package com.zy.core.thread.impl;
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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.DeviceConfig;
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import com.zy.asrs.entity.DeviceDataLog;
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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.utils.RedisUtil;
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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.CrnTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.CommandResponse;
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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.protocol.CrnProtocol;
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import com.zy.core.network.DeviceConnectPool;
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import com.zy.core.network.ZyCrnConnectThread;
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import com.zy.core.network.entity.ZyCrnStatusEntity;
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import com.zy.core.thread.CrnThread;
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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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* 堆垛机线程
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* Created by vincent on 2020/8/4
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*/
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@Data
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@Slf4j
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public class ZySiemensCrnThread implements Runnable, CrnThread {
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private DeviceConfig deviceConfig;
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private RedisUtil redisUtil;
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private ZyCrnConnectThread zyCrnConnectThread;
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private CrnProtocol crnProtocol;
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private boolean resetFlag = false;
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public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
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this.deviceConfig = deviceConfig;
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this.redisUtil = redisUtil;
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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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this.initCrn();
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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.Crn, deviceConfig.getDeviceNo());
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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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default:
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break;
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}
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Thread.sleep(200);
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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 initCrn() {
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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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crnProtocol.setCrnNo(deviceConfig.getDeviceNo());
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}
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crnProtocol.setMode(-1);
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crnProtocol.setTaskNo(0);
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crnProtocol.setStatus(-1);
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crnProtocol.setBay(0);
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crnProtocol.setLevel(0);
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crnProtocol.setForkPos(-1);
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crnProtocol.setLiftPos(-1);
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crnProtocol.setWalkPos(0);
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crnProtocol.setLoaded(0);
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crnProtocol.setAlarm(0);
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crnProtocol.setXSpeed(0);
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crnProtocol.setYSpeed(0);
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crnProtocol.setZSpeed(0);
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crnProtocol.setXDistance(0);
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crnProtocol.setYDistance(0);
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crnProtocol.setXDuration(0);
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crnProtocol.setYDuration(0);
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}
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@Override
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public boolean connect() {
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SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
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ThreadHandler thread = new ZyCrnConnectThread(siemensS7Net, deviceConfig);
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new Thread(thread).start();
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DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), thread);
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return true;
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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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ZyCrnStatusEntity crnStatus = zyCrnConnectThread.getStatus();
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if (crnStatus == null) {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
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News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
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return;
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}
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crnProtocol.setMode(crnStatus.getMode());
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crnProtocol.setTaskNo(crnStatus.getTaskNo());
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crnProtocol.setStatus(crnStatus.getStatus());
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crnProtocol.setBay(crnStatus.getBay());
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crnProtocol.setLevel(crnStatus.getLevel());
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crnProtocol.setForkPos(crnStatus.getForkPos());
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crnProtocol.setLiftPos(crnStatus.getLiftPos());
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crnProtocol.setWalkPos(crnStatus.getWalkPos());
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crnProtocol.setLoaded(crnStatus.getLoaded());
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crnProtocol.setAlarm(crnStatus.getAlarm());
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crnProtocol.setTemp1(crnStatus.getTemp1());
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crnProtocol.setTemp2(crnStatus.getTemp2());
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crnProtocol.setTemp3(crnStatus.getTemp3());
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crnProtocol.setTemp4(crnStatus.getTemp4());
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crnProtocol.setXSpeed(crnStatus.getXSpeed());
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crnProtocol.setYSpeed(crnStatus.getYSpeed());
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crnProtocol.setZSpeed(crnStatus.getZSpeed());
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crnProtocol.setXDistance(crnStatus.getXDistance());
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crnProtocol.setYDistance(crnStatus.getYDistance());
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crnProtocol.setXDuration(crnStatus.getXDuration());
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crnProtocol.setYDuration(crnStatus.getYDuration());
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
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// // 复位信号
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// if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
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// if (resetFlag) {
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// if(crnProtocol.getTaskNo()==9999){
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// backHpFlag = false;
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// }
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// CrnCommand crnCommand = new CrnCommand();
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// crnCommand.setAckFinish((short)1);
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// if (write(crnCommand)) {
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// resetFlag = false;
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// }
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// }
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// }
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if (crnProtocol.getAlarm() > 0) {
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crnProtocol.setLastCommandTime(-1L);
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}
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if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
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crnProtocol.setLastCommandTime(System.currentTimeMillis());
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}
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if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > 1000 * 1) {
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//采集时间超过1s，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(JSON.toJSONString(crnStatus));
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deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
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deviceDataLog.setType(String.valueOf(SlaveType.Crn));
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deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
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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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crnProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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}
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@Override
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public void close() {
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zyCrnConnectThread.close();
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}
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@Override
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public CrnProtocol getStatus() {
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return this.crnProtocol;
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}
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@Override
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public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(crnNo); // 堆垛机编号
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crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
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crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 任务模式: 库位移转
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crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo)); // 源库位排
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crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo)); // 源库位列
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crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo)); // 源库位层
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crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 目标库位排
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crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 目标库位列
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crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 目标库位层
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crnCommand.setCommand((short) 1); // 任务确认
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return crnCommand;
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}
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@Override
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public CrnCommand getMoveCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(crnNo); // 堆垛机编号
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crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
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crnCommand.setAckFinish((short) 0); // 任务完成确认位
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crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式: 堆垛机移动
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crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo)); // 源库位排
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crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo)); // 源库位列
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crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo)); // 源库位层
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crnCommand.setDestinationPosX((short) 0); // 目标库位排
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crnCommand.setDestinationPosY((short) 0); // 目标库位列
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crnCommand.setDestinationPosZ((short) 0); // 目标库位层
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crnCommand.setCommand((short) 1); // 任务确认
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return crnCommand;
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}
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@Override
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public CrnCommand getResetCommand(Integer crnNo) {
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(crnNo); // 堆垛机编号
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crnCommand.setTaskNo((short) 0); // 工作号
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crnCommand.setAckFinish((short) 1); // 任务完成确认位
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crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 任务模式
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crnCommand.setSourcePosX((short)0); // 源库位排
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crnCommand.setSourcePosY((short)0); // 源库位列
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crnCommand.setSourcePosZ((short)0); // 源库位层
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crnCommand.setDestinationPosX((short)0); // 目标库位排
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crnCommand.setDestinationPosY((short)0); // 目标库位列
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crnCommand.setDestinationPosZ((short)0); // 目标库位层
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crnCommand.setCommand((short) 1); // 任务确认
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return crnCommand;
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}
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@Override
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public synchronized CommandResponse sendCommand(CrnCommand command) {
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this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
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return zyCrnConnectThread.sendCommand(command);
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}
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}
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