#

LSH

2023-10-12 74c2c28d1ddb7cf5133f099e9c0c5ff605db7969

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

@@ -9,14 +9,16 @@
import com.core.common.SpringUtils;
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.asrs.entity.CommandInfo;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.service.*;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
@@ -24,6 +26,7 @@

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

/**
 * 堆垛机线程
@@ -45,6 +48,7 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        initCrnProtocol();
        this.connect();
        while (true) {
            try {
@@ -91,6 +95,22 @@
        }
    }

    /**
     * 初始化堆垛机
     */
    private void initCrnProtocol(){
        crnProtocol = new CrnProtocol();
        crnProtocol.setMode((short) 0);
        crnProtocol.setStatus((short) 0);
        crnProtocol.setTaskNo((short) 0);
        crnProtocol.setTaskFinish((short) 0);
        crnProtocol.setValid((short) 0);
        crnProtocol.setBay((short) 0);
        crnProtocol.setLevel((short) 0);
        crnProtocol.setRow((short) 0);
        crnProtocol.setLane((short) 0);
    }

    @Override
    public boolean connect() {
        boolean result = false;
@@ -105,6 +125,9 @@
        } 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());
//            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//            deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败");
            initCrnProtocol();
        }
        siemensNet.ConnectClose();
        return result;
@@ -130,10 +153,99 @@
            crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18));   // 20
            crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20));  // 22

            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt32(result.Content, 28));    // 30
            crnProtocol.setAlarm2(siemensNet.getByteTransform().TransInt32(result.Content, 32));    // 34
            crnProtocol.setAlarm3(siemensNet.getByteTransform().TransInt32(result.Content, 36));    // 38
            crnProtocol.setAlarm4(siemensNet.getByteTransform().TransInt32(result.Content, 40));    // 42
            // 异常
            crnProtocol.setAlarm1(0);
            crnProtocol.setAlarm2(0);
            crnProtocol.setAlarm3(0);
            crnProtocol.setAlarm4(0);
            boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1);    // 30
            if (err1[0]) { crnProtocol.setAlarm1(1); }
            if (err1[1]) { crnProtocol.setAlarm1(2); }
            if (err1[2]) { crnProtocol.setAlarm1(3); }
            boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1);    // 31
            if (err2[0]) { crnProtocol.setAlarm1(4); }
            if (err2[1]) { crnProtocol.setAlarm1(5); }
            if (err2[2]) { crnProtocol.setAlarm1(6); }
            boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1);    // 32
            if (err3[6]) { crnProtocol.setAlarm1(7); }
            if (err3[7]) { crnProtocol.setAlarm1(8); }
            boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1);    // 33
            if (err4[1]) { crnProtocol.setAlarm1(9); }
            if (err4[5]) { crnProtocol.setAlarm1(10); }
            if (err4[6]) { crnProtocol.setAlarm1(11); }
            if (err4[7]) { crnProtocol.setAlarm1(12); }
            boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1);    // 34
            if (err5[0]) { crnProtocol.setAlarm2(13); }
            if (err5[2]) { crnProtocol.setAlarm2(14); }
            if (err5[3]) { crnProtocol.setAlarm2(15); }
            if (err5[5]) { crnProtocol.setAlarm2(16); }
            if (err5[6]) { crnProtocol.setAlarm2(17); }
            if (err5[7]) { crnProtocol.setAlarm2(18); }
            boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1);    // 35
            if (err6[1]) { crnProtocol.setAlarm2(19); }
            if (err6[2]) { crnProtocol.setAlarm2(20); }
            if (err6[3]) { crnProtocol.setAlarm2(21); }
            if (err6[4]) { crnProtocol.setAlarm2(22); }
            boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1);    // 36
            if (err7[4]) { crnProtocol.setAlarm2(23); }
            if (err7[5]) { crnProtocol.setAlarm2(24); }
            if (err7[6]) { crnProtocol.setAlarm2(25); }
            boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1);    // 38
            if (err8[0]) { crnProtocol.setAlarm3(26); }
            if (err8[1]) { crnProtocol.setAlarm3(27); }
            if (err8[2]) { crnProtocol.setAlarm3(28); }
            if (err8[3]) { crnProtocol.setAlarm3(29); }
            if (err8[4]) { crnProtocol.setAlarm3(30); }
            if (err8[5]) { crnProtocol.setAlarm3(31); }
            if (err8[6]) { crnProtocol.setAlarm3(32); }
            if (err8[7]) { crnProtocol.setAlarm3(33); }
            boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);    // 39
            if (err9[0]) { crnProtocol.setAlarm3(34); }
            if (err9[1]) { crnProtocol.setAlarm3(35); }
            if (err9[2]) { crnProtocol.setAlarm3(36); }
            if (err9[3]) { crnProtocol.setAlarm3(37); }
            if (err9[4]) { crnProtocol.setAlarm3(38); }
            if (err9[5]) { crnProtocol.setAlarm3(39); }
            if (err9[6]) { crnProtocol.setAlarm3(40); }
            if (err9[7]) { crnProtocol.setAlarm3(41); }
            boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1);    // 40
            if (err10[0]) { crnProtocol.setAlarm3(42); }
            if (err10[1]) { crnProtocol.setAlarm3(43); }
            if (err10[2]) { crnProtocol.setAlarm3(44); }
            if (err10[3]) { crnProtocol.setAlarm3(45); }
            if (err10[4]) { crnProtocol.setAlarm3(46); }
            boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1);    // 41
            if (err11[0]) { crnProtocol.setAlarm3(47); }
            if (err11[1]) { crnProtocol.setAlarm3(48); }
            if (err11[2]) { crnProtocol.setAlarm3(49); }
            boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1);    // 42
            if (err12[0]) { crnProtocol.setAlarm4(50); }
            if (err12[1]) { crnProtocol.setAlarm4(51); }
            if (err12[2]) { crnProtocol.setAlarm4(52); }
            if (err12[3]) { crnProtocol.setAlarm4(53); }
            if (err12[4]) { crnProtocol.setAlarm4(54); }
            if (err12[5]) { crnProtocol.setAlarm4(55); }
            boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1);    // 43
            if (err13[0]) { crnProtocol.setAlarm4(56); }
            if (err13[1]) { crnProtocol.setAlarm4(57); }
            if (err13[2]) { crnProtocol.setAlarm4(58); }
            if (err13[3]) { crnProtocol.setAlarm4(59); }
            boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1);    // 44
            if (err14[0]) { crnProtocol.setAlarm4(60); }
            if (err14[1]) { crnProtocol.setAlarm4(61); }
            if (err14[2]) { crnProtocol.setAlarm4(62); }
            if (err14[3]) { crnProtocol.setAlarm4(63); }
            if (err14[4]) { crnProtocol.setAlarm4(64); }
            if (err14[5]) { crnProtocol.setAlarm4(65); }
            if (err14[6]) { crnProtocol.setAlarm4(66); }
            if (err14[7]) { crnProtocol.setAlarm4(67); }
            boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1);    // 45
            if (err15[1]) { crnProtocol.setAlarm4(68); }
            if (err15[2]) { crnProtocol.setAlarm4(69); }
            if (err15[3]) { crnProtocol.setAlarm4(70); }
            if (err15[4]) { crnProtocol.setAlarm4(71); }
            if (err15[5]) { crnProtocol.setAlarm4(72); }
            if (err15[6]) { crnProtocol.setAlarm4(73); }

