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.Cools;
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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.BasDevp;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.core.DevpThread;
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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.cache.SlaveConnection;
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import com.zy.core.enums.IoModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.protocol.StaProtocol;
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import io.swagger.models.auth.In;
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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.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* 输送线线程
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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 SiemensDevpThread implements Runnable, DevpThread {
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private DevpSlave slave;
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private SiemensS7Net siemensS7Net;
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private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
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private short heartBeatVal = 1;
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public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
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add(100);add(101);add(102);add(103);
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add(104);add(105);add(106);add(107);
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add(108);add(109);add(110);add(111);
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add(112);add(113);add(114);add(115);
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add(116);add(117);add(118);add(119);
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add(120);add(121);add(122);add(123);
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// add(124);add(125);add(126);add(127);
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add(130);add(131);
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add(132);add(133);add(134);add(135);
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add(136);add(137);add(138);add(139);
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add(140);add(141);add(142);add(143);
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add(144);add(145);add(146);add(147);
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add(148);add(149);add(150);add(151);
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add(152);add(153);
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}};
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public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
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add(200);add(201);add(202);add(203);
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add(204);add(205);add(206);add(207);
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add(208);add(209);add(210);add(211);
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add(212);add(213);add(214);add(215);
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add(216);add(217);add(218);add(219);
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add(220);add(221);add(222);add(2000);
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}};
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/**
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* 条码数量
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*/
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private int barcodeSize = 5;
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/**
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* 入出库模式
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* 0：未知
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* 1：入库启动中
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* 2.入库模式
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* 3.出库启动中 （不能生成入库工作档）
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* 4.出库模式
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*/
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public IoModeType ioModeOf2F = IoModeType.NONE;
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// public IoModeType ioMode = IoModeType.NONE;
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public IoModeType ioModeOf4F = IoModeType.NONE;
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// public IoModeType ioMode = IoModeType.NONE;
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public SiemensDevpThread(DevpSlave slave) {
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this.slave = slave;
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}
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private ArrayList<Integer> getStaNo() {
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switch (slave.getId()) {
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case 1:
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return staNos1;
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case 2:
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return staNos2;
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default:
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throw new CoolException("服务器异常");
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}
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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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connect();
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while (true) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
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if (task != null) {
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step = task.getStep();
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}
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switch (step) {
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// 读数据
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case 1:
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read();
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break;
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// 写数据 ID+目标站
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case 2:
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// write3((StaProtocol)task.getData());
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// Thread.sleep(400);
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// write4((StaProtocol)task.getData());
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// Thread.sleep(400);
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write((StaProtocol)task.getData());
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break;
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// 写数据 ID+目标站 码垛完成 给输送线写任务完成
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case 3:
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write3((StaProtocol)task.getData());
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break;
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// 写数据 ID+目标站 码垛完成 给输送线写任务完成复位
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case 4:
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write4((StaProtocol)task.getData());
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break;
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case 5:
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write3((StaProtocol)task.getData());
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Thread.sleep(400);
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write4((StaProtocol)task.getData());
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Thread.sleep(400);
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write((StaProtocol)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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// 心跳
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// heartbeat();
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Thread.sleep(400);
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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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siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensS7Net.setRack(slave.getRack().byteValue());
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siemensS7Net.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensS7Net.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线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("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线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("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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siemensS7Net.ConnectClose();
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return result;
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}
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/**
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* 读取状态 ====> 整块plc
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*/
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private void read() throws InterruptedException {
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// // 更新入出库模式
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// updateIoMode();
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ArrayList<Integer> staNos = getStaNo();
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int staNoSize = staNos.size();
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OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
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if (result.IsSuccess) {
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for (int i = 0; i < staNoSize; i++) {
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Integer siteId = staNos.get(i); // 站点编号
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StaProtocol staProtocol = station.get(siteId);
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if (null == staProtocol) {
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staProtocol = new StaProtocol();
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staProtocol.setSiteId(siteId);
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station.put(siteId, staProtocol);
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}
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staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, i*8)); // 工作号
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staProtocol.setStaNo((int)siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4)); // 目标站
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boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
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staProtocol.setAutoing(status[0]); // 自动
