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.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.core.ThreadHandler;
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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.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 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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* 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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/**
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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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this.connect();
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while (true) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Rgv, 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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// 工位1、2写入数据
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case 2:
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write((RgvCommand) task.getData());
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break;
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//工位1写入数据
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case 4:
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write1((RgvCommand) task.getData());
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break;
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//工位2写入数据
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case 5:
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write2((RgvCommand) task.getData());
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break;
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// 复位
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case 3:
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RgvCommand command = (RgvCommand) task.getData();
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if (null == command) {
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command = new RgvCommand();
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}
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command.setRgvNo(slave.getId()); // RGV编号
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command.setTaskNo1((short) 0); // 工作号
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command.setAckFinish1((short) 1); // 任务完成确认位
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command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo1((short)0); // 源站
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command.setDestinationStaNo1((short)0); // 目标站
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command.setTaskNo2((short) 0); // 工作号
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command.setAckFinish2((short) 1); // 任务完成确认位
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command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo2((short)0); // 源站
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command.setDestinationStaNo2((short)0); // 目标站
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command.setCommand((short)0);
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write(command);
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break;
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// 回原点 避让
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case 9:
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RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
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if (null == commandAvoidanceXY) {
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commandAvoidanceXY = new RgvCommand();
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}
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commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
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commandAvoidanceXY.setTaskNo1((short) 29999); // 工作号
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commandAvoidanceXY.setAckFinish1((short) 1); // 任务完成确认位
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commandAvoidanceXY.setTaskMode1(RgvTaskModeType.X_MOVE); // 任务模式
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commandAvoidanceXY.setSourceStaNo1((short)0); // 源站
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commandAvoidanceXY.setDestinationStaNo1(slave.getId()==1? (short) 101:(short)116); // 目标站
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commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
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commandAvoidanceXY.setAckFinish2((short) 1); // 任务完成确认位
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commandAvoidanceXY.setTaskMode2(RgvTaskModeType.X_MOVE); // 任务模式
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commandAvoidanceXY.setSourceStaNo2((short)0); // 源站
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commandAvoidanceXY.setDestinationStaNo2(slave.getId()==1? (short) 101:(short)117); // 目标站
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commandAvoidanceXY.setCommand((short)0);
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write(commandAvoidanceXY);
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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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}
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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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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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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.setTaskNo1((short)0);
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rgvProtocol.setStatus1((short)-1);
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rgvProtocol.setLoaded1((short)0);
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rgvProtocol.setWalkPos((short)0);
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rgvProtocol.setRgvPos((short)0);
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rgvProtocol.setTaskNo2((short)0);
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rgvProtocol.setStatus2((short)-1);
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rgvProtocol.setLoaded2((short)0);
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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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}
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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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initRgv();
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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 = siemensNet.Read("DB101.0", (short) 34);
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if (result.IsSuccess) {
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if (null == rgvProtocol) {
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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.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
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rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
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rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
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rgvProtocol.setRgvPos(RouteUtils.RgvPosSta(slave.getId(),siemensNet.getByteTransform().TransInt16(result.Content, 10)));
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rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
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rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
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rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
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rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
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rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
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rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
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rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
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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.getStatusType1().equals(RgvStatusType.WAITING)
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|| rgvProtocol.getStatusType1().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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// 工位2复位信号
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if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
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|| rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
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if (resetFlag2) {
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RgvCommand rgvCommand = new RgvCommand();
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rgvCommand.setAckFinish2((short)1);
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if (write(rgvCommand)) {
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resetFlag2 = 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 = 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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} 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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* 工位1、2同时写入数据
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*/
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private boolean write(RgvCommand command) throws InterruptedException {
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if (null == command) {
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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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command.setRgvNo(slave.getId());
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short[] array = new short[11];
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array[0] = command.getAckFinish1();
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array[1] = command.getTaskNo1();
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array[2] = command.getTaskMode1();
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array[3] = command.getSourceStaNo1();
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array[4] = command.getDestinationStaNo1();
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array[5] = command.getAckFinish2();
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array[6] = command.getTaskNo2();
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array[7] = command.getTaskMode2();
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array[8] = command.getSourceStaNo2();
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array[9] = command.getDestinationStaNo2();
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array[10] = command.getCommand();
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OperateResult result = siemensNet.Write("DB100.0", array);
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if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
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short commandFinish = 3; //工位1、2任务同时写入
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Thread.sleep(100L);
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result = siemensNet.Write("DB100.20", commandFinish);
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}
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try {
