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.core.exception.CoolException;
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import com.zy.asrs.entity.BasSte;
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import com.zy.asrs.entity.BasSteOpt;
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import com.zy.asrs.service.BasSteOptService;
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import com.zy.asrs.service.BasSteService;
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import com.zy.core.News;
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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.SlaveType;
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import com.zy.core.enums.SteLocaType;
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import com.zy.core.enums.SteStatusType;
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import com.zy.core.model.SteSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.SteCommand;
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import com.zy.core.model.protocol.SteProtocol;
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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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* shuttle 穿梭车线程
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* Created by vincent on 2020/8/4
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* 不能有 槽号 和 机架号
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*/
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@Data
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@Slf4j
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public class SteThread implements Runnable, ThreadHandler {
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private SiemensS7Net siemensS7Net;
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private SteSlave slave;
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private SteProtocol steProtocol;
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private short heartBeatVal = 1;
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private boolean resetFlag = false;
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public SteThread(SteSlave 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.Ste, 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((SteCommand) task.getData());
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break;
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default:
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break;
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}
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// 心跳
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// heartbeat();
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Thread.sleep(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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* 初始化堆垛机状态
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*/
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private void initSte() {
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if (null == steProtocol) {
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steProtocol = new SteProtocol();
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}
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steProtocol.setSteNo(slave.getId().shortValue());
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steProtocol.setMode((short) 0);
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steProtocol.setStatus(SteStatusType.OFF_LINE);
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steProtocol.setTaskNo((short) 0);
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steProtocol.setExecute(false);
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steProtocol.setWaiting(false);
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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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//
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siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensS7Net.setRack(slave.getRack().byteValue());
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siemensS7Net.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensS7Net.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.STE.offer(MessageFormat.format( "【{0}】穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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News.info("穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.STE.offer(MessageFormat.format("【{0}】穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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News.error("穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initSte();
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}
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// melsecMcNet.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 = siemensS7Net.Read("DB101.0", (short) 28);
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if (result.IsSuccess) {
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if (null == steProtocol) {
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steProtocol = new SteProtocol();
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steProtocol.setSteNo(slave.getId().shortValue());
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}
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steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
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steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
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OperateResultExOne<Boolean> waitingRes = siemensS7Net.ReadBool("DB101.20.2");
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if (waitingRes.IsSuccess) {
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steProtocol.setWaiting(waitingRes.Content);
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}
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steProtocol.setCharge(siemensS7Net.getByteTransform().TransSingle(result.Content, 6));
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steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 10));
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steProtocol.setTaskType(siemensS7Net.getByteTransform().TransInt16(result.Content, 12));
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steProtocol.setRow(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
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steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
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steProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
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steProtocol.setLoca(siemensS7Net.getByteTransform().TransInt16(result.Content, 20));
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steProtocol.setLocaStart(siemensS7Net.getByteTransform().TransInt16(result.Content, 22));
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steProtocol.setLocaEnd(siemensS7Net.getByteTransform().TransInt16(result.Content, 24));
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boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, 26, 1);
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// steProtocol.setReady(status[0]?(short)1:(short)0);
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// steProtocol.setReady(status[1]?(short)1:(short)0);
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steProtocol.setReady(status[3]?(short)1:(short)0);
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// steProtocol.setReady(status[3]?(short)1:(short)0);
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// steProtocol.setTrack(status[6]?(short)1:(short)0);
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boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result.Content, 27, 1);
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steProtocol.setChargeStatus(status2[0]?(short)1:(short)0);
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steProtocol.setTrack(status2[1]?(short)1:(short)0);
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// steProtocol.setLoad(status2[6]?(short)1:(short)0);
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steProtocol.setLoad(status2[7]?(short)1:(short)0);
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OutputQueue.STE.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 (steProtocol.getWaiting()) {
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// if (resetFlag) {
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// SteCommand steCommand = new SteCommand();
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// steCommand.setComplete(true);
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// if (write(steCommand) && confirmPos()) {
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// resetFlag = false;
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// }
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// }
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// }
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// 根据实时信息更新数据库
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BasSteService service = SpringUtils.getBean(BasSteService.class);
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if (null != service) {
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// 同步pakMk
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BasSte one = service.selectById(slave.getId());
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if (one != null) {
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steProtocol.setPakMk(one.getPakMk());
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}
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BasSte basSte = new BasSte();
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basSte.setSteNo(slave.getId());
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if (!service.updateById(steProtocol.toSqlModel(basSte))){
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News.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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}
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} else {
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OutputQueue.STE.offer(MessageFormat.format("【{0}】{1}穿梭车plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
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throw new CoolException(MessageFormat.format( "穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
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}
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} catch (Exception e) {
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OutputQueue.STE.offer(MessageFormat.format("【{0}】读取穿梭车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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initSte();
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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(SteCommand command){
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return this.write(command, 1);
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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(SteCommand command, int times){
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if (null == command || times > 2) {
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News.error("穿梭车写入命令为空");
