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.common.utils.News;
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import com.zy.core.RgvThread2;
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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.RgvTaskStatusType;
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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.CrnCommand;
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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, RgvThread2 {
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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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//锁定标记
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private boolean PakMk = true;
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//入库标记
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private boolean PakIn = true;
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//出库标记
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private boolean PakOut = true;
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//根据距离跳过取货
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private boolean PakRgv = true;
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//接驳标记
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private boolean PakToCrn = true;
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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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// 小车工位写入数据
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case 2:
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write((RgvCommand) task.getData());
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break;
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// 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.setTaskNo(0); // 工作号
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command.setTaskStatus(RgvTaskStatusType.NONE); // 任务模式
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command.setTargetPosition(0); // 源站
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command.setWrkTaskPri(0); // 目标站
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write(command);
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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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//小车状态
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rgvProtocol.setStatus((short)-1);
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rgvProtocol.setRgvPosDestination(0);
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rgvProtocol.setMode((short) -1);
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rgvProtocol.setRgvPos(0);
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rgvProtocol.setErr1(false);
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rgvProtocol.setErr2(false);
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rgvProtocol.setErr3(false);
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rgvProtocol.setErr4(false);
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rgvProtocol.setErr5(false);
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rgvProtocol.setErr6(false);
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rgvProtocol.setErr7(false);
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rgvProtocol.setWrkTaskPri((short)0);
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//工位1状态
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rgvProtocol.setTaskNo1(0);
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rgvProtocol.setStatus1((short)-1);
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rgvProtocol.setLoaded1(false);
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rgvProtocol.setWrkTaskMove1((short)0);
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//工位2状态
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rgvProtocol.setTaskNo2(0);
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rgvProtocol.setStatus2((short)-1);
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rgvProtocol.setLoaded2(false);
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rgvProtocol.setWrkTaskMove2((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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private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
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if (value) {
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buffer[byteIndex] |= (1 << bitIndex); // 置位
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} else {
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buffer[byteIndex] &= ~(1 << bitIndex); // 清零
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}
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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) 27);
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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(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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}
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rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
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rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
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rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
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rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
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boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
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rgvProtocol.setLoaded1(status1[0]);
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rgvProtocol.setLoaded2(status1[1]);
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boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 26, 1);
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rgvProtocol.setErr1(status2[0]);
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rgvProtocol.setErr2(status2[1]);
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rgvProtocol.setErr3(status2[2]);
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rgvProtocol.setErr4(status2[3]);
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rgvProtocol.setErr5(status2[4]);
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rgvProtocol.setErr6(status2[5]);
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rgvProtocol.setErr7(status2[6]);
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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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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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System.out.println(ignore);
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}
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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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* 小车工位写入写入数据
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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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OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
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if (result1.IsSuccess){
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RgvCommand one = new RgvCommand();
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one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位
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one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站
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one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态
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one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号
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News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
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}
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byte[] writeBytes = new byte[14];
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command.setRgvNo(slave.getId());
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writeInt32(writeBytes, 0, command.getWrkTaskPri());
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writeInt32(writeBytes, 4, command.getTargetPosition());
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writeInt16(writeBytes, 8, (short)command.getTaskStatus());
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writeInt32(writeBytes, 10, command.getTaskNo());
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OperateResult result = siemensNet.Write("DB100.0", writeBytes);
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if (!result.IsSuccess){
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News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
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MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
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Thread.sleep(100);
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readStatus();
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return false;
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}
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//RGV任务写入后，回读一次，看是否成功
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Thread.sleep(400);
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try {
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
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if (resultRead.IsSuccess){
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RgvCommand one = new RgvCommand();
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one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位
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one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站
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one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态
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one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号
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if (
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!command.getTaskNo().equals(one.getTaskNo()) ||
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!command.getTaskStatus().equals(one.getTaskStatus()) ||
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!command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
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!command.getTargetPosition().equals(one.getTargetPosition())
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) {
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try{
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News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
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}catch (Exception e){
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try{
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News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
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}catch (Exception e1){
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News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
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}
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}
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News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
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MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
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Thread.sleep(100);
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readStatus();
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return false;
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}else {
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News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
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}
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}
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}catch (Exception e){
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News.error("RGV命令地址写入后回读出错");
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}
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if (result.IsSuccess) { //任务下发确认
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Thread.sleep(300);
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//任务下发次数
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int writeCount2 = 0;
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do {
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writeCount2++;
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boolean commandFinish = true;
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result = siemensNet.Write("DB100.34.0", commandFinish);
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if(result.IsSuccess){
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//RGV任务写入后，回读一次，看是否成功
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Thread.sleep(200);
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
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if (resultRead.IsSuccess) {
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commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
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if (!commandFinish){
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News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
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}else{
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//任务命令写入成功
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News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
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break;
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}
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}else {
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News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
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}
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} else {
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News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
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}
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}while (writeCount2<5);
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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.getTaskNo(),
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command.getRgvNo(),
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new Date(),
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command.getTaskStatus().toString(),
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command.getTargetPosition(),
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command.getWrkTaskPri(),
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new Date()
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);
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bean.insert(basRgvOpt);
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} catch (Exception ignore) {
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log.error(ignore.getMessage());
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}
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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 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {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 static void writeInt32(byte[] buffer, int index, int value) {
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buffer[index] = (byte)((value >> 24) & 0xFF);
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buffer[index + 1] = (byte)((value >> 16) & 0xFF);
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buffer[index + 2] = (byte)((value >> 8) & 0xFF);
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buffer[index + 3] = (byte)(value & 0xFF);
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}
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public static void writeInt16(byte[] buffer, int index, short value) {
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buffer[index] = (byte)((value >> 8) & 0xFF); // 高字节
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buffer[index + 1] = (byte)(value & 0xFF); // 低字节
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}
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public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
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if (value) {
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buffer[byteIndex] |= (1 << bitIndex);
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} else {
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buffer[byteIndex] &= ~(1 << bitIndex);
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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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