package com.zy.core.thread.impl;
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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.BasDualCrnp;
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import com.zy.asrs.entity.BasDualCrnpOpt;
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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.BasDualCrnpOptService;
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import com.zy.asrs.service.BasDualCrnpService;
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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.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.RedisKeyType;
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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.DualCrnCommand;
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import com.zy.core.model.protocol.DualCrnProtocol;
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import com.zy.core.network.DeviceConnectPool;
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import com.zy.core.network.ZyDualCrnConnectDriver;
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import com.zy.core.network.entity.ZyDualCrnStatusEntity;
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import com.zy.core.thread.DualCrnThread;
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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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import java.util.concurrent.Executors;
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import java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.ThreadFactory;
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import java.util.concurrent.TimeUnit;
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/**
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* 双工位堆垛机线程
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*/
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@Data
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@Slf4j
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public class ZySiemensDualCrnThread implements Runnable, DualCrnThread {
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private DeviceConfig deviceConfig;
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private RedisUtil redisUtil;
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private ZyDualCrnConnectDriver zyDualCrnConnectDriver;
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private DualCrnProtocol crnProtocol;
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private int deviceLogCollectTime = 200;
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private boolean resetFlag = false;
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private volatile boolean closed = false;
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private ScheduledExecutorService readExecutor;
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private ScheduledExecutorService processExecutor;
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public ZySiemensDualCrnThread(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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readExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
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@Override
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public Thread newThread(Runnable r) {
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Thread t = new Thread(r);
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t.setName("DualCrnReader-" + deviceConfig.getDeviceNo());
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t.setDaemon(true);
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return t;
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}
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});
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readExecutor.scheduleAtFixedRate(() -> {
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if (closed || Thread.currentThread().isInterrupted()) {
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return;
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}
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try {
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deviceLogCollectTime = Utils.getDeviceLogCollectTime();
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readStatus();
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} catch (Exception e) {
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log.error("DualCrnThread Fail", e);
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}
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}, 0, 200, TimeUnit.MILLISECONDS);
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processExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
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@Override
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public Thread newThread(Runnable r) {
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Thread t = new Thread(r);
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t.setName("DualCrnWriter-" + deviceConfig.getDeviceNo());
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t.setDaemon(true);
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return t;
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}
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});
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processExecutor.scheduleAtFixedRate(() -> {
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if (closed || Thread.currentThread().isInterrupted()) {
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return;
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}
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.DualCrn, deviceConfig.getDeviceNo());
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if (task != null) {
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step = task.getStep();
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}
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if (step == 2 && task != null) {
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sendCommand((DualCrnCommand) task.getData());
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}, 0, 200, TimeUnit.MILLISECONDS);
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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 DualCrnProtocol();
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crnProtocol.setCrnNo(deviceConfig.getDeviceNo());
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}
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crnProtocol.setMode(-1);
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//工位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.setLoaded(0);
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crnProtocol.setWalkPos(0);
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//工位2
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crnProtocol.setTaskNoTwo(0);
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crnProtocol.setStatusTwo(-1);
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crnProtocol.setBayTwo(0);
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crnProtocol.setLevelTwo(0);
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crnProtocol.setForkPosTwo(-1);
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crnProtocol.setLoadedTwo(0);
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crnProtocol.setWalkPosTwo(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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zyDualCrnConnectDriver = new ZyDualCrnConnectDriver(deviceConfig);
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zyDualCrnConnectDriver.start();
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DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyDualCrnConnectDriver);
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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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ZyDualCrnStatusEntity crnStatus = zyDualCrnConnectDriver.getStatus();
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if (crnStatus == null) {
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OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机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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return;
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}
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crnProtocol.setMode(crnStatus.getMode());
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//工位1
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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.setLoaded(crnStatus.getLoaded());
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crnProtocol.setWalkPos(crnStatus.getWalkPos());
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//工位2
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crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
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crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
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crnProtocol.setBayTwo(crnStatus.getBayTwo());
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crnProtocol.setLevelTwo(crnStatus.getLevelTwo());
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crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
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crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
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crnProtocol.setWalkPosTwo(crnStatus.getWalkPosTwo());
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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.DUAL_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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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() > deviceLogCollectTime) {
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//保存数据记录
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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.DualCrn));
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deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
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deviceDataLog.setCreateTime(new Date());
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redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
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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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BasDualCrnpService basDualCrnpService = null;
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try {
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basDualCrnpService = SpringUtils.getBean(BasDualCrnpService.class);
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}catch (Exception e){
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}
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if (basDualCrnpService != null) {
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BasDualCrnp basDualCrnp = basDualCrnpService.selectOne(new EntityWrapper<BasDualCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
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if(basDualCrnp == null) {
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basDualCrnp = new BasDualCrnp();
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basDualCrnp.setCrnNo(deviceConfig.getDeviceNo());
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basDualCrnp.setStatus(1);
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basDualCrnp.setInEnable("N");
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basDualCrnp.setOutEnable("N");
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basDualCrnp.setMaxInTask(5);
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basDualCrnp.setMaxOutTask(5);
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basDualCrnp.setCreateTime(new Date());
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basDualCrnpService.insert(basDualCrnp);
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}
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}
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}
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@Override
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public void close() {
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closed = true;
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ScheduledExecutorService ex = readExecutor;
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if (ex != null) {
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try { ex.shutdownNow(); } catch (Exception ignore) {}
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}
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ScheduledExecutorService px = processExecutor;
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if (px != null) {
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try { px.shutdownNow(); } catch (Exception ignore) {}
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}
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if (zyDualCrnConnectDriver != null) {
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zyDualCrnConnectDriver.close();
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}
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}
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@Override
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public DualCrnProtocol getStatus() {
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return this.crnProtocol;
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}
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@Override
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public DualCrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
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DualCrnCommand crnCommand = new DualCrnCommand();
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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.setStation(station.shortValue());//工位
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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 DualCrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
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DualCrnCommand crnCommand = new DualCrnCommand();
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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.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 DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
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DualCrnCommand crnCommand = new DualCrnCommand();
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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.setStation(station.shortValue());//工位
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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(DualCrnCommand command) {
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this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
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CommandResponse response = null;
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try {
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response = zyDualCrnConnectDriver.sendCommand(command);
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return response;
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} finally {
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String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
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String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
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BasDualCrnpOptService bean = SpringUtils.getBean(BasDualCrnpOptService.class);
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ZyDualCrnStatusEntity statusEntity = zyDualCrnConnectDriver.getStatus();
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BasDualCrnpOpt basDualCrnpOpt = new BasDualCrnpOpt(
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command.getTaskNo().intValue(),
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command.getCrnNo(),
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new Date(),
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String.valueOf(command.getTaskMode()),
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sourceLocNo,
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targetLocNo,
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null,
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null,
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null,
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JSON.toJSONString(command),
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JSON.toJSONString(statusEntity),
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1,
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JSON.toJSONString(response)
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);
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if (bean != null) {
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bean.insert(basDualCrnpOpt);
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}
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}
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}
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}
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