpt(
|
command.getTaskNo().intValue(), // 任务号
|
command.getCrnNo(), // 堆垛机[非空]
|
new Date(), // 下发时间
|
command.getTaskModeType().toString(), // 模式
|
command.getSourcePosX().intValue(), // 源排
|
command.getSourcePosY().intValue(), // 源列
|
command.getSourcePosZ().intValue(), // 源层
|
null, // 源站
|
command.getDestinationPosX().intValue(), // 目标排
|
command.getDestinationPosY().intValue(), // 目标列
|
command.getDestinationPosZ().intValue(), // 目标层
|
null, // 目标站
|
null, // 响应结果
|
null, // 修改时间
|
null // 修改人员
|
);
|
bean.insert(basCrnOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSONString(command));
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(command)));
|
return true;
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 写入数据 工位2
|
*/
|
private boolean write9(CrnCommandParam command) throws InterruptedException {
|
if (null == command) {
|
log.error("堆垛机写入命令为空");
|
return false;
|
}
|
// convertRow(command);
|
command.setCrnNo(slave.getId());
|
short[] array = new short[10];
|
array[0] = command.getAckFinish();
|
array[1] = command.getTaskNo();
|
array[2] = command.getTaskMode();
|
array[3] = command.getSourcePosX();
|
array[4] = command.getSourcePosY();
|
array[5] = command.getSourcePosZ();
|
array[6] = command.getDestinationPosX();
|
array[7] = command.getDestinationPosY();
|
array[8] = command.getDestinationPosZ();
|
// array[9] = command.getSourceStaNo();
|
// array[10] = command.getDestinationStaNo();
|
array[9] = command.getCommand();
|
OperateResult result18 = siemensNet.Write("DB100.38", (short)0);
|
OperateResult result = siemensNet.Write("DB100.20", array);
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
|
|
//堆垛机任务写入后，回读一次，看是否成功
|
Thread.sleep(200);
|
int writeCount = 1;
|
do {
|
try{
|
if(!result.IsSuccess){
|
log.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount);
|
result = siemensNet.Write("DB100.20", array);
|
Thread.sleep(100);
|
writeCount++;
|
continue;
|
}
|
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 24);
|
if (resultRead.IsSuccess) {
|
CrnCommand one = new CrnCommand();
|
one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
|
one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
|
one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
|
one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
|
one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
|
one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
|
one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
|
one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
|
if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
|
|| !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
|
|| !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
|
|| !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
|
){
|
try{
|
log.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
|
}catch (Exception e){
|
try{
|
log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
|
}catch (Exception e1){
|
log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
|
}
|
}
|
try{
|
Thread.sleep(100);
|
}catch (Exception e){
|
|
}
|
log.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount);
|
result = siemensNet.Write("DB100.20", array);
|
writeCount++;
|
continue;
|
} else {
|
log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
|
break;
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机命令地址写入后回读出错,异常："+e);
|
}
|
writeCount++;
|
} while (writeCount<6);
|
|
if (command.getAckFinish() == 0) {
|
short commandFinish = 1;
|
Thread.sleep(100L);
|
result = siemensNet.Write("DB100.38", commandFinish);
|
int signFinish = 1;
|
while (signFinish<5){
|
OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.38", (short) 2);
|
short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
|
if (transInt16 != commandFinish){
|
log.info("下发DB100.38 回读失败" + "commandFinish:"+commandFinish);
|
log.info("下发DB100.38 回读失败" + "array:"+ JSON.toJSONString(array));
|
result = siemensNet.Write("DB100.38", commandFinish);
|
signFinish++;
|
}else {
|
log.info("下发DB100.38" + "commandFinish:"+commandFinish);
|
log.info("下发DB100.38" + "array:"+ JSON.toJSONString(array));
|
break;
|
}
|
}
|
}
|
|
try {
|
// 日志记录
|
BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
|
BasCrnOpt basCrnOpt = new BasCrnOpt(
|
command.getTaskNo().intValue(), // 任务号
|
command.getCrnNo(), // 堆垛机[非空]
|
new Date(), // 下发时间
|
command.getTaskModeType().toString(), // 模式
|
command.getSourcePosX().intValue(), // 源排
|
command.getSourcePosY().intValue(), // 源列
|
command.getSourcePosZ().intValue(), // 源层
|
null, // 源站
|
command.getDestinationPosX().intValue(), // 目标排
|
command.getDestinationPosY().intValue(), // 目标列
|
command.getDestinationPosZ().intValue(), // 目标层
|
null, // 目标站
|
null, // 响应结果
|
null, // 修改时间
|
null // 修改人员
|
);
|
bean.insert(basCrnOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
|
@Override
|
public void close() {
|
siemensNet.ConnectClose();
|
}
|
|
/******************************************************************************************/