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staProtocol.setLoading(status[1]); // 有物
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staProtocol.setInEnable(status[2]); // 可入
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staProtocol.setOutEnable(status[3]);// 可出
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staProtocol.setEmptyMk(status[4]); // 空板信号
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staProtocol.setFullPlt(status[5]); // 满托盘
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staProtocol.setHigh(status[6]); // 高库位
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staProtocol.setLow(status[7]); // 低库位
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if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
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staProtocol.setPakMk(true);
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}
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}
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}
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Thread.sleep(200);
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OperateResultExOne<byte[]> resultError = siemensS7Net.Read("DB101.800", (short) (8));
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if (resultError.IsSuccess && staNoSize==staNos2.size()) {
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ArrayList<Integer> staNoError = new ArrayList<Integer>() {{ add(217);add(221); }};
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for (int i = 0; i < staNoError.size(); i++) {
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Integer siteId = staNoError.get(i); // 站点编号
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StaProtocol staProtocol = station.get(siteId);
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if (null == staProtocol) {
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staProtocol = new StaProtocol();
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staProtocol.setSiteId(siteId);
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station.put(siteId, staProtocol);
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}
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boolean[] status = siemensS7Net.getByteTransform().TransBool(resultError.Content, i*4 + 2, 1);
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staProtocol.setFrontErr(status[0]);// 前超限
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staProtocol.setBackErr(status[1]);// 后超限
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staProtocol.setHighErr(status[2]);// 高超限
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staProtocol.setLeftErr(status[3]);// 左超限
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staProtocol.setRightErr(status[4]);// 右超限
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staProtocol.setWeightErr(status[5]); // 超重
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staProtocol.setBarcodeErr(status[6]);// 扫码失败
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}
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}
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// Thread.sleep(200);
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// OperateResultExOne<byte[]> result0 = siemensS7Net.Read("DB101.0", (short) 186);
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// if (result0.IsSuccess) {
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// for (int i = 0; i < 93; i++) {
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// Integer siteId = staNos.get(i); // 站点编号
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// StaProtocol staProtocol = station.get(siteId);
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// if (null == staProtocol) {
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// staProtocol = new StaProtocol();
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// staProtocol.setSiteId(siteId);
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// station.put(siteId, staProtocol);
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// }
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// staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result0.Content, i*2)); // 目标站
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// }
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// }
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// Thread.sleep(200);
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// OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.100", (short) (staNoSize * 2));
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// if (result1.IsSuccess) {
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// for (int i = 0; i < staNoSize; i++) {
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// Integer siteId = staNos.get(i); // 站点编号
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// boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2, 1);
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// StaProtocol staProtocol = station.get(siteId);
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// staProtocol.setAutoing(status[0]); // 自动
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// staProtocol.setLoading(status[1]); // 有物
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// staProtocol.setInEnable(status[2]); // 可入
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// staProtocol.setOutEnable(status[3]);// 可出
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// staProtocol.setEmptyMk(status[4]); // 空板信号
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// staProtocol.setFullPlt(status[5]); // 满托盘
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// staProtocol.setHigh(status[6]); // 高库位
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// staProtocol.setLow(status[7]); // 低库位
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//
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// if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
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// staProtocol.setPakMk(true);
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// }
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// }
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// }
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//条码扫描器
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Thread.sleep(200);
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OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840",(short)(barcodeSize*8));
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if (result2.IsSuccess && staNoSize==staNos2.size()) {
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for (int i = 0; i < barcodeSize; i++) { //1:217 2:221 3:null 4:215 5:219
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String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,6, "UTF-8");
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
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if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
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barcodeThread.setBarcode(barcode);
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}
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}
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}
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//RGV小车
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Thread.sleep(200);
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OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.160",(short)2);
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if (result3.IsSuccess && staNoSize==staNos2.size()) {
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Integer siteId = 2000;
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StaProtocol staProtocol = station.get(siteId);
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if (null == staProtocol) {
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staProtocol = new StaProtocol();
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staProtocol.setSiteId(siteId);
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station.put(siteId, staProtocol);
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}
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staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 0)));
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}
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if (result.IsSuccess) {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// 根据实时信息更新数据库
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try {
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List<BasDevp> basDevps = new ArrayList<>();
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for (Integer siteId : staNos) {
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StaProtocol staProtocol = station.get(siteId);
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basDevps.add(staProtocol.toSqlModel());
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}
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BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
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if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) {
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throw new Exception("更新数据库数据失败");
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [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("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线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("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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}
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/**
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* 写入 ID+目标站 =====> 单站点写入
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*/
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private void write(StaProtocol staProtocol) throws InterruptedException {
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if (null == staProtocol) {
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return;
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}
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ArrayList<Integer> staNos = getStaNo();
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int index = staNos.indexOf(staProtocol.getSiteId());
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// int[] array = new int[2];
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// array[0] = staProtocol.getWorkNo();
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// array[1] = staProtocol.getStaNo();
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// OperateResult write = siemensS7Net.Write("DB100." + index*8, array);
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OperateResult write = null;
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OperateResult write1 = null;
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//任务下发次数
