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.Melsec.MelsecMcNet;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.BasExt;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.BasExtService;
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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.ExtSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.protocol.ExtProtocol;
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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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* 机械臂线程 //Extraman==>机械臂
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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 MelsecExtThread implements Runnable, ThreadHandler {
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private MelsecMcNet melsecMcNet;
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private ExtSlave slave;
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private ExtProtocol extProtocol;
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private short heartBeatVal = 1;
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private boolean resetFlag = false;
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public boolean isRunning = true;
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public MelsecExtThread(ExtSlave 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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System.out.println("线程启动");
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System.out.println("extProtocol:"+extProtocol);
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this.connect();
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// try {
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// Thread.sleep(2000);
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// } catch (InterruptedException e) {
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// e.printStackTrace();
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// }
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while (isRunning) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Ext, 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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default:
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break;
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}
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// 心跳
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// heartbeat();
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Thread.sleep(500);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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/**
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* 初始化机械臂状态
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*/
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private void initExt() {
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if (null == extProtocol) {
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extProtocol = new ExtProtocol();
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}
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extProtocol.setTake(false);
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extProtocol.setPut(false);
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}
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@Override
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public boolean connect() {
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boolean result = false;
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melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
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OperateResult connect = melsecMcNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.Ext.offer(MessageFormat.format( "【{0}】机械臂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("MelsecExt"+" - 1"+" - 机械臂plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.Ext.offer(MessageFormat.format("【{0}】机械臂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("MelsecExt"+" - 2"+" - 机械臂plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initExt();
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}
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// melsecMcNet.ConnectClose();
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return result;
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}
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/**
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* 读取状态
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*/
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private void readStatus(){
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try {
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OperateResultExOne<byte[]> result = melsecMcNet.Read("D1035", (short) 56);
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if (result.IsSuccess) {
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if (null == extProtocol) {
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extProtocol = new ExtProtocol();
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extProtocol.setExtNo(slave.getId());
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}
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extProtocol.setTake(melsecMcNet.getByteTransform().TransBool(result.Content, 0));
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extProtocol.setPut(melsecMcNet.getByteTransform().TransBool(result.Content, 0));
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// extProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
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// extProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
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// 根据实时信息更新数据库
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BasExtService extService = SpringUtils.getBean(BasExtService.class);
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BasExt basExt = new BasExt();
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basExt.setExtNo(slave.getId());
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basExt.setExtTask(extProtocol.isTake()?"Y":"N");
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basExt.setExtPut(extProtocol.isPut()?"Y":"N");
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if (!extService.updateById(basExt)){
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log.error("MelsecExt"+" - 4"+" - 机械臂plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}else {
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OutputQueue.Ext.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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}
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} else {
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BasExtService extService = SpringUtils.getBean(BasExtService.class);
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BasExt basExt = new BasExt();
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basExt.setExtNo(slave.getId());
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basExt.setExtTask("N");
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basExt.setExtPut("N");
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extService.updateById(basExt);
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OutputQueue.Ext.offer(MessageFormat.format("【{0}】{1}机械臂plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
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throw new CoolException(MessageFormat.format( "机械臂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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e.printStackTrace();
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OutputQueue.Ext.offer(MessageFormat.format("【{0}】读取机械臂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("MelsecExt"+" - 5"+" - 读取机械臂plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initExt();
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} finally {
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// sign = 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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melsecMcNet.ConnectClose();
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}
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/**
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* 心跳
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*/
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private void heartbeat(){
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if (heartBeatVal >= 30000) {
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heartBeatVal = -30000;
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} else {
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heartBeatVal =(short) (heartBeatVal+1);
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}
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OperateResult write = melsecMcNet.Write("D1011", heartBeatVal);
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if (!write.IsSuccess) {
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log.error("MelsecExt"+" - 9"+" - 机械臂plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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}
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/******************************************************************************************/
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/**************************************** 测试专用 *****************************************/
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/*****************************************************************************************/
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public static void main(String[] args) throws InterruptedException {
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}
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// 提供一个方法来停止线程
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public void requestStop() {
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isRunning = false;
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}
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// 提供一个方法来重启线程
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public Thread restartThread() {
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isRunning = true;
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Thread newThread = new Thread(this);
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newThread.start();
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return newThread;
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}
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}
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