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luxiaotao1123

2022-03-16 6f3dba8f0db1e0992d9c755fd232b4a5c4d5b66c

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

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package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
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.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.CrnThread;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * 堆垛机线程
 * Created by vincent on 2020/8/4
 */
@Data
@Slf4j
public class MelsecCrnThread implements Runnable, ThreadHandler, CrnThread {

    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    public MelsecCrnThread(CrnSlave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
//        try {
//            Thread.sleep(2000);
//        } catch (InterruptedException e) {
//            e.printStackTrace();
//        }
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        CrnCommand command = (CrnCommand) task.getData();
                        if (null == command) {
                            command = new CrnCommand();
                        }
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 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)0);     // 目标库位排
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    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
    public boolean connect() {
        boolean result = false;
        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}]", 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}] ", 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();
        return result;
    }

    /**
     * 读取状态
     */
    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));
                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
                crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
                crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
                crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));

                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)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                    if (resetFlag) {
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                        }
                    }
                }


                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
                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()));
            }
        } 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());
            initCrn();
        }

    }

    /**
     * 写入数据
     */
    private boolean write(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        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();
        array[9] = command.getCommand();
        OperateResult result = melsecMcNet.Write("D0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = melsecMcNet.Write("D9", commandFinish);
        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
                    command.getSourcePosY().intValue(),    // 源列
                    command.getSourcePosZ().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosX().intValue(),    // 目标排
                    command.getDestinationPosY().intValue(),    // 目标列
                    command.getDestinationPosZ().intValue(),    // 目标层
                    null,    // 目标站
                    null,    // 响应结果
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
            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)));
            return true;
        } else {
            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());
            return false;
        }
    }

    @Override
    public void close() {
        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 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.3.39");
        slave.setPort(5015);
        slave.setRack(0);
        slave.setSlot(0);
        MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
        melsecCrnThread.connect();
        melsecCrnThread.readStatus();
        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));

        // 1.入库 源和目标都发
//        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.PAKIN); // 任务模式
//        command.setSourcePosX((short) 1);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 1);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 3);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);

        // 2.出库 源和目标都发
//        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.PAKOUT); // 任务模式
//        command.setSourcePosX((short) 2);     // 源库位排
//        command.setSourcePosY((short) 4);     // 源库位列
//        command.setSourcePosZ((short) 3);     // 源库位层
//        command.setDestinationPosX((short) 1);     // 目标库位排
//        command.setDestinationPosY((short) 0);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);


//        // 3.库位移转   源和目标都发 pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 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.LOC_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)2);     // 源库位排
//        command.setSourcePosY((short)2);     // 源库位列
//        command.setSourcePosZ((short)3);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)4);     // 目标库位列
//        command.setDestinationPosZ((short)4);     // 目标库位层
//        crnThread.write(command);

        // 4.站位移转   源和目标都发
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 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.SITE_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)1);     // 源库位排
//        command.setSourcePosY((short)0);     // 源库位列
//        command.setSourcePosZ((short)1);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)0);     // 目标库位列
//        command.setDestinationPosZ((short)1);     // 目标库位层
//        crnThread.write(command);

//        // 5.回原点  不用发   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.GO_ORIGIN); // 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) 0);     // 目标库位排
//        command.setDestinationPosY((short) 0);     // 目标库位列
//        command.setDestinationPosZ((short) 0);     // 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
//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
//            CrnCommand command = new CrnCommand();
//            command.setCrnNo(1); // 堆垛机编号
//            command.setAckFinish((short) 1);  // 任务完成确认位
//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
//            Thread.sleep(3000L);
//            crnThread.write(command);
//        }

    }

}