|
/**************************************** 测试专用 *****************************************/
|
/*****************************************************************************************/
|
public static void main(String[] args) throws InterruptedException {
|
CrnSlave slave = new CrnSlave();
|
slave.setId(1);
|
slave.setIp("192.168.6.9");
|
slave.setRack(0);
|
slave.setSlot(0);
|
SiemensCrnThread crnThread = new SiemensCrnThread(slave);
|
crnThread.connect();
|
crnThread.readStatus();
|
System.out.println(JSON.toJSONString(crnThread.crnProtocol));
|
Thread.sleep(3000L);
|
|
// 1.入库 源和目标都发
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
|
// command.setSourcePosX((short) 1); // 源库位排
|
// command.setSourcePosY((short) 0); // 源库位列
|
// command.setSourcePosZ((short) 1); // 源库位层
|
// command.setDestinationPosX((short) 2); // 目标库位排
|
// command.setDestinationPosY((short) 3); // 目标库位列
|
// command.setDestinationPosZ((short) 1); // 目标库位层
|
// crnThread.write(command);
|
|
// 2.出库 源和目标都发
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
|
// command.setSourcePosX((short) 2); // 源库位排
|
// command.setSourcePosY((short) 4); // 源库位列
|
// command.setSourcePosZ((short) 3); // 源库位层
|
// command.setDestinationPosX((short) 1); // 目标库位排
|
// command.setDestinationPosY((short) 0); // 目标库位列
|
// command.setDestinationPosZ((short) 1); // 目标库位层
|
// crnThread.write(command);
|
|
|
// // 3.库位移转 源和目标都发 pass
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(slave.getId()); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
// command.setSourcePosX((short)2); // 源库位排
|
// command.setSourcePosY((short)2); // 源库位列
|
// command.setSourcePosZ((short)3); // 源库位层
|
// command.setDestinationPosX((short)2); // 目标库位排
|
// command.setDestinationPosY((short)4); // 目标库位列
|
// command.setDestinationPosZ((short)4); // 目标库位层
|
// crnThread.write(command);
|
|
// 4.站位移转 源和目标都发
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(slave.getId()); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转
|
// command.setSourcePosX((short)1); // 源库位排
|
// command.setSourcePosY((short)0); // 源库位列
|
// command.setSourcePosZ((short)1); // 源库位层
|
// command.setDestinationPosX((short)2); // 目标库位排
|
// command.setDestinationPosY((short)0); // 目标库位列
|
// command.setDestinationPosZ((short)1); // 目标库位层
|
// crnThread.write(command);
|
|
// // 5.回原点 不用发 pass
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
|
// command.setSourcePosX((short) 0); // 源库位排
|
// command.setSourcePosY((short) 0); // 源库位列
|
// command.setSourcePosZ((short) 0); // 源库位层
|
// command.setDestinationPosX((short) 0); // 目标库位排
|
// command.setDestinationPosY((short) 0); // 目标库位列
|
// command.setDestinationPosZ((short) 0); // 目标库位层
|
// crnThread.write(command);
|
|
// // 7.坐标移行 目标发 pass
|
// CrnCommand command = new CrnCommand();
|
// command.setCrnNo(1); // 堆垛机编号
|
// command.setTaskNo((short) 0); // 工作号
|
// command.setAckFinish((short) 0); // 任务完成确认位
|
// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
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// command.setSourcePosX((short) 0); // 源库位排
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// command.setSourcePosY((short) 0); // 源库位列
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// command.setSourcePosZ((short) 0); // 源库位层
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// command.setDestinationPosX((short) 2); // 目标库位排
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// command.setDestinationPosY((short) 1); // 目标库位列
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// command.setDestinationPosZ((short) 1); // 目标库位层
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// crnThread.write(command);
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// 只有出现指定异常才进行复位
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// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
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// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
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// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
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// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(1); // 堆垛机编号
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// command.setAckFinish((short) 1); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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// Thread.sleep(3000L);
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// crnThread.write(command);
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// }
|
|
}
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// 提供一个方法来停止线程
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public void requestStop() {
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isRunning = false;
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}
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|
}
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