package com.zy.core.thread;
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import HslCommunication.Core.Transfer.DataFormat;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.ModBus.ModbusTcpNet;
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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.exception.CoolException;
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import com.zy.core.News;
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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.SlaveType;
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import com.zy.core.model.LiftSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.LiftCommand;
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import com.zy.core.model.protocol.LiftProtocol;
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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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* 提升机线程
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*/
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@Data
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@Slf4j
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public class LiftThread implements Runnable, ThreadHandler {
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private ModbusTcpNet modbusTcpNet;
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private LiftSlave slave;
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private LiftProtocol liftProtocol;
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public LiftThread(LiftSlave slave) {
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this.slave = slave;
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}
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@Override
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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.Lift, 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((LiftCommand) 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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//-------------------------提升机连接方法------------------------//
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modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
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// 当你需要指定格式的数据解析时，就需要设置下面的这个信息
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modbusTcpNet.setDataFormat(DataFormat.ABCD);
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OperateResult connect = modbusTcpNet.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.CRN.offer(MessageFormat.format( "【{0}】提升机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("提升机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}】提升机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("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
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}
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modbusTcpNet.ConnectClose();
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//-------------------------提升机连接方法------------------------//
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return result;
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}
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@Override
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public void close() {
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modbusTcpNet.ConnectClose();
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}
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private void readStatus() {
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try {
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OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 17);
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if (result.IsSuccess) {
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if (null == liftProtocol) {
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liftProtocol = new LiftProtocol();
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liftProtocol.setLiftNo(slave.getId().shortValue());
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}
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//----------读取提升机状态-----------
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//获取数据
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byte[] content = result.Content;
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//提升机锁定
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liftProtocol.setLiftLock(modbusTcpNet.getByteTransform().TransBool(content,0));
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//位置到达反馈
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liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
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//准备就绪
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liftProtocol.setReady(modbusTcpNet.getByteTransform().TransBool(content,3));
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//运行中
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liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4));
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//联机/单机
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liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5));
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//输送线前端光电有货
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liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6));
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//输送线正转反馈
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liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7));
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//输送线反转反馈
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liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8));
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//输送线电机过载
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liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9));
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//输送线末端光电有货
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liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
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//进输送线卡托盘报警
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liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11));
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//出输送线卡托盘报警
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liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12));
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//平台位置偏差报警
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liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13));
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//平台扭矩偏差报警
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liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14));
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//平台四向车检测
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liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15));
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//未就绪状态
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liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16));
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//伺服1错误
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liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17));
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//伺服2错误
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liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18));
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//伺服3错误
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liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19));
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//伺服4错误
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liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20));
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//提升机实际速度反馈
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liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,21));
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///读取提升机状态-end
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// log.info(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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//.....
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}else {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}提升机plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
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throw new CoolException(MessageFormat.format( "提升机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
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}
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} catch (Exception e) {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机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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initLift();
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}
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}
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private boolean write(LiftCommand command){
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if (null == command) {
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News.error("提升机写入命令为空");
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return false;
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}
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command.setLiftNo(slave.getId());
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// 开始任务
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short[] array = new short[30];
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//开始运行
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array[0] = command.getRun();
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//目标位置
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array[1] = command.getDistPosition();
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//运行速度
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array[2] = command.getSpeed();
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//二层高度设定
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array[3] = command.getHeight2();
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//三层高度设定
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array[4] = command.getHeight3();
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//四层高度设定
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array[5] = command.getHeight4();
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//提升机锁定
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array[29] = command.getLiftLockShortValue();
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OperateResult result = modbusTcpNet.Write("0", array);;
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if (result != null && result.IsSuccess) {
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News.info("提升机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.LIFT.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 true;
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} else {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机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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News.error("写入提升机plc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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* 初始化提升机
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*/
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private void initLift() {
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if (null == liftProtocol) {
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liftProtocol = new LiftProtocol();
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}
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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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LiftSlave slave = new LiftSlave();
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slave.setId(1);
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slave.setIp("192.168.4.24");
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slave.setPort(502);
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LiftThread thread = new LiftThread(slave);
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thread.connect();
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thread.readStatus();
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LiftCommand command = new LiftCommand();
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command.setRun((short) 0);
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command.setDistPosition((short) 12);
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command.setSpeed((short) 300);
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command.setHeight2((short) 100);
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command.setHeight3((short) 200);
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command.setHeight4((short) 303);
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command.setLiftLock(true);
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thread.write(command);
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}
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}
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