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// 日志记录
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BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(
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command.getTaskNo1().intValue(),
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command.getTaskNo2().intValue(),
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command.getRgvNo(),
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new Date(),
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command.getTaskModeType1().toString(),
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command.getSourceStaNo1().intValue(),
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command.getDestinationStaNo1().intValue(),
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command.getSourceStaNo2().intValue(),
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command.getDestinationStaNo2().intValue(),
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null,
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new Date(),
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null
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);
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bean.insert(basRgvOpt);
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} catch (Exception ignore) {}
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if (result != null && result.IsSuccess) {
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Thread.sleep(200);
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this.readStatus();
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log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return true;
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} else {
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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()));
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log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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return false;
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}
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}
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/**
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* 工位1写入数据
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*/
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private boolean write1(RgvCommand command) throws InterruptedException {
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if (null == command) {
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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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// siemensNet.Write("DB100.20", command.getCommand());
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command.setRgvNo(slave.getId());
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short[] array = new short[5];
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array[0] = command.getAckFinish1();
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array[1] = command.getTaskNo1();
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array[2] = command.getTaskMode1();//任务模式
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array[3] = command.getSourceStaNo1();
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array[4] = command.getDestinationStaNo1();
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// siemensNet.Write("DB100.20", 0);
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OperateResult result = siemensNet.Write("DB100.0", array);
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if (command.getAckFinish1() == 0) {
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short commandFinish = 1; //工位1任务写入
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Thread.sleep(100L);
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result = siemensNet.Write("DB100.20", commandFinish);
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}
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try {
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// 日志记录
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BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(
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command.getTaskNo1().intValue(),
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command.getTaskNo2().intValue(),
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command.getRgvNo(),
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new Date(),
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command.getTaskModeType1().toString(),
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command.getSourceStaNo1().intValue(),
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command.getDestinationStaNo1().intValue(),
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command.getSourceStaNo2().intValue(),
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command.getDestinationStaNo2().intValue(),
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null,
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new Date(),
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null
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);
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bean.insert(basRgvOpt);
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} catch (Exception ignore) {}
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if (result != null && result.IsSuccess) {
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Thread.sleep(200);
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this.readStatus();
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log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return true;
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} else {
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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return false;
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}
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}
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/**
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* 工位2写入数据
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*/
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private boolean write2(RgvCommand command) throws InterruptedException {
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if (null == command) {
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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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command.setRgvNo(slave.getId());
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short[] array = new short[6];
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array[0] = command.getAckFinish2();//任务完成确认位
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array[1] = command.getTaskNo2();//任务号
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array[2] = command.getTaskMode2();//任务模式
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array[3] = command.getSourceStaNo2();//源站
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array[4] = command.getDestinationStaNo2();//目标站
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array[5] = command.getCommand();//任务下发确认
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OperateResult result = siemensNet.Write("DB100.10", array);
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if (command.getAckFinish2() == 0) {
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short commandFinish = 2; //工位2任务写入
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Thread.sleep(100L);
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result = siemensNet.Write("DB100.20", commandFinish);
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}
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try {
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// 日志记录
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BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(
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command.getTaskNo1().intValue(),
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command.getTaskNo2().intValue(),
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command.getRgvNo(),
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new Date(),
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command.getTaskModeType1().toString(),
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command.getSourceStaNo1().intValue(),
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command.getDestinationStaNo1().intValue(),
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command.getSourceStaNo2().intValue(),
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command.getDestinationStaNo2().intValue(),
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null,
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new Date(),
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null
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);
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bean.insert(basRgvOpt);
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} catch (Exception ignore) {}
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if (result != null && result.IsSuccess) {
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Thread.sleep(200);
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this.readStatus();
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log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return true;
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} else {
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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return false;
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}
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}
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@Override
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public void close() {
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siemensNet.ConnectClose();
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}
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/******************************************************************************************/
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/**************************************** 测试专用 *****************************************/
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/*****************************************************************************************/
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public static void main(String[] args) throws InterruptedException {
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RgvSlave slave = new RgvSlave();
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slave.setId(1);
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slave.setIp("192.168.6.9");
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slave.setRack(0);
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slave.setSlot(0);
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RgvThread rgvThread = new RgvThread(slave);
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rgvThread.connect();
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rgvThread.readStatus();
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System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
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Thread.sleep(3000L);
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}
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}
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