Merge branch 'rcs_master' into rcs_master_all_zkd

zhang

2 天以前 bd956ec24c5995e6a2a585d6a4987c6b7de372c1

 zy-acs-charge/src/main/java/com/zy/acs/charge/impl/AiPowerChargeServiceImpl.java

@@ -1,121 +1,393 @@
package com.zy.acs.charge.impl;

import com.ghgande.j2mod.modbus.ModbusException;
import com.ghgande.j2mod.modbus.facade.ModbusTCPMaster;
import com.ghgande.j2mod.modbus.procimg.Register;
import com.ghgande.j2mod.modbus.procimg.SimpleRegister;
import com.ghgande.j2mod.modbus.util.BitVector;
import com.zy.acs.charge.ChargeCoreService;
import com.zy.acs.charge.constant.AiPowerChargerCoilEnum;
import com.zy.acs.charge.constant.AiPowerChargerRegisterEnum;
import com.zy.acs.charge.constant.AiPowerChargeCoilEnum;
import com.zy.acs.charge.constant.AiPowerChargeRegisterEnum;
import com.zy.acs.charge.constant.ChargerType;
import com.zy.acs.charge.model.ChargerStatus;
import com.zy.acs.charge.protocol.ModbusAdapter;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Primary;
import org.springframework.stereotype.Service;

/**
 * 爱普拉AGV锂电智能充电机调度
 */
@Service
@Primary
@Service("aiPowerChargeService")
@Slf4j
public class AiPowerChargeServiceImpl implements ChargeCoreService {

    @Autowired
    private ModbusAdapter modbusAdapter;
public  class AiPowerChargeServiceImpl implements ChargeCoreService {

    @Override
    public boolean connect() throws Exception {
        modbusAdapter.connect();
        return true;
    public ChargerType supportedType() {
        return ChargerType.Modbus;
    }

    /**
     * 开始充电
     *
     * @param client
     * @return
     */
    @Override
    public void disconnect() {
        modbusAdapter.disconnect();
    }

    @Override
    public boolean isConnected() {
        // 可以通过尝试读取一个寄存器来判断，但为了简单，这里直接返回连接状态（需改造 ModbusAdapter 暴露状态）
        // 可在 ModbusAdapter 中添加 isConnected() 方法
        return false; // 待实现
    }

    @Override
    public boolean startCharging() throws Exception {
    public  boolean startCharging(ModbusTCPMaster client) {
        // AGV车报告到位 -> true
        modbusAdapter.writeCoil(AiPowerChargerCoilEnum.AGV_REPORTED_IN_POSITION.getAddr(), true);
        return true;
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            return client.writeCoil(AiPowerChargeCoilEnum.AGV_REPORTED_IN_POSITION.getAddr(), true);
        } catch (Exception e) {
            log.info("写入开始充电指令报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return false;
    }

    /**
     * 停止充电
     *
     * @param client
     * @return
     */
    @Override
    public boolean stopCharging() throws Exception {
        modbusAdapter.writeCoil(AiPowerChargerCoilEnum.AGV_REPORTED_IN_POSITION.getAddr(), false);
        return true;
    public boolean stopCharging(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            return client.writeCoil(AiPowerChargeCoilEnum.AGV_REPORTED_IN_POSITION.getAddr(), false);
        } catch (Exception e) {
            log.info("写入停止充电指令报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return false;
    }

    /**
     * 在线正继电器状态(前进到位)
     *
     * @param client
     * @return
     */
    @Override
    public ChargerStatus getStatus() throws Exception {
    public boolean checkForwardRelayOnline(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            return client.readCoils(AiPowerChargeCoilEnum.FORWARD_RELAY_ONLINE.getAddr(), 1).getBit(0);
        } catch (Exception e) {
            log.info("读取在线正继电器状态报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return false;
    }

    /**
     * 离线正继电器状态(后退到位)
     *
     * @param client
     * @return
     */
    @Override
    public boolean checkBackwardRelayOffline(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            return client.readCoils(AiPowerChargeCoilEnum.BACKWARD_RELAY_OFFLINE.getAddr(), 1).getBit(0);
        } catch (Exception e) {
            log.info("读取离线正继电器状态报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return false;
    }

    /**
     * 获取充电机充电电压
     *
     * @param client
     * @return
     */
    @Override
    public double getVoltage(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
               client.connect();
            }
            return client.readMultipleRegisters(AiPowerChargeRegisterEnum.CHARGE_VOLTAGE.getAddr(), 1)[0].getValue() * AiPowerChargeRegisterEnum.CHARGE_CURRENT.getRaw();
        } catch (Exception e) {
            log.info("读取充电电压报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return 0;
    }

    /**
     * 获取充电机充电电流
     *
     * @param client
     * @return
     */
    @Override
    public double getCurrent(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            return client.readMultipleRegisters(AiPowerChargeRegisterEnum.CHARGE_CURRENT.getAddr(), 1)[0].getValue() * AiPowerChargeRegisterEnum.CHARGE_CURRENT.getRaw();
        } catch (Exception e) {
            log.info("读取充电电流报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return 0;
    }

    /**
     * 获取充电机充电模式
     *
     * @param client
     * @return
     */
    @Override
    public int getChargeMode(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
               client.connect();
            }
            return client.readMultipleRegisters(AiPowerChargeRegisterEnum.CHARGE_MODE.getAddr(), 1)[0].getValue();
        } catch (Exception e) {
            e.printStackTrace();
            log.info("读取充电模式报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return -1;
    }

    /**
     * 获取充电机编号
     *
     * @param client
     * @return
     */
    @Override
    public int getChargeId(ModbusTCPMaster client) {
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            return client.readMultipleRegisters(AiPowerChargeRegisterEnum.CHARGER_ID.getAddr(), 1)[0].getValue();
        } catch (Exception e) {
            e.printStackTrace();
            log.info("读取充电机编号报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }
        return -1;
    }

    /**
     * 获取充电机状态
     *
     * @param client
     * @return
     */
    @Override
    public ChargerStatus getStatus(ModbusTCPMaster client) {

        ChargerStatus status = new ChargerStatus();

        // ---------- 批量读取线圈（地址100~115共16个） ----------
        boolean[] coils = modbusAdapter.readCoils(100, 16);
        status.setWorking(coils[0]);                      // 地址100
        status.setOverheat(coils[1]);                     // 101
        status.setFault(coils[2]);                        // 102
        status.setCvMode(coils[3]);                       // 103
        status.setBatteryConnected(coils[4]);              // 104
        status.setFanAbnormal(coils[5]);                   // 105
        status.setPlateOverheat(coils[6]);                 // 106
        status.setBrushPressed(coils[7]);                  // 107
        status.setAgvReportedInPosition(coils[8]);         // 108
        status.setChargerConfirmedAgvReady(coils[9]);      // 109
        status.setForwardRelayOnline(coils[10]);           // 110
        status.setBackwardRelayOffline(coils[11]);         // 111
        status.setBmsChargeEnable(coils[12]);              // 112
        status.setCommRs485Success(!coils[13]);            // 113（注意：0=成功，1=超时）
        status.setCommCanSuccess(!coils[14]);              // 114
        status.setCommBmsSuccess(!coils[15]);              // 115
        BitVector coils = null;
        try {
            if (!client.isConnected()) {
                client.connect();
            }
            coils = client.readCoils(AiPowerChargeCoilEnum.WORK_STATUS.getAddr(), AiPowerChargeCoilEnum.values().length);
            for (int i = 0; i < coils.size(); i++) {
                switch (i) {
                    case 0:
                        status.setWorking(coils.getBit(i));
                        break;
                    case 1:
                        status.setOverheat(coils.getBit(i));
                        break;
                    case 2:
                        status.setFault(coils.getBit(i));
                        break;
                    case 3:
                        status.setCvMode(coils.getBit(i));
                        break;
                    case 4:
                        status.setBatteryConnected(coils.getBit(i));
                        break;
                    case 5:
                        status.setFanAbnormal(coils.getBit(i));
                        break;
                    case 6:
                        status.setPlateOverheat(coils.getBit(i));
                        break;
                    case 7:
                        status.setBrushPressed(coils.getBit(i));
                        break;
                    case 8:
                        status.setAgvReportedInPosition(coils.getBit(i));
                        break;
                    case 9:
                        status.setChargerConfirmedAgvReady(coils.getBit(i));
                        break;
                    case 10:
                        status.setForwardRelayOnline(coils.getBit(i));
                        break;
                    case 11:
                        status.setBackwardRelayOffline(coils.getBit(i));
                        break;
                    case 12:
                        status.setBmsChargeEnable(coils.getBit(i));
                        break;
                    case 13:
                        status.setCommRs485Success(!coils.getBit(i));
                        break;
                    case 14:
                        status.setCommCanSuccess(!coils.getBit(i));
                        break;
                    case 15:
                        status.setCommBmsSuccess(!coils.getBit(i));
                        break;
                    default:
                        break;
                }
            }

        // ---------- 批量读取保持寄存器（地址100~116共17个） ----------
        int[] regs = modbusAdapter.readHoldingRegisters(100, 17);
        status.setVoltage(regs[0] * AiPowerChargerRegisterEnum.CHARGE_VOLTAGE.getRaw());
        status.setCurrent(regs[1] * AiPowerChargerRegisterEnum.CHARGE_CURRENT.getRaw());
        status.setChargingTime(regs[2]);
        status.setCapacity(regs[3] * AiPowerChargerRegisterEnum.CHARGE_CAPACITY.getRaw());
        status.setEnergy(regs[4] * AiPowerChargerRegisterEnum.CHARGE_ENERGY.getRaw());
        status.setCellMaxVoltage(regs[5]);
        status.setCellMinVoltage(regs[6]);
        status.setPackVoltage(regs[7] * AiPowerChargerRegisterEnum.BMS_PACK_VOLTAGE.getRaw());
        status.setVoltageDemand(regs[8] * AiPowerChargerRegisterEnum.BMS_VOLTAGE_DEMAND.getRaw());
        status.setCurrentDemand(regs[9] * AiPowerChargerRegisterEnum.BMS_CURRENT_DEMAND.getRaw());
        status.setTemperature(regs[10]);
        status.setSoc(regs[11] * AiPowerChargerRegisterEnum.BMS_SOC.getRaw());
        status.setEndFlag(regs[12]);
        status.setChargerId(regs[13]);
        status.setFaultCode(regs[14]);
        status.setChargeMode(regs[15]);
        status.setScheduleFlag(regs[16]);
            // ---------- 批量读取保持寄存器（地址100~116共17个） ----------

            Register[] registers = client.readMultipleRegisters(AiPowerChargeRegisterEnum.CHARGE_VOLTAGE.getAddr(), AiPowerChargeRegisterEnum.values().length);
            for (int i = 0; i < registers.length; i++) {
                switch (i) {
                    case 0:
                        status.setVoltage(registers[i].getValue() * AiPowerChargeRegisterEnum.CHARGE_VOLTAGE.getRaw());
                        break;
                    case 1:
                        status.setCurrent(registers[i].getValue() * AiPowerChargeRegisterEnum.CHARGE_CURRENT.getRaw());
                        break;
                    case 2:
                        status.setChargingTime(registers[i].getValue());
                        break;
                    case 3:
                        status.setCapacity(registers[i].getValue() * AiPowerChargeRegisterEnum.CHARGE_CAPACITY.getRaw());
                        break;
                    case 4:
                        status.setEnergy(registers[i].getValue() * AiPowerChargeRegisterEnum.CHARGE_ENERGY.getRaw());
                        break;
                    case 5:
                        status.setCellMaxVoltage(registers[i].getValue());
                        break;
                    case 6:
                        status.setCellMinVoltage(registers[i].getValue());
                        break;
                    case 7:
                        status.setPackVoltage(registers[i].getValue() * AiPowerChargeRegisterEnum.BMS_PACK_VOLTAGE.getRaw());
                        break;
                    case 8:
                        status.setVoltageDemand(registers[i].getValue() * AiPowerChargeRegisterEnum.BMS_VOLTAGE_DEMAND.getRaw());
                        break;
                    case 9:
                        status.setCurrentDemand(registers[i].getValue() * AiPowerChargeRegisterEnum.BMS_CURRENT_DEMAND.getRaw());
                        break;
                    case 10:
                        status.setTemperature(registers[i].getValue());
                        break;
                    case 11:
                        status.setSoc(registers[i].getValue() * AiPowerChargeRegisterEnum.BMS_SOC.getRaw());
                        break;
                    case 12:
                        status.setEndFlag(registers[i].getValue());
                        break;
                    case 13:
                        status.setChargerId(registers[i].getValue());
                        break;
                    case 14:
                        status.setFaultCode(registers[i].getValue());
                        break;
                    case 15:
                        status.setChargeMode(registers[i].getValue());
                        break;
                    case 16:
                        status.setScheduleFlag(registers[i].getValue());
                        break;
                    default:
                        break;
                }
            }
        } catch (Exception e) {
            log.info("批量读取线圈报错:{} ", e.getMessage());
            log.info("批量读取保持寄存器报错:{} ", e.getMessage());
        }finally {
            //client.disconnect();
        }

        return status;
    }


    /**
     * 清除故障
     *
     * @param client
     * @return
     */
    @Override
    public boolean setVoltage(int voltageDecivolts) throws Exception {
        // BMS无时才允许写入，这里假设允许
        modbusAdapter.writeHoldingRegister(AiPowerChargerRegisterEnum.CHARGE_VOLTAGE.getAddr(), voltageDecivolts);
    public boolean clearFault(ModbusTCPMaster client) {
        try {
            client.writeSingleRegister(AiPowerChargeRegisterEnum.SCHEDULE_FLAG.getAddr(), new SimpleRegister(1));
        } catch (ModbusException e) {
            log.error("充电器清除故障失败......");
        }
        return true;
    }

    /**
     * 完成退回
     *
     * @param client
     * @return
     */
    @Override
    public boolean setCurrent(int currentDecamperes) throws Exception {
        modbusAdapter.writeHoldingRegister(AiPowerChargerRegisterEnum.CHARGE_CURRENT.getAddr(), currentDecamperes);
    public boolean finishRetract(ModbusTCPMaster client) {
        try {
            client.writeSingleRegister(AiPowerChargeRegisterEnum.SCHEDULE_FLAG.getAddr(), new SimpleRegister(2));
        } catch (ModbusException e) {
            log.error("充电器完成退回失败......");
        }
        return true;
    }

    /**
     * 恢复待机
     *
     * @param client
     * @return
     */
    @Override
    public boolean clearFault() throws Exception {
        // 写入调度标识地址为1：清除故障
        modbusAdapter.writeHoldingRegister(AiPowerChargerRegisterEnum.SCHEDULE_FLAG.getAddr(), 1);
    public boolean restoreStandby(ModbusTCPMaster client) {
        try {
            client.writeSingleRegister(AiPowerChargeRegisterEnum.SCHEDULE_FLAG.getAddr(), new SimpleRegister(3));
        } catch (ModbusException e) {
            log.error("充电器恢复待机失败......");
        }
        return true;
    }


}