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.BasRgv;
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import com.zy.asrs.entity.BasRgvOpt;
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import com.zy.asrs.service.BasRgvOptService;
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import com.zy.asrs.service.BasRgvService;
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import com.zy.asrs.utils.RouteUtils;
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import com.zy.asrs.utils.TrackRangeUtils;
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import com.zy.core.ThreadHandler;
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import com.zy.core.cache.*;
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import com.zy.core.enums.RgvModeType;
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import com.zy.core.enums.RgvStatusType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.RgvTaskProtocol;
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import com.zy.core.model.protocol.TaskProtocol;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Value;
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import java.text.MessageFormat;
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import java.util.Date;
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import java.util.List;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* RGV线程
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* Created by vincent on 2022/11/29
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*/
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@Data
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@Slf4j
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public class RgvThread implements Runnable, ThreadHandler {
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private SiemensS7Net siemensNet;
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private RgvSlave slave;
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// private RgvProtocol rgvProtocol;
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private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
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// # 轨道总长
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private Long trackEntireLength = 100L;
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//# 轨道基准点
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private Long trackBenchmark = 100L;
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// # 避让距离
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private Long avoidDistance = 100L;
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/**
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* 工位1复位信号
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*/
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private boolean resetFlag1 = false;
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/**
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* 工位2复位信号
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*/
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private boolean resetFlag2 = false;
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public RgvThread(RgvSlave 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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boolean connect = this.connect();
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if (connect) {
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// 启动读数据线程
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new Thread(this::readStatusRgv).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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// 启动漫游线程
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new Thread(this::taskWalkIssued).start();
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}
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}
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private void readStatusRgv() {
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while (true) {
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try {
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Thread.sleep(100);
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readStatus();
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} catch (Exception e) {
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log.error("RGV数据读取线程异常！！！" + e.getMessage());
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initRgv();
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// e.printStackTrace();
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}
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}
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}
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/**
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* 漫游
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*/
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private void taskWalkIssued() {
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while (true) {
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try {
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// 休眠 1 秒
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Thread.sleep(100);
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if (!deviceDetection()) {
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continue;
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}
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvTaskProtocol == null) {
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initRgv();
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rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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}
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if (rgvTaskProtocol.getAvoid() != 1) {
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continue;
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}
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TaskProtocol issued = new TaskProtocol();
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issued.setTaskNo(32222L);
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issued.setTargetPosition(rgvTaskProtocol.getAvoidingTheDestination());
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write(issued);
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rgvTaskProtocol.setAvoid(0);
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Thread.sleep(200);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
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} catch (Exception e) {
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log.error("RGV行走任务下发线程异常！！！" + e.getMessage());
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// e.printStackTrace();
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}
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}
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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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// 休眠 1 秒
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Thread.sleep(100);
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if (!deviceDetection()) {
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continue;
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}
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null || rgvTaskProtocol == null) {
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initRgv();
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rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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}
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if (rgvTaskProtocol.getAvoid() != 0) {
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continue;
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}
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List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getTakeOrPutTaskProtocol(rgvProtocol.getLoaded());
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for (TaskProtocol taskProtocol : allTakeTaskProtocol) {
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if (taskProtocol.getIsRunning() == 1) {//准备下发
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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//双车
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if (rgvOtherStatusEnable()) {
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//另一台车是否允许此台车执行
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if (!otherRgvAvoid(taskProtocol.getTargetPosition())) {
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continue;
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}
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}
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Thread.sleep(100);
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TaskProtocol issued = new TaskProtocol(taskProtocol);
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write(issued);
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taskProtocol.setIsRunning(taskProtocol.getIsRunning() + 1);
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taskProtocolCache.updateTaskProtocol(taskProtocol);
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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("RGV取货任务下发线程异常！！！" + e.getMessage());
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// e.printStackTrace();
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}
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}
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}
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public boolean deviceDetection() {
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null || rgvTaskProtocol == null) {
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return false;
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}
