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Junjie

2025-07-14 0684e334d4a01e7a2cd0698d994397a8b647c38f

 src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java

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package com.zy.core.thread.impl;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.zy.common.SpringUtils;
import com.zy.common.utils.DateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.model.DeviceMsgModel;
import com.zy.core.properties.DeviceConfig;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.utils.DeviceMsgUtils;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.*;

@Slf4j
@SuppressWarnings("all")
public class ZyForkLiftThread implements ForkLiftThread {

    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private SiemensS7Net siemensS7Net;
    private boolean connect = false;

    public ZyForkLiftThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
    }

    @Override
    public boolean connect() {
        if (deviceConfig.getFake()) {
            this.connect = true;
            OutputQueue.FORKLIFT.offer(MessageFormat.format( "【{0}】货叉提升机连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort(), 0, 0));
            News.info("【{}】货叉提升机连接成功 ===>> [id:{}] [ip:{}] [port:{}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
            return true;
        }

        boolean result = false;
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        siemensS7Net.setRack(Integer.valueOf(0).byteValue());
        siemensS7Net.setSlot(Integer.valueOf(0).byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.FORKLIFT.offer(MessageFormat.format( "【{0}】货叉提升机连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort(), 0, 0));
            News.info("【{}】货叉提升机连接成功 ===>> [id:{}] [ip:{}] [port:{}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        } else {
            OutputQueue.FORKLIFT.offer(MessageFormat.format( "【{0}】货叉提升机连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]  [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort(), 0, 0));
            News.error("【{}】货叉提升机连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
        }
        // siemensS7Net.ConnectClose();
        this.connect = result;
        return result;
    }

    @Override
    public void close() {

    }

    @Override
    public void run() {
        News.info("{}号货叉提升机线程启动", deviceConfig.getDeviceNo());
        this.connect();
        while (true) {
            try {
                DeviceMsgUtils deviceMsgUtils = null;
                try {
                    deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
                }catch (Exception e){}
                if (deviceMsgUtils == null) {
                    continue;
                }
                DeviceCommandMsgModel deviceCommandMsg = deviceMsgUtils.getDeviceCommandMsg(SlaveType.ForkLift, deviceConfig.getDeviceNo());
                if (deviceCommandMsg == null) {
                    continue;
                }
                executeCommand(deviceCommandMsg, deviceMsgUtils);

                Thread.sleep(200);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    private void executeCommand(DeviceCommandMsgModel deviceCommandMsg, DeviceMsgUtils deviceMsgUtils) {
        if (deviceConfig.getFake()) {
            redisUtil.set(RedisKeyType.FAKE_DEVICE_FORK_LIFT_COMMAND_MSG_KEY.key + deviceConfig.getDeviceNo(), deviceCommandMsg, 60 * 60);
            return;
        }

        String command = JSON.toJSONString(deviceCommandMsg.getCommand());
        JSONObject commandObj = JSON.parseObject(command);

        HashMap<String, Object> resultData = new HashMap<>();
        resultData.put("result", "false");

        String deviceMsgType = "command";
        OperateResult result = null;
        OperateResult result2 = null;
        if (commandObj.getInteger("mode") == 3) {
            //取放货
            short[] array = new short[4];
            array[0] = commandObj.getShort("taskNO");//任务号
            array[1] = commandObj.getShort("mode");//任务模式
            array[2] = commandObj.getShort("pick");//取货数据
            array[3] = commandObj.getShort("put");//放货数据
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.0", array);
            if (result.IsSuccess) {
                result2 = siemensS7Net.Write("DB103.8", (short) 1);
                if (result2.IsSuccess) {
                    resultData.put("result", "success");
                }
            }
        } else if (commandObj.getInteger("mode") == 4) {
            //小车换层
            short[] array = new short[4];
            array[0] = commandObj.getShort("taskNO");//任务号
            array[1] = commandObj.getShort("mode");//任务模式
            array[2] = commandObj.getShort("pick");//取货数据
            array[3] = commandObj.getShort("put");//放货数据
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.0", array);
            if (result.IsSuccess) {
                result2 = siemensS7Net.Write("DB103.8", (short) 1);
                if (result2.IsSuccess) {
                    resultData.put("result", "success");
                }
            }
        } else if (commandObj.getInteger("mode") == 5) {
            //提升机移动
            short[] array = new short[4];
            array[0] = commandObj.getShort("taskNO");//任务号
            array[1] = commandObj.getShort("mode");//任务模式
            array[2] = commandObj.getShort("pick");//取货数据
            array[3] = commandObj.getShort("put");//放货数据
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.0", array);
            if (result.IsSuccess) {
                result2 = siemensS7Net.Write("DB103.8", (short) 1);
                if (result2.IsSuccess) {
                    resultData.put("result", "success");
                }
            }
        } else if (commandObj.getInteger("mode") == 9996) {
            //复位
            short[] array = new short[1];
            array[0] = 1;
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.10", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
        } else if (commandObj.getInteger("mode") == 9997) {
            //切换入库模式
            short[] array = new short[1];
            array[0] = 1;
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.12", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
        } else if (commandObj.getInteger("mode") == 9998) {
            //切换出库模式
            short[] array = new short[1];
            array[0] = 2;
            resultData.put("commandData", array);

