package com.zy.core.thread;
|
|
import HslCommunication.Core.Types.OperateResult;
|
import HslCommunication.Core.Types.OperateResultExOne;
|
import HslCommunication.Profinet.Siemens.SiemensPLCS;
|
import HslCommunication.Profinet.Siemens.SiemensS7Net;
|
import com.alibaba.fastjson.JSON;
|
import com.core.common.DateUtils;
|
import com.core.common.SpringUtils;
|
import com.zy.asrs.entity.BasRgv;
|
import com.zy.asrs.entity.BasRgvOpt;
|
import com.zy.asrs.service.BasRgvOptService;
|
import com.zy.asrs.service.BasRgvService;
|
import com.zy.core.RgvThread;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.OutputQueue;
|
import com.zy.core.enums.RgvStatusType;
|
import com.zy.core.enums.RgvTaskModeType;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.model.RgvSlave;
|
import com.zy.core.model.Task;
|
import com.zy.core.model.command.RgvCommand;
|
import com.zy.core.model.protocol.RgvProtocol;
|
import lombok.Data;
|
import lombok.extern.slf4j.Slf4j;
|
|
import java.text.MessageFormat;
|
import java.util.Date;
|
|
/**
|
* RGV线程
|
*/
|
@Data
|
@Slf4j
|
public class ZyRgvThread implements Runnable, RgvThread {
|
|
private SiemensS7Net siemensNet;
|
private RgvSlave slave;
|
private RgvProtocol rgvProtocol;
|
private boolean resetFlag1 = false;//工位1复位信号
|
private boolean resetFlag2 = false;//工位2复位信号
|
|
public ZyRgvThread(RgvSlave slave) {
|
this.slave = slave;
|
}
|
|
@Override
|
@SuppressWarnings("InfiniteLoopStatement")
|
public void run() {
|
this.connect();
|
while (true) {
|
try {
|
int step = 1;
|
Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
|
if (task != null) {
|
step = task.getStep();
|
}
|
switch (step) {
|
// 读数据
|
case 1:
|
readStatus();
|
break;
|
// 写入数据
|
case 2:
|
write((RgvCommand) task.getData());
|
break;
|
// 复位
|
case 3:
|
RgvCommand command = (RgvCommand) task.getData();
|
if (null == command) {
|
command = new RgvCommand();
|
}
|
command.setRgvNo(slave.getId()); // 堆垛机编号
|
command.setTaskNo1((short) 0); // 工作号
|
command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
|
command.setSourceStaNo1((short) 0);//源站
|
command.setDestinationStaNo1((short) 0);//目标站
|
command.setTaskNo2((short) 0); // 工作号
|
command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
|
command.setSourceStaNo2((short) 0);//源站
|
command.setDestinationStaNo2((short) 0);//目标站
|
command.setAckFinish((short) 1); // 任务完成确认位
|
write(command);
|
break;
|
//写入数据确认命令
|
case 4:
|
writeCommand((RgvCommand) task.getData());
|
break;
|
default:
|
break;
|
}
|
Thread.sleep(500);
|
} catch (Exception e) {
|
// e.printStackTrace();
|
}
|
|
}
|
}
|
|
@Override
|
public boolean connect() {
|
boolean result = false;
|
siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
|
siemensNet.setRack(slave.getRack().byteValue());
|
siemensNet.setSlot(slave.getSlot().byteValue());
|
OperateResult connect = siemensNet.ConnectServer();
|
if(connect.IsSuccess){
|
result = true;
|
OutputQueue.CRN.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
} else {
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
initRgv();
|
}
|
return result;
|
}
|
|
/**
|
* 读取状态
|
*/
|
private void readStatus(){
|
try {
|
OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
|
if (result.IsSuccess) {
|
if (null == rgvProtocol) {
|
rgvProtocol = new RgvProtocol();
|
rgvProtocol.setRgvNo(slave.getId());
|
}
|
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式
|
rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));//RGV状态
|
rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//工位1工作号
|
rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//工位1有物
|
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 8));//RGV当前位置
|
rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));//走行在定位
|
rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 12));//工位2工作号
|
rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//工位2有物
|
rgvProtocol.setTaskFinish1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位1任务完成
|
rgvProtocol.setTaskFinish2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//工位2任务完成
|
rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));//异常码
|
rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));//RGV心跳信号
|
rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));//备用1
|
rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));//备用2
|
rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));//备用3
|
rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));//备用4
|
rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用5
|
|
OperateResultExOne<byte[]> result2 = siemensNet.Read("DB100.0", (short) 22);
|
if (result2.IsSuccess) {
|
rgvProtocol.setTaskMode1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//工位1任务模式
|
rgvProtocol.setSourceStn1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//工位1源站
|
rgvProtocol.setDestinationPos1(siemensNet.getByteTransform().TransInt16(result.Content, 8));//工位1目标站
|
rgvProtocol.setTaskMode2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//工位2任务模式
|
rgvProtocol.setSourceStn2(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位2源站
|
rgvProtocol.setDestinationPos2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//工位2目标站
|
}
|
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
|
|
// 复位信号
|
if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {
|
if (resetFlag1) {
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setAckFinish((short) 2);//工位1任务结束已接收
|
if (write(rgvCommand)) {
|
resetFlag1 = false;
|
}
|
}
|
|
if (resetFlag2) {
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setAckFinish((short) 3);//工位2任务结束已接收
|
if (write(rgvCommand)) {
|
resetFlag2 = false;
|
}
|
}
|
}
|
|
try {
|
// 根据实时信息更新数据库
|
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
|
BasRgv basRgv = new BasRgv();
|
basRgv.setRgvNo(slave.getId());
|
basRgv.setMode(rgvProtocol.getMode().intValue());
|
basRgv.setStatus(rgvProtocol.getStatus().intValue());
|
basRgv.setTaskNo1(rgvProtocol.getTaskNo1().intValue());
|
basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
|
basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
|
basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
|
basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
|
basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
|
basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
|
basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
|
basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
|
basRgv.setHeart(rgvProtocol.getHeart().intValue());
|
basRgv.setTemp1(rgvProtocol.getTemp1().intValue());
|
basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
|
basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
|
basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
|
basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
|
if (!basRgvService.updateById(basRgv)){
|
log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
}
|
} catch (Exception ignore){}
|
|
} else {
|
initRgv();
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
initRgv();
|
}
|
}
|
|
/**
|
* 写入数据
|
*/
|
private boolean write(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
command.setRgvNo(slave.getId());
|
OperateResult result = null;
|
if (command.getTaskNo1() > 0 && command.getTaskNo2() == 0) {
|
//只有工位1存在任务且任务没有被确认，工位1开始计时
|
if (command.getCommand() == 0) {
|
rgvProtocol.setTask1SendTime(System.currentTimeMillis());
|
}
|
short[] array = new short[10];
|
array[0] = command.getAckFinish(); // 任务完成确认位
|
array[1] = command.getTaskNo1(); // 工位1任务号
|
array[2] = command.getTaskMode1(); // 工位1模式
|
array[3] = command.getSourceStaNo1(); // 工位1源站
|
array[4] = command.getDestinationStaNo1(); // 工位1目标站
|
array[5] = 0; // 工位2任务号
|
array[6] = 0; // 工位2模式
|
array[7] = 0; // 工位2源站
|
array[8] = 0; // 工位2目标站
|
array[9] = command.getCommand();// 任务确认位
|
result = siemensNet.Write("DB100.0", array);
|
log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
|
} else if (command.getTaskNo2() > 0 && command.getTaskNo1() == 0) {
|
//只有工位2存在任务
|
short[] array = new short[5];
|
array[0] = command.getTaskNo2(); // 工位2任务号
|
array[1] = command.getTaskMode2(); // 工位2模式
|
array[2] = command.getSourceStaNo2(); // 工位2源站
