package com.zy.core.thread;
|
|
import HslCommunication.Core.Types.OperateResult;
|
import HslCommunication.Core.Types.OperateResultExOne;
|
import HslCommunication.Profinet.Siemens.SiemensPLCS;
|
import HslCommunication.Profinet.Siemens.SiemensS7Net;
|
import com.alibaba.fastjson.JSON;
|
import com.core.common.DateUtils;
|
import com.core.common.SpringUtils;
|
import com.zy.asrs.entity.BasRgv;
|
import com.zy.asrs.entity.BasRgvOpt;
|
import com.zy.asrs.service.BasRgvOptService;
|
import com.zy.asrs.service.BasRgvService;
|
import com.zy.asrs.utils.RouteUtils;
|
import com.zy.core.ThreadHandler;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.OutputQueue;
|
import com.zy.core.enums.RgvStatusType;
|
import com.zy.core.enums.RgvTaskModeType;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.model.RgvSlave;
|
import com.zy.core.model.Task;
|
import com.zy.core.model.command.RgvCommand;
|
import com.zy.core.model.protocol.RgvProtocol;
|
import lombok.Data;
|
import lombok.extern.slf4j.Slf4j;
|
|
import java.text.MessageFormat;
|
import java.util.Date;
|
|
/**
|
* RGV线程
|
* Created by vincent on 2022/11/29
|
*/
|
@Data
|
@Slf4j
|
public class RgvThread implements Runnable, ThreadHandler {
|
|
private SiemensS7Net siemensNet;
|
private RgvSlave slave;
|
private RgvProtocol rgvProtocol;
|
/**
|
* 工位1复位信号
|
*/
|
private boolean resetFlag1 = false;
|
/**
|
* 工位2复位信号
|
*/
|
private boolean resetFlag2 = false;
|
|
public RgvThread(RgvSlave slave) {
|
this.slave = slave;
|
}
|
|
@Override
|
@SuppressWarnings("InfiniteLoopStatement")
|
public void run() {
|
this.connect();
|
while (true) {
|
try {
|
int step = 1;
|
Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
|
if (task != null) {
|
step = task.getStep();
|
}
|
switch (step) {
|
// 读数据
|
case 1:
|
readStatus();
|
break;
|
// 工位1、2写入数据
|
case 2:
|
write((RgvCommand) task.getData());
|
break;
|
// 复位
|
case 3:
|
RgvCommand command = (RgvCommand) task.getData();
|
if (null == command) {
|
command = new RgvCommand();
|
}
|
command.setRgvNo(slave.getId()); // RGV编号
|
command.setTaskNo((short) 0); // 工作号
|
command.setAckFinish((short) 1); // 任务完成确认位
|
command.setTaskMode(RgvTaskModeType.NONE); // 任务模式
|
command.setDestinationStaNo(0L); // 目标站
|
command.setCommand((short)0);
|
write(command);
|
break;
|
default:
|
break;
|
}
|
Thread.sleep(500);
|
} catch (Exception e) {
|
log.error("RGV线程异常！！！"+e.getMessage());
|
// e.printStackTrace();
|
}
|
|
}
|
}
|
|
/**
|
* 初始化RGV状态
|
*/
|
private void initRgv() {
|
if (null == rgvProtocol) {
|
rgvProtocol = new RgvProtocol();
|
}
|
rgvProtocol.setMode((short) -1);
|
rgvProtocol.setStatus((short)-1);
|
rgvProtocol.setWalkPos((short)0);
|
rgvProtocol.setRgvPos(0L);
|
rgvProtocol.setAlarm((short)0);
|
rgvProtocol.setxSpeed((short) 0);
|
rgvProtocol.setxDistance((short) 0);
|
rgvProtocol.setxDuration((short) 0);
|
}
|
|
@Override
|
public boolean connect() {
|
boolean result = false;
|
siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
|
siemensNet.setRack(slave.getRack().byteValue());
|
siemensNet.setSlot(slave.getSlot().byteValue());
|
OperateResult connect = siemensNet.ConnectServer();
|
if(connect.IsSuccess){
|
result = true;
|
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()));
|
log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
} else {
|
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()));
|
log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
initRgv();
|
}
|
// siemensNet.ConnectClose();
|
return result;
|
}
|
|
/**
|
* 读取状态
|
*/
|
private void readStatus(){
|
try {
|
OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
|
if (result.IsSuccess) {
|
if (null == rgvProtocol) {
|
rgvProtocol = new RgvProtocol();
|
rgvProtocol.setRgvNo(slave.getId());
|
}
|
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
|
rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
|
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 10));
|
rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
|
// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
|
// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
|
// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
|
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
|
// 工位1复位信号
|
if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
|
|| rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
|
if (resetFlag1) {
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setAckFinish1((short)1);
|
if (write(rgvCommand)) {
|
resetFlag1 = false;
|
}
|
}
|
}
|
|
try {
|
// 根据实时信息更新数据库
|
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
|
BasRgv basRgv = new BasRgv();
|
basRgv.setRgvNo(slave.getId());
|
basRgv.setRgvSts((int)rgvProtocol.getMode());
|
if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
|
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());
|
}
|
} catch (Exception ignore){}
|
|
} else {
|
initRgv();
|
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()));
|
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());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
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()));
|
log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
initRgv();
|
}
|
}
|
|
/**
|
* 写入数据
|
*/
|
private boolean write(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
// convertRow(command);
|
command.setRgvNo(slave.getId());
|
short[] array = new short[11];
|
array[0] = command.getAckFinish1();
|
array[1] = command.getTaskNo();
|
array[2] = command.getTaskMode();
|
// array[4] = command.getDestinationStaNo();
|
array[10] = command.getCommand();
|
OperateResult result = siemensNet.Write("DB100.0", array);
|
|
if (command.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(
|
command.getTaskNo().intValue(),
|
command.getTaskNo().intValue(),
|
command.getRgvNo(),
|
new Date(),
|
command.getTaskModeType().toString(),
|
null,
|
null,
|
null,
|
command.getDestinationStaNo().intValue(),
|
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(command));
|
OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
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();
|
}
|
|
}
|