            result = siemensS7Net.Write("DB103.12", array);
            if (result.IsSuccess) {
                resultData.put("result", "success");
            }
        } else if (commandObj.getInteger("mode") == 9999) {
            //读取状态
            JSONObject device = new JSONObject();

            OperateResultExOne<byte[]> readResult1 = siemensS7Net.Read("DB101.0", (short) 18);
            if (readResult1.IsSuccess) {
                //模式
                device.put("model", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 0));
                //PLC任务号
                device.put("wrkNo", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 2));
                //任务状态
                device.put("protocolStatus", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 4));
                //任务模式
                device.put("taskMode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 6));
                //取货数据
                device.put("pick", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 8));
                //放货数据
                device.put("put", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 10));
                //出入库模式
                device.put("iOMode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 12));
                //故障码
                device.put("errorCode", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 14));
                //层
                device.put("lev", (int) siemensS7Net.getByteTransform().TransInt16(readResult1.Content, 16));

                resultData.put("deviceStatus", device);
            }

            //站点个数
            int staCount = 4;
            //读取托盘数据
            List<Integer> trayList = new ArrayList<>();
            OperateResultExOne<byte[]> readResult2 = siemensS7Net.Read("DB102.0", (short) (staCount * 2));
            if(readResult2.IsSuccess) {
                for (int i = 0; i < staCount; i++) {
                    short val = siemensS7Net.getByteTransform().TransInt16(readResult2.Content, i * 2);
                    trayList.add((int) val);
                }
            }

            //读取小车数据
            OperateResultExOne<byte[]> readResult3 = siemensS7Net.Read("DB102.50", (short) (staCount * 2));
            List<Integer> carList = new ArrayList<>();
            if(readResult3.IsSuccess) {
                for (int i = 0; i < staCount; i++) {
                    short val = siemensS7Net.getByteTransform().TransInt16(readResult3.Content, i * 2);
                    carList.add((int) val);
                }
            }

            device.put("trayList", trayList);
            device.put("carList", carList);

            deviceMsgType = "status";
        }

        resultData.put("commandResult1", JSON.toJSONString(result));
        resultData.put("commandResult2", JSON.toJSONString(result2));

        if (deviceMsgType.equals("command")) {
            log.info("收到Rcs ForkLift Command Data: {}", JSON.toJSONString(deviceCommandMsg));
        }
        DeviceMsgModel deviceMsgModel = new DeviceMsgModel();
        deviceMsgModel.setDeviceId(deviceConfig.getDeviceNo());
        deviceMsgModel.setDeviceMsgType(deviceMsgType);
        deviceMsgModel.setDeviceMsg(JSON.toJSONString(resultData));
        deviceMsgModel.setDeviceOriginMsg(JSON.toJSONString(resultData));
        deviceMsgModel.setResultKey(deviceCommandMsg.getResultKey());
        deviceMsgUtils.sendDeviceMsg(SlaveType.ForkLift, deviceConfig.getDeviceNo(), deviceMsgModel);
    }

    @Override
    public DeviceConfig getDeviceConfig() {
        return this.deviceConfig;
    }

    /**
     * 扩展字段
     */
    @Data
    private class InnerForkLiftExtend {

    }
}