package com.zy.core.thread;
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import HslCommunication.Core.Transfer.DataFormat;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.ModBus.ModbusTcpNet;
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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.exception.CoolException;
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import com.zy.common.utils.CommonUtils;
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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.model.ShuttleSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.ShuttleCommand;
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import com.zy.core.model.protocol.ShuttleProtocol;
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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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* 四向穿梭车线程
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*/
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@Data
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@Slf4j
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public class ShuttleThread implements Runnable, ThreadHandler {
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private ModbusTcpNet modbusTcpNet;
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private ShuttleSlave slave;
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private ShuttleProtocol shuttleProtocol;
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public ShuttleThread(ShuttleSlave slave) {
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this.slave = slave;
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}
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@Override
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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.Shuttle, 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((ShuttleCommand) 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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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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@Override
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public boolean connect() {
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boolean result = false;
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//-------------------------四向穿梭车连接方法------------------------//
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modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
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// 当你需要指定格式的数据解析时，就需要设置下面的这个信息
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modbusTcpNet.setDataFormat(DataFormat.ABCD);
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OperateResult connect = modbusTcpNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.CRN.offer(MessageFormat.format( "【{0}】四向穿梭车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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log.info("四向穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】四向穿梭车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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log.error("四向穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
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}
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modbusTcpNet.ConnectClose();
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//-------------------------四向穿梭车连接方法------------------------//
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return result;
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}
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@Override
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public void close() {
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modbusTcpNet.ConnectClose();
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}
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private void readStatus() {
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try {
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OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
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if (result.IsSuccess) {
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if (null == shuttleProtocol) {
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shuttleProtocol = new ShuttleProtocol();
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shuttleProtocol.setShuttleNo(slave.getId().shortValue());
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}
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//----------读取四向穿梭车状态-----------
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//获取数据
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byte[] content = result.Content;
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//小车忙状态位
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shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
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//当前二维码
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shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
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//电池电量百分比
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shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
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//电池温度
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shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
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//错误编号
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shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
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//Plc输出状态IO
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shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
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//错误信息码
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shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
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//PLC输入状态
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shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
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//当前或者之前读到的二维码值
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shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
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//读到的二维码X方向偏移量
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shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
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//读到的二维码Y方向偏移量
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shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
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//当前的电压值
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shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
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//当前的模拟量值
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shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
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//当前的升降伺服速度
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shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
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//当前的行走伺服速度
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shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
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//当前的升降伺服负载率
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shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
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//当前的行走伺服负载率
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shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));
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///读取四向穿梭车状态-end
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// 根据实时信息更新数据库
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//.....
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}else {
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
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throw new CoolException(MessageFormat.format( "四向穿梭车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.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车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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initShuttle();
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}
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}
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private boolean write(ShuttleCommand command){
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if (null == command) {
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News.error("四向穿梭车写入命令为空");
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return false;
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}
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command.setShuttleNo(slave.getId());
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// 开始任务
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short[] array = new short[17];
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//控制指令字
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array[0] = command.getCommandWord();
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//启始二维编号
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array[1] = command.getStartCodeNum();
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//中间二维编号
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array[2] = command.getMiddleCodeNum();
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//目标二维编号
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array[3] = command.getDistCodeNum();
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//起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
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short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
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array[4] = startToDistDistances[0];
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array[5] = startToDistDistances[1];
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//中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
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short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
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array[6] = middleToDistDistances[0];
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array[7] = middleToDistDistances[1];
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//小车运行方向
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array[8] = command.getRunDirection();
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//托盘顶升
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array[9] = command.getPalletLift();
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//小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
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short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
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array[10] = forceMoveDistances[0];
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array[11] = forceMoveDistances[1];
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//充电开关
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array[12] = command.getChargeSwitch();
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//小车IO控制
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array[13] = command.getIOControl();
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//小车运行速度
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array[14] = command.getRunSpeed();
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//小车雷达备用
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array[15] = command.getRadarTmp();
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//指令结束位
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array[16] = command.getCommandEnd();
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OperateResult result = modbusTcpNet.Write("0", array);;
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if (result != null && result.IsSuccess) {
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News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.SHUTTLE.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.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车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("写入四向穿梭车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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/**
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* 初始化四向穿梭车
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*/
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private void initShuttle() {
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if (null == shuttleProtocol) {
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shuttleProtocol = new ShuttleProtocol();
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}
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// shuttleProtocol.setShuttleNo(slave.getId().shortValue());
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// shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
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// shuttleProtocol.setCurrentCode("0");
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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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ShuttleSlave slave = new ShuttleSlave();
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slave.setId(1);
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slave.setIp("192.168.4.24");
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slave.setPort(502);
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ShuttleThread thread = new ShuttleThread(slave);
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thread.connect();
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thread.readStatus();
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ShuttleCommand command = new ShuttleCommand();
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command.setCommandWord((short) 0);
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command.setStartCodeNum((short) 12323);
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command.setMiddleCodeNum((short) 22323);
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command.setDistCodeNum((short) 29999);
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command.setStartToDistDistance(109999);
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command.setMiddleToDistDistance(5000);
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command.setRunDirection((short) 1);
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command.setPalletLift((short) 2);
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command.setForceMoveDistance(3000);
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command.setChargeSwitch((short) 2);
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command.setIOControl((short) 0);
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command.setRunSpeed((short) 0);
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command.setRadarTmp((short) 0);
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command.setCommandEnd((short) 1);
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thread.write(command);
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}
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}
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