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.mapper.BasDevpMapper;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.common.utils.News;
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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 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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private int barcodeSize = 2;
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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);add(104);add(105);add(106);add(107);add(108);add(109);
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add(110);add(111);
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add(200);add(201);add(202);add(203);add(204);add(205);add(206);add(207);add(208);add(209);
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add(210);add(211);
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add(300);
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}};
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public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
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add(112);add(113);add(114);
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}};
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public static final ArrayList<Integer> staNos3 = new ArrayList<Integer>() {{
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add(212);add(213);add(214);
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}};
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public boolean charge0;
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public boolean charge1;
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public boolean charge2;
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public SiemensDevpThread(DevpSlave slave) {
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this.slave = slave;
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}
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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 ioModeOf1F = IoModeType.NONE;
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public IoModeType ioModeOf2F = IoModeType.NONE;
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public IoModeType ioModeOf3F = IoModeType.NONE;
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public short ioModeOf3FX = 0;
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public short ioModeOf3FD = 0;
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public IoModeType ioModeOf4F = IoModeType.NONE;
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public short ioModeOf4FX = 0;
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public short ioModeOf4FD = 0;
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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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case 3:
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return staNos3;
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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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// write((StaProtocol)task.getData(), 0);
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write((StaProtocol)task.getData());
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Thread.sleep(300);
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read();
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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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News.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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News.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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OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNos.size()*2));
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if (result.IsSuccess) {
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for (int i = 0; i < staNos.size(); 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().TransInt16(result.Content, i*2)); // 工作号
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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) (staNos.size()*2));
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if (result0.IsSuccess) {
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for (int i = 0; i < staNos.size(); 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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if (slave.getId()!=1){
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Thread.sleep(200);
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OperateResultExOne<byte[]> result2F = siemensS7Net.Read("DB102.50", (short) (4));
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if (result2F.IsSuccess) {
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if (slave.getId()==2){
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this.ioModeOf3FX = siemensS7Net.getByteTransform().TransInt16(result2F.Content, 0);
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this.ioModeOf3FD = siemensS7Net.getByteTransform().TransInt16(result2F.Content, 2);
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} if (slave.getId()==3){
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this.ioModeOf4FX = siemensS7Net.getByteTransform().TransInt16(result2F.Content, 0);
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this.ioModeOf4FD = siemensS7Net.getByteTransform().TransInt16(result2F.Content, 2);
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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[]> result1 = siemensS7Net.Read("DB102.0", (short) (staNos.size()*2));
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if (result1.IsSuccess) {
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for (int i = 0; i < staNos.size(); 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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if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
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staProtocol.setPakMk(true);
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} else if (staProtocol.getSiteId().equals(300)) {
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BasDevpMapper basDevpMapper = SpringUtils.getBean(BasDevpMapper.class);
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BasDevp basDevp = basDevpMapper.selectByDevNo(300);
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if (!basDevp.getWrkNo().equals(basDevp.getWrkNo1())) {
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staProtocol.setPakMk(true);
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}
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}
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}
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}
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//读条码
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Thread.sleep(200);
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if (slave.getId()==1){
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OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.100",(short)(barcodeSize*8));
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if (result2.IsSuccess) {
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for (int i = 0; i < barcodeSize; i++) {
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String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "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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// 充电信号位
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Thread.sleep(200);
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OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB102.50", (short)1);
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if (result3.IsSuccess) {
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boolean[] status = siemensS7Net.getByteTransform().TransBool(result3.Content, 0, 1);
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charge0 = status[0];
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charge1 = status[1];
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charge2 = status[2];
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}
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} else {
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OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.100",(short)(8));
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if (result2.IsSuccess) {
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String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,0,8, "UTF-8");
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, slave.getId()+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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if (result.IsSuccess && result0.IsSuccess && result1.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 (!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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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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News.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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// News.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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OperateResult writeId,writeDest;
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// //任务ID下发次数
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int idCount = 0;
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boolean idFlag = false;
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while(idCount < 5){
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writeId = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo()); // 工作号
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if(writeId.IsSuccess){
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Thread.sleep(200);
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OperateResultExOne<byte[]> readId = siemensS7Net.Read("DB100." + index*2, (short)2);
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if(readId.IsSuccess){
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short workNo = siemensS7Net.getByteTransform().TransInt16(readId.Content, 0);
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if(staProtocol.getWorkNo().equals(workNo)){
