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.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.asrs.utils.RouteUtils;
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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.cache.RgvStatusCache;
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import com.zy.core.cache.TaskProtocolCache;
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import com.zy.core.enums.RgvModeType;
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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 com.zy.core.model.protocol.TaskProtocol;
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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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import java.util.List;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* RGV线程
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* Created by vincent on 2022/11/29
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*/
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@Data
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@Slf4j
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public class RgvThread implements Runnable, ThreadHandler {
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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 TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
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/**
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* 工位1复位信号
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*/
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private boolean resetFlag1 = false;
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/**
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* 工位2复位信号
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*/
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private boolean resetFlag2 = false;
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public RgvThread(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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boolean connect = this.connect();
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if (connect){
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// 启动读数据线程
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new Thread(this::readStatusRgv).start();
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// 启动任务下发线程
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new Thread(this::taskTakeIssued).start();
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new Thread(this::taskPutIssued).start();
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new Thread(this::taskWalkIssued).start();
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}
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}
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private void readStatusRgv(){
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while (true) {
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try {
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Thread.sleep(100);
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readStatus();
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} catch (Exception e) {
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log.error("RGV数据读取线程异常！！！"+e.getMessage());
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initRgv();
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// e.printStackTrace();
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}
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}
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}
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/**
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* 任务下发
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*/
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private void taskTakeIssued() {
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while (true) {
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try {
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// 休眠 1 秒
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Thread.sleep(100);
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if (!deviceDetection()){
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continue;
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}
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null) {
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initRgv();
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rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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}
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if (rgvProtocol.getAvoid() == 0 || !rgvProtocol.getLoaded().equals((short) 0)) {
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continue;
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}
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List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllTakeTaskProtocol();
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for(TaskProtocol taskProtocol: allTakeTaskProtocol){
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if (taskProtocol.getTaskStatus() == 1){//准备下发
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TaskProtocol issued = new TaskProtocol(taskProtocol);
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write(issued);
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taskProtocol.setIsRunning(taskProtocol.getIsRunning() +1);
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taskProtocolCache.updateTaskProtocol(taskProtocol);
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break;
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}
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}
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} catch (Exception e) {
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log.error("RGV取货任务下发线程异常！！！"+e.getMessage());
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// e.printStackTrace();
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}
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}
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}
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public boolean deviceDetection(){
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null) {
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return false;
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}
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if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
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|| !rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)) {
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return false;
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}
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RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
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if (rgvProtocolOther == null) {
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return false;
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}
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if (rgvProtocolOther.statusEnable){
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if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
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return false;
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}
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}
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return true;
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}
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/**
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* 任务下发
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*/
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private void taskPutIssued() {
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while (true) {
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try {
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// 休眠 1 秒
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("RGV放货任务下发线程异常！！！"+e.getMessage());
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// e.printStackTrace();
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}
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}
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}
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/**
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* 任务下发
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*/
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private void taskWalkIssued() {
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while (true) {
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try {
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// 休眠 1 秒
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("RGV行走任务下发线程异常！！！"+e.getMessage());
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// e.printStackTrace();
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}
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}
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}
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/**
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* 初始化RGV状态
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*/
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private void initRgv() {
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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}
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rgvProtocol.setMode((short) -1);
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rgvProtocol.setStatus((short)-1);
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rgvProtocol.setWalkPos((short)0);
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rgvProtocol.setRgvPos(0L);
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rgvProtocol.setAlarm((short)0);
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rgvProtocol.setxSpeed((short) 0);
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rgvProtocol.setxDistance((short) 0);
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rgvProtocol.setxDuration((short) 0);
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BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
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BasRgv rgv = basRgvService.selectById(slave.getId());
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if (!Cools.isEmpty(rgv)){
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rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
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} else {
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rgvProtocol.setStatusEnable(false);
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}
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RgvStatusCache.updateRgvStatus(rgvProtocol);
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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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// siemensNet.ConnectClose();
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return result;
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}
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/**
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* 读取状态
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*/
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private void readStatus(){
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try {
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OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
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if (result.IsSuccess) {
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// 构建设备状态对象
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
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if (rgvProtocol == null) {
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rgvProtocol = new RgvProtocol();
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rgvProtocol.setRgvNo(slave.getId());
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}
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rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 10));
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rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
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// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
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// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
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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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// // 工位1复位信号
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// if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
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// || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
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// if (resetFlag1) {
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// RgvCommand rgvCommand = new RgvCommand();
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// rgvCommand.setAckFinish1((short)1);
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// if (write(rgvCommand)) {
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// resetFlag1 = false;
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// }
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// }
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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 = basRgvService.selectById(slave.getId());
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if (!Cools.isEmpty(basRgv)){
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rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
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} else {
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rgvProtocol.setStatusEnable(false);
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}
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// BasRgv basRgv = new BasRgv();
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basRgv.setRgvNo(slave.getId());
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basRgv.setRgvSts((int)rgvProtocol.getMode());
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if (!basRgvService.updateById(rgvProtocol.toSqlModel(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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}
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// 更新缓存
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RgvStatusCache.updateRgvStatus(rgvProtocol);
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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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/**
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* 写入数据
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*/
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private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
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if (null == taskProtocol) {
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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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// convertRow(command);
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// taskProtocol.setRgvNo(slave.getId());
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Long[] array = new Long[11];
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// array[0] = taskProtocol.getAckFinish1();
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array[1] = taskProtocol.getTaskNo();
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// array[2] = taskProtocol.getTaskMode();
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// array[4] = command.getDestinationStaNo();
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// array[10] = taskProtocol.getCommand();
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OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());
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// if (taskProtocol.getAckFinish1() == 0) {
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// short commandFinish = 3; //工位1、2任务同时写入
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// Thread.sleep(100L);
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// result = siemensNet.Write("DB100.20", commandFinish);
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// }
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try {
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// 日志记录
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BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
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BasRgvOpt basRgvOpt = new BasRgvOpt(
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taskProtocol.getTaskNo().intValue(),
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taskProtocol.getTaskNo().intValue(),
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slave.getId(),
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new Date(),
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String.valueOf(taskProtocol.getTaskStatus()),
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null,
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null,
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null,
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result.IsSuccess? 1 : 0,
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null,
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new Date(),
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null
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);
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bean.insert(basRgvOpt);
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} catch (Exception ignore) {}
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if (result != null && result.IsSuccess) {
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Thread.sleep(200);
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this.readStatus();
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log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
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OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
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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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@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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