|
array[3] = command.getDestinationStaNo2(); // 工位2目标站
|
array[4] = command.getCommand();// 任务确认位
|
result = siemensNet.Write("DB100.12", array);
|
log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
|
}else {
|
//工位1和工位2任务
|
short[] array = new short[10];
|
array[0] = command.getAckFinish(); // 任务完成确认位
|
array[1] = command.getTaskNo1(); // 工位1任务号
|
array[2] = command.getTaskMode1(); // 工位1模式
|
array[3] = command.getSourceStaNo1(); // 工位1源站
|
array[4] = command.getDestinationStaNo1(); // 工位1目标站
|
array[5] = command.getTaskNo2(); // 工位2任务号
|
array[6] = command.getTaskMode2(); // 工位2模式
|
array[7] = command.getSourceStaNo2(); // 工位2源站
|
array[8] = command.getDestinationStaNo2(); // 工位2目标站
|
array[9] = command.getCommand();// 任务确认位
|
result = siemensNet.Write("DB100.0", array);
|
log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
|
}
|
|
if (command.getCommand() == 1) {
|
//任务被确认
|
rgvProtocol.setTask1SendTime(0L);//重置工位1下发时间
|
}
|
|
if(!result.IsSuccess){
|
log.error("写入RGV plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
|
MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
|
Thread.sleep(100);
|
readStatus();
|
return false;
|
}
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
Date now = new Date();
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
command.getRgvNo(), // RGV[非空]
|
command.getAckFinish().intValue(), // 任务完成确认位
|
command.getTaskNo1().intValue(), // 任务号
|
command.getTaskMode1().intValue(), // 模式
|
command.getSourceStaNo1().intValue(), // 源站
|
command.getDestinationStaNo1().intValue(), // 目标站
|
command.getTaskNo2().intValue(), // 任务号
|
command.getTaskMode2().intValue(), // 模式
|
command.getSourceStaNo2().intValue(), // 源站
|
command.getDestinationStaNo2().intValue(), // 目标站
|
command.getCommand().intValue(),
|
now, // 下发时间
|
null, // 下发人员
|
now, // 修改时间
|
null, // 修改人员
|
null //响应
|
);
|
bean.insert(basRgvOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
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()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 写入数据确认命令
|
*/
|
private boolean writeCommand(RgvCommand command) throws InterruptedException {
|
if (null == command) {
|
log.error("RGV写入命令为空");
|
return false;
|
}
|
|
command.setRgvNo(slave.getId());
|
short[] array = new short[1];
|
array[0] = command.getCommand();// 任务确认位
|
OperateResult result = siemensNet.Write("DB100.20", array);
|
log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
|
|
if(!result.IsSuccess){
|
log.error("写入RGV plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
|
MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
|
Thread.sleep(100);
|
readStatus();
|
return false;
|
}
|
|
try {
|
// 日志记录
|
BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
|
Date now = new Date();
|
BasRgvOpt basRgvOpt = new BasRgvOpt(
|
command.getRgvNo(), // RGV[非空]
|
command.getAckFinish().intValue(), // 任务完成确认位
|
command.getTaskNo1().intValue(), // 任务号
|
command.getTaskMode1().intValue(), // 模式
|
command.getSourceStaNo1().intValue(), // 源站
|
command.getDestinationStaNo1().intValue(), // 目标站
|
command.getTaskNo2().intValue(), // 任务号
|
command.getTaskMode2().intValue(), // 模式
|
command.getSourceStaNo2().intValue(), // 源站
|
command.getDestinationStaNo2().intValue(), // 目标站
|
command.getCommand().intValue(),
|
now, // 下发时间
|
null, // 下发人员
|
now, // 修改时间
|
null, // 修改人员
|
null //响应
|
);
|
bean.insert(basRgvOpt);
|
} catch (Exception ignore) {}
|
|
if (result != null && result.IsSuccess) {
|
Thread.sleep(200);
|
this.readStatus();
|
log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
return true;
|
} else {
|
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()));
|
log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
return false;
|
}
|
}
|
|
/**
|
* 初始化堆垛机状态
|
*/
|
private void initRgv() {
|
if (null == rgvProtocol) {
|
rgvProtocol = new RgvProtocol();
|
}
|
rgvProtocol.setMode((short) 0);
|
rgvProtocol.setStatus((short) -1);
|
rgvProtocol.setWalkPos((short) 1);
|
}
|
|
@Override
|
public void close() {
|
siemensNet.ConnectClose();
|
}
|
}
|