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//工作号写入成功
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idFlag = true;
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break;
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} else {//返回结果是成功了，但是真实值不相同
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idCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号后返回成功，但是读取工作号值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol),idCount));
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log.error("写入输送线工作号后返回成功，但是读取工作号值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), idCount);
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}
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} else {
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idCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号后读取工作号失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol), idCount));
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log.error("写入输送线工作号后读取工作号失败{}。输送线plc编号={}，站点数据={},写入次数={}", readId.Message, slave.getId(), JSON.toJSON(staProtocol), idCount);
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}
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} else {
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idCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线工作号失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol),idCount));
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log.error("写入输送线工作号失败{}。输送线plc编号={}，站点数据={},写入次数={}", writeId.Message, slave.getId(), JSON.toJSON(staProtocol), idCount);
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}
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Thread.sleep(200);
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}
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//写ID尝试了5次还是失败了
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if(!idFlag){
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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}】写入输送线工作号尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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log.error("写入输送线工作号尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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//重新添加数据到任务队列
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boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
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// read();//读取1次设备状态
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return;
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}
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//任务目标站下发次数
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int destCount = 0;
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boolean destFlag = false;
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while(destCount < 5){
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writeDest = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo()); // 目标站
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if(writeDest.IsSuccess){
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Thread.sleep(200);
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OperateResultExOne<byte[]> readDest = siemensS7Net.Read("DB101." + index*2, (short)2);
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if(readDest.IsSuccess){
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short staNo = siemensS7Net.getByteTransform().TransInt16(readDest.Content, 0);
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if(staProtocol.getStaNo().equals(staNo)){
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//目标站写入成功
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destFlag = true;
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break;
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} else {//返回结果是成功了，但是真实值不相同
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destCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站后返回成功，但是读取目标站值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol),destCount));
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log.error("写入输送线目标站后返回成功，但是读取目标站值不一致。输送线plc编号={}，{},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), destCount);
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}
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} else {
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destCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站后读取目标站失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol), destCount));
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log.error("写入输送线目标站后读取目标站失败{}。输送线plc编号={}，站点数据={}，写入次数={}", readDest.Message, slave.getId(), JSON.toJSON(staProtocol), destCount);
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}
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} else {
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destCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线目标站失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol),destCount));
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log.error("写入输送线目标站失败{}。输送线plc编号={}，站点数据={},写入次数={}", writeDest.Message, slave.getId(), JSON.toJSON(staProtocol), destCount);
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}
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Thread.sleep(200);
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}
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//写目标站尝试了5次还是失败了
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if(!destFlag){
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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}】写入输送线目标站尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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log.error("写入输送线目标站尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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//重新添加数据到任务队列
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boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
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// read();//读取1次设备状态
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return;
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [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:{}] >>>>> 命令下发成功： {}", slave.getId(), JSON.toJSON(staProtocol));
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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, int times) throws InterruptedException {
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if (null == staProtocol || times > 3) {
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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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OperateResult write = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo()); // 工作号
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Thread.sleep(200);
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OperateResult write1 = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo()); // 目标站
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if (!write.IsSuccess || !write1.IsSuccess) {
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// MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
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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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News.error("写入输送线站点数据失败==>>{}--{}，重新添加任务到队列。输送线plc编号={}，站点数据={}", write.Message, write1.Message, slave.getId(), JSON.toJSON(staProtocol));
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times++;
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write(staProtocol, times);
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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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} else {
|
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)));
|
News.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}", slave.getId(), JSON.toJSON(staProtocol));
|
}
|
}
|
|
// 更新入出库模式
|
private void updateIoMode() throws InterruptedException {
|
if (slave.getId()==1){
|
if (this.ioModeOf1F != IoModeType.NONE) {
|
if (!siemensS7Net.Write("DB100.180", this.ioModeOf1F.id).IsSuccess) {
|
OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线103入出库模式失败。输送线plc编号={1}", slave.getId()));
|
// News.error("写入输送线103入出库模式失败。输送线plc编号={}", slave.getId());
|
}
|
}
|
if (this.ioModeOf2F != IoModeType.NONE) {
|
if (!siemensS7Net.Write("DB100.182", this.ioModeOf2F.id).IsSuccess) {
|
OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线203入出库模式失败。输送线plc编号={1}", slave.getId()));
|
// News.error("写入输送线203入出库模式失败。输送线plc编号={}", slave.getId());
|
}
|
}
|
} else if (slave.getId()==2){
|
if (this.ioModeOf3F != IoModeType.NONE && this.ioModeOf3F.id/2 != this.ioModeOf3FX) {
|
if (!siemensS7Net.Write("DB102.50", (short) (this.ioModeOf3F.id/2)).IsSuccess) {
|
OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线113入出库模式失败。输送线plc编号={1}", slave.getId()));
|
// News.error("写入输送线113入出库模式失败。输送线plc编号={}", slave.getId());
|
}
|
}
|
} else if (slave.getId()==3){
|
if (this.ioModeOf4F != IoModeType.NONE && this.ioModeOf4F.id/2 != this.ioModeOf4FX) {
|
if (!siemensS7Net.Write("DB102.50", (short) (this.ioModeOf4F.id/2)).IsSuccess) {
|
OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线213入出库模式失败。输送线plc编号={1}", slave.getId()));
|
// News.error("写入输送线213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) {
|
News.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);
|
}
|
}
|
|
/**
|
* 充电控制
|
* @param index 充电桩序号 0 开始
|
* @param open true 开始充电；false 结束充电
|
*/
|
public boolean charge(int index, boolean open) {
|
OperateResult write = siemensS7Net.Write("DB102.50." + (index + 3), open);
|
if (!write.IsSuccess) {
|
News.error("输送线plc编号={} {}号充电桩{}控制失败", slave.getId(), index + 1, open?"打开":"关闭");
|
return false;
|
} else {
|
News.error("输送线plc编号={} {}号充电桩{}控制成功", slave.getId(), index + 1, open?"打开":"关闭");
|
}
|
return true;
|
}
|
|
@Override
|
public void close() {
|
siemensS7Net.ConnectClose();
|
}
|
|
public static void main(String[] args) throws Exception {
|
DevpSlave slave = new DevpSlave();
|
slave.setIp("10.10.10.61");
|
slave.setPort(102);
|
slave.setRack(0);
|
slave.setSlot(0);
|
SiemensDevpThread devpThread = new SiemensDevpThread(slave);
|
devpThread.connect();
|
// 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));
|
|
}
|
|
}
|
