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.core.common.DateUtils;
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import com.core.common.SpringUtils;
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//import com.zy.asrs.entity.BasRgv;
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//import com.zy.asrs.entity.BasRgvOpt;
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//import com.zy.asrs.service.BasRgvOptService;
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//import com.zy.asrs.service.BasRgvService;
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import com.zy.core.RgvThread;
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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.RgvStatusType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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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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* RGV线程
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*/
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@Data
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@Slf4j
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public class ZyRgvThread implements Runnable, RgvThread {
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private SiemensS7Net siemensNet;
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private RgvSlave slave;
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private RgvProtocol rgvProtocol;
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private boolean resetFlag1 = false;//工位1复位信号
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private boolean resetFlag2 = false;//工位2复位信号
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public ZyRgvThread(RgvSlave 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.Rgv, 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((RgvCommand) task.getData());
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break;
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// 工位1复位
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case 3:
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writeAckFinish1((RgvCommand) task.getData());
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break;
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//工位2复位
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case 4:
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writeAckFinish2((RgvCommand) task.getData());
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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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OutputQueue.RGV.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()));
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log.info("RGV 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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OutputQueue.RGV.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()));
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log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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initRgv();
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}
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return result;
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}
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/**
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* 读取状态
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*/
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private void readStatus(){
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try {
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OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
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if (result.IsSuccess) {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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}
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rgvProtocol.setRgvNo(slave.getId());
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rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式
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rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//工位1工作号
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rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 6));//工位1工作号
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rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));//RGV状态
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rgvProtocol.setColumnNumber(siemensNet.getByteTransform().TransInt16(result.Content, 12));//RGV当前位置
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rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));//走行在定位
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rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 16));//RGV当前位置
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rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 20));//工位1有物
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rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 22));//异常码
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rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 24));//备用2
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rgvProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 28));//备用3
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rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用4
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rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 36));//工位1有物
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OutputQueue.RGV.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 (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {
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}
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try {
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// 根据实时信息更新数据库
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// BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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// BasRgv basRgv = new BasRgv();
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// basRgv.setRgvNo(slave.getId());
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// basRgv.setMode(rgvProtocol.getMode().intValue());
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// basRgv.setStatus(rgvProtocol.getStatus().intValue());
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// basRgv.setTaskNo1(rgvProtocol.getTaskNo1());
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// basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
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// basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
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// basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
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//// basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
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//// basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
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//// basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
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//// basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
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// basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
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//// basRgv.setHeart(rgvProtocol.getHeart().intValue());
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// basRgv.setTemp1(rgvProtocol.getTemp1());
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// basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
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// basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
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//// basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
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//// basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
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// if (!basRgvService.updateById(basRgv)){
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// 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());
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// }
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} catch (Exception ignore){}
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} else {
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initRgv();
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OutputQueue.RGV.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()));
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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());
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.RGV.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()));
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log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initRgv();
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}
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}
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private boolean writeAckFinish1(RgvCommand command) throws InterruptedException {
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OperateResult write = siemensNet.Write("DB100.22.1", true);
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if (!write.IsSuccess){
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log.error("任务1确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId());
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MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(3, command));
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}
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return write.IsSuccess;
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}
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private boolean writeAckFinish2(RgvCommand command) throws InterruptedException {
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OperateResult write = siemensNet.Write("DB100.22.2", true);
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if (!write.IsSuccess){
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log.error("任务2确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId());
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MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
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}
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return write.IsSuccess;
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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 boolean write(RgvCommand command) throws InterruptedException {
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if (null == command) {
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log.error("RGV写入命令为空");
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return false;
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}
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command.setRgvNo(slave.getId());
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short[] array = new short[5];
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array[0] = command.getSourceStaNo1();
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array[1] = command.getSourceStaNo2();
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array[2] = command.getDestinationStaNo1();