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if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
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|| (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
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return false;
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}
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
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if (rgvProtocolOther == null) {
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return false;
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}
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if (rgvProtocolOther.statusEnable) {
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if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
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return false;
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}
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}
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return true;
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}
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public boolean rgvOtherStatusEnable() {
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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if (rgvProtocolOther == null) {
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return true;
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}
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if (rgvProtocolOther.statusEnable) {
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// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
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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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public boolean otherRgvAvoid(Long targetPosition) {
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
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Long[][] avoidRange = new TrackRangeUtils().avoidRange(slave, trackEntireLength, trackBenchmark, avoidDistance);
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if (new TrackRangeUtils().IsItSmall(slave)) {
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if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
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if ((rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing())
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- (targetPosition + rgvProtocol.getCarBodyKunPeng())
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> avoidDistance) {//无需避让
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return true;
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} else {
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long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
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if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
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log.error("行走超出范围！！！任务异常 联系管理员！！！");
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return false;
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}
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rgvTaskProtocolOther.setAvoid(1);
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rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
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return true;
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}
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} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
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if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
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- (targetPosition + rgvProtocol.getCarBodyKunPeng())
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> avoidDistance) {//无需避让
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return true;
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} else {
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long avoid = targetPosition + rgvProtocol.getCarBodyKunPeng() + avoidDistance + rgvProtocolOther.getCarBodyJiaoMing();
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if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
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log.error("行走超出范围！！！任务异常 联系管理员！！！");
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return false;
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}
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rgvTaskProtocolOther.setAvoid(1);
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rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
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return true;
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}
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} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
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if ((rgvProtocolOther.getRgvPosDestination() - rgvProtocolOther.getCarBodyJiaoMing())
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- (targetPosition + rgvProtocol.getCarBodyKunPeng())
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> avoidDistance) {//无需避让
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return true;
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} else {
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if (rgvProtocolOther.getRgvPosDestination() >= rgvProtocolOther.getRgvPos()) {
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long avoid = rgvProtocolOther.getRgvPos() - rgvProtocolOther.getCarBodyJiaoMing() - avoidDistance - rgvProtocol.getCarBodyKunPeng();
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if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
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log.error("行走超出范围！！！任务异常 联系管理员！！！");
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return false;
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}
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rgvTaskProtocol.setAvoid(1);
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rgvTaskProtocol.setAvoidingTheDestination(avoid);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
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return false;
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}
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return false;
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}
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}
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} else {
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if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)) {
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if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
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- (rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng())
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> avoidDistance) {//无需避让
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return true;
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} else {
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long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
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if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
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log.error("行走超出范围！！！任务异常 联系管理员！！！");
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return false;
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}
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rgvTaskProtocolOther.setAvoid(1);
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rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
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return true;
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}
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} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.ROAM)) {
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if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
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- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
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> avoidDistance) {//无需避让
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return true;
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} else {
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long avoid = targetPosition - rgvProtocol.getCarBodyJiaoMing() - avoidDistance - rgvProtocolOther.getCarBodyKunPeng();
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if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[1])) {
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log.error("行走超出范围！！！任务异常 联系管理员！！！");
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return false;
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}
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rgvTaskProtocolOther.setAvoid(1);
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rgvTaskProtocolOther.setAvoidingTheDestination(avoid);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocolOther);
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return true;
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}
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} else if (rgvProtocolOther.getStatusType().equals(RgvStatusType.WORKING)) {
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if ((targetPosition - rgvProtocol.getCarBodyJiaoMing())
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- (rgvProtocolOther.getRgvPosDestination() + rgvProtocolOther.getCarBodyKunPeng())
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> avoidDistance) {//无需避让
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return true;
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} else {
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if (rgvProtocolOther.getRgvPosDestination() <= rgvProtocolOther.getRgvPos()) {