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int writeCount = 0;
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do {
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write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo()); // 工作号
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Thread.sleep(500);
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write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue()); // 目标站
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if(write.IsSuccess || write1.IsSuccess){
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writeCount=6;
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}else {
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writeCount++;
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log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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}
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}while (writeCount<5);
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if (!write.IsSuccess || !write1.IsSuccess) {
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staProtocol = station.get(staProtocol.getSiteId());
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if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
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staProtocol.setPakMk(true);
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
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log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}", slave.getId(), JSON.toJSON(staProtocol));
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}
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}
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/**
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* 写入 ID+目标站 =====> 单站点写入 码垛完成 给输送线写任务完成
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*/
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private void write3(StaProtocol staProtocol) throws InterruptedException {
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if (null == staProtocol) {
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return;
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}
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Integer siteId = staProtocol.getSiteId();
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Integer index =0;
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switch (siteId){
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case 118:
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index=0;
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break;
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case 119:
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index=1;
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break;
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case 120:
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index=2;
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break;
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case 121:
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index=3;
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break;
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case 131:
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index=4;
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break;
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case 135:
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index=5;
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break;
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default:
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return;
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}
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OperateResult write = null;
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//任务下发次数
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int writeCount = 0;
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do {
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write = siemensS7Net.Write("DB100.600." + index, true); // 任务完成
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if(write.IsSuccess){
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writeCount=6;
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}else {
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writeCount++;
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log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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}
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}while (writeCount<5);
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if (!write.IsSuccess) {
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staProtocol = station.get(staProtocol.getSiteId());
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if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
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staProtocol.setPakMk(true);
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
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log.info("输送线命令下发码垛完成 给输送线写任务完成 [id:{}] >>>>> 命令下发： {}", slave.getId(), JSON.toJSON(staProtocol));
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}
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}
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private void write4(StaProtocol staProtocol) throws InterruptedException {
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if (null == staProtocol) {
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return;
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}
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Integer siteId = staProtocol.getSiteId();
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Integer index =0;
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switch (siteId){
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case 118:
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index=0;
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break;
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case 119:
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index=1;
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break;
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case 120:
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index=2;
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break;
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case 121:
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index=3;
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break;
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case 131:
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index=4;
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break;
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case 135:
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index=5;
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break;
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default:
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return;
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}
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OperateResult write = null;
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//任务下发次数
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int writeCount = 0;
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do {
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write = siemensS7Net.Write("DB100.600." + index, false); // 任务完成复位
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if(write.IsSuccess){
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writeCount=6;
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}else {
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writeCount++;
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log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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}
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}while (writeCount<5);
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if (!write.IsSuccess) {
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staProtocol = station.get(staProtocol.getSiteId());
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if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
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staProtocol.setPakMk(true);
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
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log.info("输送线命令下发码垛完成 给输送复位 [id:{}] >>>>> 命令下发： {}", slave.getId(), JSON.toJSON(staProtocol));
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}
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}
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// 更新入出库模式
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private void updateIoMode() throws InterruptedException {
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if (this.ioModeOf2F != IoModeType.NONE) {
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if (!siemensS7Net.Write("DB100.180", this.ioModeOf2F.id).IsSuccess) {
|
OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线2F入出库模式失败。输送线plc编号={1}", slave.getId()));
|
log.error("写入输送线2F入出库模式失败。输送线plc编号={}", slave.getId());
|
}
|
}
|
}
|
|
/**
|
* 心跳
|
*/
|
private void heartbeat(){
|
if (heartBeatVal == 1) {
|
heartBeatVal = 2;
|
} else {
|
heartBeatVal = 1;
|
}
|
OperateResult write = siemensS7Net.Write("DB100.50", heartBeatVal);
|
if (!write.IsSuccess) {
|
log.error("输送线plc编号={} 心跳失败", slave.getId());
|
}
|
}
|
|
/**
|
* 设置入库标记
|
*/
|
@Override
|
public void setPakMk(Integer siteId, boolean pakMk) {
|
StaProtocol staProtocol = station.get(siteId);
|
if (null != staProtocol) {
|
staProtocol.setPakMk(pakMk);
|
}
|
}
|
|
@Override
|
public void close() {
|
siemensS7Net.ConnectClose();
|
}
|
|
public static void main(String[] args) {
|
System.out.println(staNos1.indexOf(129));
|
System.out.println(staNos1.size());
|
for (int i = 0; i<staNos1.size(); i++) {
|
// System.out.println(i*2);
|
// System.out.println(i*2 + 200);
|
// System.out.println(i);
|
}
|
int index = staNos1.indexOf(128);
|
System.out.println(index*2);
|
System.out.println(index*2 + 200);
|
}
|
|
// public static void main(String[] args) throws Exception {
|
// DevpSlave slave = new DevpSlave();
|
// slave.setIp("192.168.2.125");
|
// SiemensDevpThread devpThread = new SiemensDevpThread(slave);
|
// devpThread.connect();
|
// devpThread.read();
|
// // 写
|
// StaProtocol staProtocol = devpThread.getStation().get(1);
|
// staProtocol.setWorkNo((short) 232);
|
// staProtocol.setStaNo((short) 6);
|
// staProtocol.setAutoing(true);
|
// staProtocol.setEmptyMk(true);
|
// staProtocol.setInEnable(true);
|
// devpThread.write(staProtocol);
|
// System.out.println("----------------------------------------");
|
// // 读
|
// devpThread.read();
|
// System.out.println(JSON.toJSONString(devpThread.station));
|
//
|
// }
|
|
}
|
