package com.zy.core.thread.impl;
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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.baomidou.mybatisplus.mapper.EntityWrapper;
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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.BasLift;
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import com.zy.asrs.entity.DeviceDataLog;
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import com.zy.asrs.service.BasLiftService;
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import com.zy.asrs.service.DeviceDataLogService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.ExecuteSupport;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.action.ForkLiftAction;
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import com.zy.core.action.ShuttleAction;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.ForkLiftIoModeType;
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import com.zy.core.enums.ForkLiftProtocolStatusType;
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import com.zy.core.enums.ForkLiftTaskModeType;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.ForkLiftSlave;
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import com.zy.core.model.command.ForkLiftCommand;
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import com.zy.core.model.protocol.ForkLiftProtocol;
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import com.zy.core.model.protocol.ForkLiftStaProtocol;
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import com.zy.core.thread.ForkLiftThread;
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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.*;
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@Slf4j
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@SuppressWarnings("all")
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public class ZyForkLiftThread implements ForkLiftThread {
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private ForkLiftSlave slave;
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private ForkLiftProtocol forkLiftProtocol;
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private RedisUtil redisUtil;
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private SiemensS7Net siemensS7Net;
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private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
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public ZyForkLiftThread(ForkLiftSlave slave, RedisUtil redisUtil) {
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this.slave = slave;
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this.redisUtil = redisUtil;
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//初始化站点
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for (ForkLiftSlave.Sta sta : this.slave.getSta()) {
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ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol();
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forkLiftStaProtocol.setStaNo(sta.getStaNo());//站点号
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forkLiftStaProtocol.setLev(sta.getLev());//站点楼层
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String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
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forkLiftStaProtocol.setLocNo(locNo);//站点库位号
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forkLiftStaProtocol.setLiftNo(sta.getLiftNo());//提升机号
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forkLiftStaProtocols.add(forkLiftStaProtocol);
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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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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.FORKLIFT.offer(MessageFormat.format( "【{0}】货叉提升机连接成功 ===>> [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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News.info("货叉提升机连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.FORKLIFT.offer(MessageFormat.format( "【{0}】货叉提升机连接失败！！！ ===>> [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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News.error("货叉提升机连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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// siemensS7Net.ConnectClose();
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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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}
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@Override
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public void run() {
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News.info("{}号货叉提升机线程启动", slave.getId());
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this.connect();
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while (true) {
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try {
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read();
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Thread.sleep(200);
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execute();
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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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private void execute() {
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ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
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if (forkLiftAction == null) {
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return;
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}
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Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
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if (object == null) {
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return;
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}
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Integer taskNo = Integer.valueOf(String.valueOf(object));
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if (taskNo != 0) {
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//存在任务需要执行
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boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
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}
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}
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private void read() {
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try {
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readStatus();
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//提升机处于运行状态，将标记置为true
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if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP)
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|| forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN)
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|| forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) {
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forkLiftProtocol.setPakMk(true);
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}
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} catch (Exception e) {
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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}
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}
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private void readStatus() {
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try {
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//获取提升机数据
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OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) 16);
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if (result1.IsSuccess) {
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if (null == forkLiftProtocol) {
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forkLiftProtocol = new ForkLiftProtocol();
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forkLiftProtocol.setLiftNo(slave.getId());
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forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE);
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InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend();
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}
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//----------读取提升机状态-----------
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//模式
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forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
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//PLC任务号
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forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
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//任务状态
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forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
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//任务模式
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forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
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//取货数据
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forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
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//放货数据
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forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10));
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//出入库模式
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forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
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//故障码
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forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
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//************补充扩展字段*************
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InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
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forkLiftProtocol.setExtend(forkLiftExtend);
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}else {
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
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}
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OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB102.0", (short) 8);
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if (result2.IsSuccess) {
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for (int i = 0; i < this.slave.getSta().size(); i++) {
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ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
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if (forkLiftStaProtocols.isEmpty()) {
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continue;
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}
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ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
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boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2);
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forkLiftStaProtocol.setHasTray(status1[0]);
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forkLiftStaProtocol.setHasCar(status1[1]);
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}
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}
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if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
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//采集时间超过5s，保存一次数据记录
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//保存数据记录
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DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
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deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol));
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deviceDataLog.setType("forkLift");
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deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
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deviceDataLog.setCreateTime(new Date());
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deviceDataLogService.insert(deviceDataLog);
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//更新采集时间
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forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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//将提升机状态保存至数据库
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BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
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BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>()
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.eq("lift_no", slave.getId()));
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if (basLift == null) {
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basLift = new BasLift();
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//提升机号
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basLift.setLiftNo(forkLiftProtocol.getLiftNo());
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basLift.setStatus(1);
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basLiftService.insert(basLift);
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}
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//任务号
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basLift.setWrkNo(forkLiftProtocol.getTaskNo());
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//修改时间
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basLift.setUpdateTime(new Date());
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//设备状态
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basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
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if (basLiftService.updateById(basLift)) {
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo()));
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}
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} catch (Exception e) {
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取货叉提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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}
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}
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@Override
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public ForkLiftProtocol getStatus(boolean clone) {
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if (this.forkLiftProtocol == null) {
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return null;
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}
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return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol;
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}
