#

luxiaotao1123

2020-09-02 479025b430cae050f6425c48812f0074aa498ffb

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

@@ -2,10 +2,13 @@

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -30,9 +33,10 @@
@Slf4j
public class CrnThread implements Runnable, ThreadHandler {

    private SiemensS7Net siemensNet;
    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    public CrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -45,7 +49,7 @@
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
@@ -90,19 +94,17 @@
    @Override
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S300, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
        OperateResult connect = melsecMcNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机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()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            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());
        }
        siemensNet.ConnectClose();
        melsecMcNet.ConnectClose();
        return result;
    }

@@ -110,51 +112,91 @@
     * 读取状态
     */
    private void readStatus(){
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 56);
        if (result.IsSuccess) {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }
            crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
            crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
            crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
            crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
            crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
            crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
            // 异常信息
            crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
            crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
            crnProtocol.setError3(siemensNet.getByteTransform().TransBool(result.Content, 26, 2));
            crnProtocol.setError4(siemensNet.getByteTransform().TransBool(result.Content, 28, 2));
            crnProtocol.setError5(siemensNet.getByteTransform().TransBool(result.Content, 30, 2));
            crnProtocol.setError6(siemensNet.getByteTransform().TransBool(result.Content, 32, 2));
            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 34));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 38));
            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 42));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 46));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 50));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 54));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 58));
        try {

            /**
             *   当读到status == 90.任务完成等待WCS确认 时
             *   下发任务完成指令
             */
            if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setAckFinish((short)1);
                write(crnCommand);
            /* 方法1 */
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D2231", (short) 62);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                }
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
//               crnProtocol.setTaskFinish(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransBool(result.Content, 26, 2));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
                crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
                crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
                crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
                crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
                crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
                crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58));

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    if (resetFlag) {
                        if (melsecMcNet.Write("D2218", (short) 1).IsSuccess) {
                            resetFlag = false;
                        }
                    }
                }

                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "堆垛机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            /* 方法2 */
//            crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content);
//            crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content);
//            crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content);
////            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//            crnProtocol.setLoaded(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content);
//            crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content);
//            crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content);
//            crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content);
        } catch (Exception e) {
            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());
        }

    }

    /**
@@ -166,36 +208,70 @@
            return;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        OperateResult result = siemensNet.Write("DB8.0", array);
        if (result.IsSuccess) {
            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
        /* 方法 1 */
        do {
            if (command.getDestinationPosZ() != null) {
                if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            }
            if (command.getDestinationPosY() != null) {
                if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            }
            if (command.getSourcePosZ() != null) {
                if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            }
            if (command.getSourcePosY() != null) {
                if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            }
            if (command.getTaskMode() != null) {
                if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            }
            if (command.getTaskNo() != null) {
                if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
            }
            if (command.getAckFinish() != null) {
                if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            }

            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            readStatus();
        } else {
            System.out.println(MessageFormat.format("【{0}】写入堆垛机plc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()));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc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()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }

            return;
        } while (false);


        System.out.println(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());



        /* 方法 2 */
//        melsecMcNet.Write("D2218", command.getAckFinish());
//        melsecMcNet.Write("D2217", command.getTaskNo());
//        melsecMcNet.Write("D2216", command.getTaskMode());
//        melsecMcNet.Write("D2214", command.getSourcePosX());
//        melsecMcNet.Write("D2212", command.getSourcePosY());
//        melsecMcNet.Write("D2210", command.getSourcePosZ());
//        melsecMcNet.Write("D2208", command.getDestinationPosX());
//        melsecMcNet.Write("D2204", command.getDestinationPosY());
//        melsecMcNet.Write("D2202", command.getDestinationPosZ());

    }

    @Override
    public void close() {
        siemensNet.ConnectClose();
        melsecMcNet.ConnectClose();
    }

    public CrnProtocol getCrnProtocol(){
        if (crnProtocol == null) {
            readStatus();
            throw new CoolException(slave.getId() + "号堆垛机连接失败");
        }
        return this.crnProtocol;
    }
@@ -207,14 +283,14 @@
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setIp("192.168.3.39");
        slave.setPort(5015);
        slave.setRack(0);
        slave.setSlot(0);
        CrnThread crnThread = new CrnThread(slave);
        crnThread.connect();
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));
        Thread.sleep(3000L);

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();
@@ -287,19 +363,19 @@
//        command.setDestinationPosZ((short) 0);     // 目标库位层
//        crnThread.write(command);

//        // 7.坐标移行   目标发   pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
//        command.setSourcePosX((short) 0);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 0);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 1);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);
        // 7.坐标移行   目标发   pass
        CrnCommand command = new CrnCommand();
        command.setCrnNo(1); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 1);     // 目标库位排
        command.setDestinationPosY((short) 3);     // 目标库位列
        command.setDestinationPosZ((short) 3);     // 目标库位层
        crnThread.write(command);

        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr