package com.zy.core.thread;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.Profinet.Siemens.SiemensPLCS;
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import HslCommunication.Profinet.Siemens.SiemensS7Net;
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import com.alibaba.fastjson.JSON;
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import com.zy.core.ThreadHandler;
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import com.zy.core.cache.MessageQueue;
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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.CrnSlave;
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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 lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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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 CrnThread implements Runnable, ThreadHandler {
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private SiemensS7Net siemensNet;
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private CrnSlave slave;
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private CrnProtocol crnProtocol;
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public CrnThread(CrnSlave slave) {
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this.slave = slave;
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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this.connect();
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while (true) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Devp, 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((CrnCommand) task.getData());
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break;
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// 复位
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case 3:
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CrnCommand command = (CrnCommand) task.getData();
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if (null == command) {
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command = new CrnCommand();
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}
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command.setCrnNo(slave.getId()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 1); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.NONE); // 任务模式: 库位移转
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command.setSourcePosX((short)0); // 源库位排
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command.setSourcePosY((short)0); // 源库位列
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command.setSourcePosZ((short)0); // 源库位层
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command.setDestinationPosX((short)0); // 目标库位排
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command.setDestinationPosY((short)0); // 目标库位列
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command.setDestinationPosZ((short)0); // 目标库位层
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write(command);
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break;
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default:
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break;
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}
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Thread.sleep(500);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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@Override
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public boolean connect() {
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boolean result = false;
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siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensNet.setRack(slave.getRack().byteValue());
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siemensNet.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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} else {
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log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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siemensNet.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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OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 46);
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if (result.IsSuccess) {
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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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}
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crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
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crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
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crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
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crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
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crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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// crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
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crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22));
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crnProtocol.setError2(siemensNet.getByteTransform().TransInt16(result.Content, 24));
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crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 26));
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crnProtocol.setXSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
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crnProtocol.setYSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30));
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crnProtocol.setZSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
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crnProtocol.setXDistance(siemensNet.getByteTransform().TransInt32(result.Content, 34));
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crnProtocol.setYDistance(siemensNet.getByteTransform().TransInt32(result.Content, 38));
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crnProtocol.setDuration(siemensNet.getByteTransform().TransInt32(result.Content, 42));
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} else {
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log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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}
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/**
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* 写入数据
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*/
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private void write(CrnCommand command){
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if (null == command) {
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log.error("堆垛机写入命令为空");
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return;
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}
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command.setCrnNo(slave.getId());
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short[] array = new short[9];
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array[0] = command.getAckFinish();
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array[1] = command.getTaskNo();
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array[2] = command.getTaskMode();
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array[3] = command.getSourcePosX();
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array[4] = command.getSourcePosY();
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array[5] = command.getSourcePosZ();
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array[6] = command.getDestinationPosX();
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array[7] = command.getDestinationPosY();
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array[8] = command.getDestinationPosZ();
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OperateResult result = siemensNet.Write("DB8.0", array);
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if (result.IsSuccess) {
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readStatus();
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} else {
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log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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}
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@Override
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public void close() {
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siemensNet.ConnectClose();
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}
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public CrnProtocol getCrnProtocol(){
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if (crnProtocol == null) {
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readStatus();
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}
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return this.crnProtocol;
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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) {
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CrnSlave slave = new CrnSlave();
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slave.setIp("192.168.2.9");
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slave.setRack(0);
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slave.setSlot(0);
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CrnThread crnThread = new CrnThread(slave);
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crnThread.readStatus();
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System.out.println(JSON.toJSONString(crnThread.crnProtocol));
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// // 写
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(slave.getId()); // 堆垛机编号
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// command.setTaskNo((short) 0); // 工作号
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// command.setAckFinish((short) 1); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.NONE); // 任务模式: 库位移转
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// command.setSourcePosX((short)0); // 源库位排
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// command.setSourcePosY((short)0); // 源库位列
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// command.setSourcePosZ((short)0); // 源库位层
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// command.setDestinationPosX((short)0); // 目标库位排
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// command.setDestinationPosY((short)0); // 目标库位列
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// command.setDestinationPosZ((short)0); // 目标库位层
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// crnThread.write(command);
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}
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}
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