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.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.core.exception.CoolException;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.service.BasCrnpService;
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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.CrnStatusType;
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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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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 CrnThread implements Runnable, ThreadHandler {
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private MelsecMcNet melsecMcNet;
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private CrnSlave slave;
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private CrnProtocol crnProtocol;
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private boolean resetFlag = false;
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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.Crn, 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
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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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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.CRN.offer(MessageFormat.format( "【{0}】堆垛机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("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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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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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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}
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/* 方法1 */
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OperateResultExOne<byte[]> result = melsecMcNet.Read("D2231", (short) 62);
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if (result.IsSuccess) {
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crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
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crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
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crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
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crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
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crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
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crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
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crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
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crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
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// crnProtocol.setTaskFinish(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
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crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
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crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
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crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2));
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crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransBool(result.Content, 26, 2));
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crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
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crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30));
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crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
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crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
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crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
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crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
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crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
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crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
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crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
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crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58));
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} else {
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throw new CoolException("堆垛机plc状态信息失败");
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}
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/* 方法2 */
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// crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content);
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// crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content);
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// crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content);
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//// crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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// crnProtocol.setLoaded(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content);
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// crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content);
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// crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content);
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// crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content);
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// crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content);
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// crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content);
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// crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content);
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// crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content);
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// crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content);
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} catch (Exception e) {
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e.printStackTrace();
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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()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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return;
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}
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// 复位信号
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if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
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if (resetFlag) {
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if (melsecMcNet.Write("D2218", (short) 1).IsSuccess) {
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resetFlag = false;
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}
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}
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}
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// 根据实时信息更新数据库
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// BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
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// BasCrnp basCrnp = new BasCrnp();
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// basCrnp.setCrnNo(slave.getId());
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// if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
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// log.error("堆垛机plc数据库更新失败 ===>> [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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* 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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/* 方法 1 */
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do {
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if (command.getDestinationPosZ() != null) {
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if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
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}
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if (command.getDestinationPosY() != null) {
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if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
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}
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if (command.getDestinationPosX() != null) {
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if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
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}
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if (command.getSourcePosZ() != null) {
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if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
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}
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if (command.getSourcePosY() != null) {
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if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
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}
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if (command.getDestinationPosX() != null) {
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if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
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}
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if (command.getTaskMode() != null) {
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if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
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}
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if (command.getTaskNo() != null) {
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if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
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}
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if (command.getAckFinish() != null) {
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if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
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}
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System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return;
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} while (false);
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System.out.println(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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/* 方法 2 */
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// melsecMcNet.Write("D2218", command.getAckFinish());
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// melsecMcNet.Write("D2217", command.getTaskNo());
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// melsecMcNet.Write("D2216", command.getTaskMode());
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// melsecMcNet.Write("D2214", command.getSourcePosX());
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// melsecMcNet.Write("D2212", command.getSourcePosY());
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// melsecMcNet.Write("D2210", command.getSourcePosZ());
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// melsecMcNet.Write("D2208", command.getDestinationPosX());
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// melsecMcNet.Write("D2204", command.getDestinationPosY());
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// melsecMcNet.Write("D2202", command.getDestinationPosZ());
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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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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) throws InterruptedException {
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CrnSlave slave = new CrnSlave();
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slave.setId(1);
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slave.setIp("192.168.3.39");
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slave.setPort(5015);
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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.connect();
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crnThread.readStatus();
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System.out.println(JSON.toJSONString(crnThread.crnProtocol));
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// 1.入库 源和目标都发
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(1); // 堆垛机编号
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// command.setTaskNo((short) 0); // 工作号
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// command.setAckFinish((short) 0); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
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// command.setSourcePosX((short) 1); // 源库位排
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// command.setSourcePosY((short) 0); // 源库位列
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// command.setSourcePosZ((short) 1); // 源库位层
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// command.setDestinationPosX((short) 2); // 目标库位排
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// command.setDestinationPosY((short) 3); // 目标库位列
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// command.setDestinationPosZ((short) 1); // 目标库位层
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// crnThread.write(command);
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// 2.出库 源和目标都发
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(1); // 堆垛机编号
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// command.setTaskNo((short) 0); // 工作号
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// command.setAckFinish((short) 0); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
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// command.setSourcePosX((short) 2); // 源库位排
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// command.setSourcePosY((short) 4); // 源库位列
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// command.setSourcePosZ((short) 3); // 源库位层
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// command.setDestinationPosX((short) 1); // 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) 1); // 目标库位层
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// crnThread.write(command);
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// // 3.库位移转 源和目标都发 pass
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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) 0); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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// command.setSourcePosX((short)2); // 源库位排
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// command.setSourcePosY((short)2); // 源库位列
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// command.setSourcePosZ((short)3); // 源库位层
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// command.setDestinationPosX((short)2); // 目标库位排
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// command.setDestinationPosY((short)4); // 目标库位列
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// command.setDestinationPosZ((short)4); // 目标库位层
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// crnThread.write(command);
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// 4.站位移转 源和目标都发
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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) 0); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转
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// command.setSourcePosX((short)1); // 源库位排
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// command.setSourcePosY((short)0); // 源库位列
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// command.setSourcePosZ((short)1); // 源库位层
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// command.setDestinationPosX((short)2); // 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)1); // 目标库位层
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// crnThread.write(command);
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// // 5.回原点 不用发 pass
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(1); // 堆垛机编号
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// command.setTaskNo((short) 0); // 工作号
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// command.setAckFinish((short) 0); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
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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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// 7.坐标移行 目标发 pass
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CrnCommand command = new CrnCommand();
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command.setCrnNo(1); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
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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) 1); // 目标库位排
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command.setDestinationPosY((short) 3); // 目标库位列
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command.setDestinationPosZ((short) 3); // 目标库位层
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crnThread.write(command);
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// 只有出现指定异常才进行复位
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// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
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// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
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// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
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// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(1); // 堆垛机编号
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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
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// Thread.sleep(3000L);
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// crnThread.write(command);
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// }
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}
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}
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