#

luxiaotao1123

2022-03-14 412c5291467a5812af769156912dca6024abc8f1

 src/main/java/com/zy/core/thread/MelsecCrnThread.java

@@ -39,6 +39,7 @@
    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    public MelsecCrnThread(CrnSlave slave) {
@@ -49,6 +50,11 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
//        try {
//            Thread.sleep(2000);
//        } catch (InterruptedException e) {
//            e.printStackTrace();
//        }
        while (true) {
            try {
                int step = 1;
@@ -86,12 +92,41 @@
                    default:
                        break;
                }
                // 心跳
                heartbeat();
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }

        }
    }

    /**
     * 初始化堆垛机状态
     */
    private void initCrn() {
        if (null == crnProtocol) {
            crnProtocol = new CrnProtocol();
        }
        crnProtocol.setCrnNo(slave.getId());
        crnProtocol.setMode((short) -1);
//        crnProtocol.setTaskNo((short)0);
        crnProtocol.setStatus((short)-1);
        crnProtocol.setBay((short)0);
        crnProtocol.setLevel((short)0);
        crnProtocol.setForkPos((short) -1);
        crnProtocol.setLiftPos((short) -1);
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setXSpeed(0F);
        crnProtocol.setYSpeed(0F);
        crnProtocol.setZSpeed(0F);
        crnProtocol.setXDistance(0F);
        crnProtocol.setYDistance(0F);
        crnProtocol.setXDuration(0F);
        crnProtocol.setYDuration(0F);
    }

    @Override
@@ -106,8 +141,9 @@
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
        melsecMcNet.ConnectClose();
//        melsecMcNet.ConnectClose();
        return result;
    }

@@ -116,11 +152,17 @@
     */
    private void readStatus(){
        try {
//            if (this.slave.getId() == 1 && flag1.equals(0)) {
//                Thread.sleep(3000);
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                }
                crnProtocol.setCrnNo(slave.getId());
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
@@ -157,6 +199,7 @@
                    }
                }


                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
@@ -174,6 +217,7 @@
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }

    }
@@ -244,6 +288,21 @@
        melsecMcNet.ConnectClose();
    }

    /**
     * 心跳
     */
    private void heartbeat(){
        if (heartBeatVal == 1) {
            heartBeatVal = 2;
        } else {
            heartBeatVal = 1;
        }
        OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
        }
    }


    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/