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array[3] = command.getDestinationStaNo2();
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array[4] = command.getTaskMode();
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int[] array2 = new int[3];
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array2[0] = command.getTaskNo1();
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array2[1] = command.getTaskNo2();
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array2[2] = 0;
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boolean[] array3 = new boolean[3];
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array3[0] = command.isCommand();
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array3[1] = command.isAckFinish1();
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array3[2] = command.isAckFinish2();
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OperateResult result1 = siemensNet.Write("DB100.0",array);
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OperateResult result2 = siemensNet.Write("DB100.10",array2);
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OperateResult result3 = siemensNet.Write("DB100.22",array3);
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if (!result1.IsSuccess && !result2.IsSuccess && !result3.IsSuccess){
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log.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
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MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
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Thread.sleep(100);
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readStatus();
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return false;
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}
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//RGV任务写入后，回读一次，看是否成功
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Thread.sleep(400);
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try {
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
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OperateResultExOne<byte[]> readAck1 = siemensNet.Read("DB100.0", (short) 22.1);
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OperateResultExOne<byte[]> readAck2 = siemensNet.Read("DB100.0", (short) 22.2);
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if (resultRead.IsSuccess && readAck1.IsSuccess && readAck2.IsSuccess){
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RgvCommand one = new RgvCommand();
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one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
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one.setSourceStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
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one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
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one.setDestinationStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
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one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
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one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
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one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 14));
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one.setCommand(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
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one.setAckFinish1(siemensNet.getByteTransform().TransBool(readAck1.Content, 0));
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one.setAckFinish2(siemensNet.getByteTransform().TransBool(readAck2.Content, 0));
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// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
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if ( !command.isAckFinish1() == one.isAckFinish1() ||
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!command.isAckFinish2() == one.isAckFinish2() ||
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!command.isCommand() == one.isCommand() ||
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!command.getTaskNo1().equals(one.getTaskNo1()) ||
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!command.getTaskNo2().equals(one.getTaskNo2()) ||
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!command.getTaskMode().equals(one.getTaskMode()) ||
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!command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
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!command.getDestinationStaNo1().equals(one.getDestinationStaNo1()) ||
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!command.getSourceStaNo2().equals(one.getSourceStaNo2()) ||
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!command.getDestinationStaNo2().equals(one.getDestinationStaNo2())
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){
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try{
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log.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
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}catch (Exception e){
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try{
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log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
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}catch (Exception e1){
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log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
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}
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}
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log.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
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MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
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Thread.sleep(100);
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readStatus();
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return false;
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}else {
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log.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
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}
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}else {
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log.error("RGV命令地址写入后回读出错,重新加入队列");
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MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
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}
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}catch (Exception e){
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log.error("RGV命令地址写入后回读出错");
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}
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if (!command.isAckFinish1() && !command.isAckFinish2()) {
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if (result1.IsSuccess) {
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Thread.sleep(300);
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//任务下发次数
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int writeCount2 = 0;
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do {
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writeCount2++;
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result1 = siemensNet.Write("DB100.22", true);
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if(result1.IsSuccess){
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//RGV任务写入后，回读一次，看是否成功
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Thread.sleep(200);
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OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.22", (short) 2);
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if (resultRead.IsSuccess) {
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boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
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if (!commandFinish){
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log.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
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}else{
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//任务命令写入成功
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log.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
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break;
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}
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}else {
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log.error("RGV任务确认位回读失败！"+"循环执行次数:"+writeCount2+"次");
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}
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} else {
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log.error("RGV任务确认位写入失败！"+"循环执行次数:"+writeCount2+"次");
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}
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}while (writeCount2<5);
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}
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}
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if (result1 != null && result1.IsSuccess) {
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Thread.sleep(200);
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this.readStatus();
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log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return true;
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} else {
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1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RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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return false;
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}
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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 initRgv() {
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if (null == rgvProtocol) {
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rgvProtocol = new RgvProtocol();
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}
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rgvProtocol.setMode((short) 0);//模式
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rgvProtocol.setTaskNo1(0);//工位1工作号
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rgvProtocol.setTaskNo2(0);//工位1工作号
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rgvProtocol.setStatus((short) 0);//RGV状态
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rgvProtocol.setColumnNumber((short) 0);//RGV当前位置
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rgvProtocol.setWalkPos((short) 0);//走行在定位
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rgvProtocol.setRgvPos(0);//RGV当前位置
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rgvProtocol.setLoaded1((short) 0);//工位1有物
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rgvProtocol.setAlarm((short) 0);//异常码
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rgvProtocol.setxSpeed( 0);//备用2
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rgvProtocol.setxDistance(0);//备用3
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rgvProtocol.setxDuration( 0);//备用4
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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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}
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