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return false;
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}
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command.setSteNo(slave.getId());
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OperateResult result = null;
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News.error("穿梭车写入命令"+JSON.toJSONString(command));
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// 开始任务
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if (!command.getComplete()) {
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//组织任务前，先清空写任务确认位，以及任务完成确认位
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siemensS7Net.Write("DB100.0", (short) 0);//设备号
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siemensS7Net.Write("DB100.2", (short) 0);//任务号
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siemensS7Net.Write("DB100.12", (short) 0);//起始点位
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siemensS7Net.Write("DB100.14", (short) 0);//目的点位
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siemensS7Net.Write("DB100.16.0", false);//任务开始确认位
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siemensS7Net.Write("DB100.16.1", false);//任务完成确认位
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// siemensS7Net.Write("DB100.18", (short) 0);//硫化罐号
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// 1.任务号
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OperateResult result0 = siemensS7Net.Write("DB100.2", command.getTaskNo().shortValue());
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try {
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Thread.sleep(200);
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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// 作业
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if (command.getTaskMode() != 0) {
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// 2.作业
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OperateResult result1 = siemensS7Net.Write("DB100.4", command.getTaskMode());
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OperateResult result2 = siemensS7Net.Write("DB100.12", (short) command.getStartLoad().shortValue());//起始点位
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OperateResult result3 = siemensS7Net.Write("DB100.14", (short) command.getEndLoad().shortValue());//目的点位
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OperateResult result4 = siemensS7Net.Write("DB100.18", (short) command.getJarNo());//目的点位
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// 3.确认开始任务
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if (result0.IsSuccess && result1.IsSuccess && result2.IsSuccess && result3.IsSuccess && result4.IsSuccess) {
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result = siemensS7Net.Write("DB100.16.0", true);
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try {
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Thread.sleep(300);
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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}
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}
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// 任务完成
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} else {
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// siemensS7Net.Write("DB100.2", (short) 0);//任务号
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// siemensS7Net.Write("DB100.4.0", (short) 0);//任务类型
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siemensS7Net.Write("DB100.16.0", false);//任务开始确认位
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result = siemensS7Net.Write("DB100.16.1", true);//任务完成确认
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}
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try {
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// 日志记录
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if (!command.getComplete() && command.getTaskMode() != 0) {
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BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
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if (null != bean) {
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BasSteOpt basSteOpt = new BasSteOpt(
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command.getTaskNo(), // 任务号
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command.getSteNo(), // 穿梭车
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new Date(), // 下发时间
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command.getTaskModeType().desc, // 作业
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null, // 源排
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null, // 源列
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null, // 源层
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null, // 源站
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null, // 目标排
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null, // 目标列
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null, // 目标层
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null, // 目标站
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null, // 响应结果
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null, // 修改时间
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null, // 修改人员
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null // 备注
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);
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bean.insert(basSteOpt);
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}
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}
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} catch (Exception ignore) {}
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if (result != null && result.IsSuccess) {
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News.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.STE.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.STE.offer(MessageFormat.format("【{0}】写入穿梭车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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News.error("写入穿梭车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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public boolean confirmPos() {
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BasSteService service = SpringUtils.getBean(BasSteService.class);
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BasSte basSte = service.selectById(slave.getId());
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if (basSte != null) {
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// 更新plc数据块
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short[] arr = new short[] {basSte.getRow().shortValue(), basSte.getBay().shortValue(), basSte.getLev().shortValue()};
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OperateResult result = siemensS7Net.Write("DB100.6", arr);
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if (result.IsSuccess) {
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// 更新数据库
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if (service.updatePakMk(this.slave.getId(), "N")) {
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return true;
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} else {
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News.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
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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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public boolean modifyPosHandle(Integer row, Integer bay, Integer lev) {
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short[] arr = new short[] {row.shortValue(), bay.shortValue(), lev.shortValue()};
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OperateResult result = siemensS7Net.Write("DB100.6", arr);
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if (!result.IsSuccess) {
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News.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
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return false;
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}
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BasSteService service = SpringUtils.getBean(BasSteService.class);
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if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
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News.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
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return false;
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}
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return true;
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}
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@Override
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public void close() {
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siemensS7Net.ConnectClose();
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}
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/**
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* 心跳
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*/
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private void heartbeat(){
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if (heartBeatVal == 1) {
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heartBeatVal = 2;
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} else {
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heartBeatVal = 1;
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}
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OperateResult write = siemensS7Net.Write("D10", heartBeatVal);
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if (!write.IsSuccess) {
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News.error("输送线plc编号={} 心跳失败", slave.getId());
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}
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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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// SteSlave slave = new SteSlave();
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// slave.setId(1);
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// slave.setIp("192.168.2.1");
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// slave.setPort(502);
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// SteThread thread = new SteThread(slave);
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// thread.connect();
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// thread.readStatus();
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// System.out.println(JSON.toJSONString(thread.steProtocol));
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//
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// // 穿梭车运行禁止
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// SteCommand command = new SteCommand();
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//// command.setRun((short)0);
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// thread.write(command);
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//
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// }
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}
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