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@Override
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public List<ForkLiftStaProtocol> getForkLiftStaProtocols() {
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return this.forkLiftStaProtocols;
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}
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@Override
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public ForkLiftProtocol getStatus() {
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return getStatus(true);
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}
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@Override
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public CommandResponse pickAndPut(ForkLiftCommand command) {
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CommandResponse response = new CommandResponse(false);
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short[] array = new short[4];
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array[0] = command.getTaskNo();//任务号
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array[1] = command.getMode();//任务模式
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array[2] = command.getPick();//取货数据
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array[3] = command.getPut();//放货数据
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OperateResult result = siemensS7Net.Write("DB103.0", array);
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if (result.IsSuccess) {
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OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
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if (result2.IsSuccess) {
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response.setResult(true);
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}
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}
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return response;
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}
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@Override
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public CommandResponse shuttleSwitch(ForkLiftCommand command) {
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CommandResponse response = new CommandResponse(false);
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short[] array = new short[4];
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array[0] = command.getTaskNo();//任务号
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array[1] = command.getMode();//任务模式
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array[2] = command.getPick();//取货数据
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array[3] = command.getPut();//放货数据
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OperateResult result = siemensS7Net.Write("DB103.0", array);
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if (result.IsSuccess) {
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OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
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if (result2.IsSuccess) {
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response.setResult(true);
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}
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}
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return response;
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}
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@Override
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public CommandResponse move(ForkLiftCommand command) {
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CommandResponse response = new CommandResponse(false);
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short[] array = new short[4];
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array[0] = command.getTaskNo();//任务号
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array[1] = command.getMode();//任务模式
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array[2] = command.getPick();//取货数据
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array[3] = command.getPut();//放货数据
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OperateResult result = siemensS7Net.Write("DB103.0", array);
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if (result.IsSuccess) {
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OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
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if (result2.IsSuccess) {
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response.setResult(true);
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}
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}
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return response;
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}
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@Override
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public CommandResponse reset() {
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CommandResponse response = new CommandResponse(false);
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OperateResult result = siemensS7Net.Write("DB103.10", (short) 1);
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if (result.IsSuccess) {
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News.info("货叉提升机确认命令下发成功，提升机号={}", forkLiftProtocol.getLiftNo());
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response.setResult(true);
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}
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return response;
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}
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@Override
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public boolean isIdle() {
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if (this.forkLiftProtocol.getTaskNo() == null
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|| this.forkLiftProtocol.getProtocolStatus() == null
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|| this.forkLiftProtocol.getModel() == null
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|| this.forkLiftProtocol.getErrorCode() == null
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) {
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return false;
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}
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boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
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&& this.forkLiftProtocol.getWrkNo() == 0
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&& this.forkLiftProtocol.getTaskNo() == 0
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&& this.forkLiftProtocol.getModel() == 2
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&& this.forkLiftProtocol.getErrorCode() == 0
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;
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return res;
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}
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@Override
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public boolean isDeviceIdle() {
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return isDeviceIdle(null);
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}
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@Override
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public boolean isDeviceIdle(ExecuteSupport support) {
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if (null != support) {
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Boolean judgement = support.judgement();
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if (judgement != null && !judgement) {
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return true;
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}
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}
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if (this.forkLiftProtocol.getTaskNo() == null
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|| this.forkLiftProtocol.getProtocolStatus() == null
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|| this.forkLiftProtocol.getModel() == null
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|| this.forkLiftProtocol.getErrorCode() == null
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) {
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return false;
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}
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boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
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&& this.forkLiftProtocol.getWrkNo() == 0
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&& this.forkLiftProtocol.getModel() == 2
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&& this.forkLiftProtocol.getErrorCode() == 0
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;
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return res;
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}
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@Override
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public boolean setProtocolStatus(ForkLiftProtocolStatusType status) {
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return false;
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}
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@Override
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public boolean setSyncTaskNo(Integer taskNo) {
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this.forkLiftProtocol.setSyncTaskNo(taskNo);
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return true;
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}
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@Override
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public boolean switchIOMode(ForkLiftIoModeType type) {
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OperateResult result = siemensS7Net.Write("DB103.12", type.id.shortValue());
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if (result.IsSuccess) {
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return true;
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}
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return false;
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}
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@Override
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public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
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return taskNo;
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}
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@Override
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public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
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Integer realPick = pick % 1000;
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Integer realPut = put % 1000;
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List<ForkLiftCommand> commands = new ArrayList<>();
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(slave.getId());
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command.setTaskNo(taskNo.shortValue());
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command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
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command.setPick(realPick.shortValue());
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command.setPut(realPut.shortValue());
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command.setConfirm((short) 1);
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commands.add(command);
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return commands;
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}
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@Override
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public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
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Integer realPick = pick % 1000;
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Integer realPut = put % 1000;
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List<ForkLiftCommand> commands = new ArrayList<>();
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(slave.getId());
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command.setTaskNo(taskNo.shortValue());
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command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
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command.setPick(realPick.shortValue());
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command.setPut(realPut.shortValue());
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command.setConfirm((short) 1);
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commands.add(command);
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return commands;
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}
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@Override
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public List<ForkLiftCommand> getMoveCommand(Integer taskNo, Integer pick, Integer put) {
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Integer realPick = pick % 1000;
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Integer realPut = put % 1000;
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List<ForkLiftCommand> commands = new ArrayList<>();
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(slave.getId());
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command.setTaskNo(taskNo.shortValue());
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command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue());
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command.setPick(realPick.shortValue());
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command.setPut(realPut.shortValue());
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command.setConfirm((short) 1);
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commands.add(command);
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return commands;
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}
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/**
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* 扩展字段
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*/
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@Data
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private class InnerForkLiftExtend {
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}
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}
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