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long avoid = rgvProtocolOther.getRgvPos() + rgvProtocolOther.getCarBodyKunPeng() + avoidDistance + rgvProtocol.getCarBodyJiaoMing();
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if (!new TrackRangeUtils().avoidRange(avoid, avoidRange[0])) {
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log.error("行走超出范围！！！任务异常 联系管理员！！！");
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return false;
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}
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rgvTaskProtocol.setAvoid(1);
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rgvTaskProtocol.setAvoidingTheDestination(avoid);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
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return false;
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}
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return false;
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}
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}
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}
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return false;
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}
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/**
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* 初始化RGV状态
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*/
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private void initRgv() {
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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}
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rgvProtocol.setMode((short) -1);
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rgvProtocol.setStatus((short) -1);
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rgvProtocol.setWalkPos((short) 0);
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rgvProtocol.setRgvPos(0L);
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rgvProtocol.setAlarm((short) 0);
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rgvProtocol.setxSpeed((short) 0);
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rgvProtocol.setxDistance((short) 0);
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rgvProtocol.setxDuration((short) 0);
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rgvProtocol.setCarBodyJiaoMing(0L);
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rgvProtocol.setCarBodyKunPeng(0L);
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try {
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv rgv = basRgvService.selectById(slave.getId());
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if (!Cools.isEmpty(rgv)) {
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rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
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} else {
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rgvProtocol.setStatusEnable(false);
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}
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} catch (Exception e) {
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log.error("RGV异常！！！" + e.getMessage());
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rgvProtocol.setStatusEnable(true);
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}
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
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if (rgvTaskProtocol == null) {
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rgvTaskProtocol = new RgvTaskProtocol();
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rgvTaskProtocol.setRgvNo(slave.getId());
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}
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rgvTaskProtocol.setAvoid(-1);
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rgvTaskProtocol.setAvoidingTheDestination(0L);
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RgvStatusCache.updateRgvStatus(rgvProtocol);
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RgvTaskCache.updateRgvStatus(rgvTaskProtocol);
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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.RGV.offer(MessageFormat.format( "【{0}】RGV 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("RGV 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.RGV.offer(MessageFormat.format("【{0}】RGV 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("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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initRgv();
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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 = siemensNet.Read("DB101.0", (short) 34);
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if (result.IsSuccess) {
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// 构建设备状态对象
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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}
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rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 10));
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rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
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// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
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// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
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// // 工位1复位信号
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// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
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// || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
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// if (resetFlag1) {
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// RgvCommand rgvCommand = new RgvCommand();
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// rgvCommand.setAckFinish1((short)1);
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// if (write(rgvCommand)) {
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// resetFlag1 = 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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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv basRgv = basRgvService.selectById(slave.getId());
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if (!Cools.isEmpty(basRgv)) {
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rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
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} else {
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rgvProtocol.setStatusEnable(false);
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}
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// BasRgv basRgv = new BasRgv();
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basRgv.setRgvNo(slave.getId());
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basRgv.setRgvSts((int) rgvProtocol.getMode());
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if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))) {
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log.error("RGV 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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}
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// 更新缓存
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RgvStatusCache.updateRgvStatus(rgvProtocol);
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} else {
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initRgv();
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// OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV 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.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initRgv();
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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(TaskProtocol taskProtocol) throws InterruptedException {
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if (null == taskProtocol) {
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log.error("RGV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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// taskProtocol.setRgvNo(slave.getId());
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Long[] array = new Long[11];
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// array[0] = taskProtocol.getAckFinish1();
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array[1] = taskProtocol.getTaskNo();
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// array[2] = taskProtocol.getTaskMode();
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// array[4] = command.getDestinationStaNo();
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// array[10] = taskProtocol.getCommand();
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OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
|
OperateResult result1 = siemensNet.Write("DB100.1", taskProtocol.isDirection()); // 执行方向（面朝轨道 定位值左小右大） true:左 false:右
|
|
// if (taskProtocol.getAckFinish1() == 0) {
|
// short commandFinish = 3; //工位1、2任务同时写入
|
// Thread.sleep(100L);
|
// result = siemensNet.Write("DB100.20", commandFinish);
|
// }
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
taskProtocol.getTaskNo().intValue(),
|
taskProtocol.getTaskNo().intValue(),
|
slave.getId(),
|
new Date(),
|
String.valueOf(taskProtocol.getTaskStatus()),
|
null,
|
null,
|
null,
|
result.IsSuccess ? 1 : 0,
|
null,
|
new Date(),
|
null
|
);
|
bean.insert(basRgvOpt);
|
} catch (Exception ignore) {
|
}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
|
return true;
|
} else {
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV 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RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
@Override
|
public void close() {
|
siemensNet.ConnectClose();
|
}
|
|
}
|