            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
            crnProtocol.setConnStatus(bool1[0]);
@@ -168,7 +280,7 @@
            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
            // 累计里程、时长
            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102
@@ -224,14 +336,19 @@
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnNo(slave.getId());
                basCrnp.setCrnSts((int)crnProtocol.getMode());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                }
            } catch (Exception ignore){}

            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.deleteDeviceError("crn", slave.getId());
        } 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());
            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.addDeviceError("crn", slave.getId(), "读取堆垛机plc状态信息失败");
        }
    }

@@ -243,30 +360,82 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        if (command.getTaskNo() == 0) {
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
            command.setTaskNo((short) 9999);
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        if (!command.getTaskModeType().equals(CrnTaskModeType.CLEAR)) {
        if (command.getAckFinish() == 0) {
            array[0] = 5;
        } else {
            array[0] = 7;
            array[0] = 0;
        }
        array[1] = command.getSourcePosZ();
        array[2] = command.getSourcePosY();
        array[3] = command.getSourcePosX();
        array[4] = command.getDestinationPosZ();
        array[5] = command.getDestinationPosY();
        array[6] = command.getDestinationPosX();
        array[7] = command.getSourceStaNo();
        array[8] = command.getDestinationStaNo();

        if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)1){
            array[1] = (short)0;
            array[2] = (short)0;
        }else if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)41){
            array[1] = (short)0;
            array[2] = (short)42;
        }else {
            array[1] = command.getSourcePosZ();
            array[2] = command.getSourcePosY();
        }

        if (command.getSourcePosX()==(short)3){
            array[3] = (short)1;
        }else if (command.getSourcePosX()==(short)4){
            array[3] = (short)2;
        }else {
            array[3] = command.getSourcePosX();
        }

        if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)1){
            array[4] = (short)0;
            array[5] = (short)0;
        }else if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)41){
            array[4] = (short)0;
            array[5] = (short)42;
        }else {
            array[4] = command.getDestinationPosZ();
            array[5] = command.getDestinationPosY();
        }

        if (command.getDestinationPosX()==(short)3){
            array[6] = (short)1;
        }else if (command.getDestinationPosX()==(short)4){
            array[6] = (short)2;
        }else {
            array[6] = command.getDestinationPosX();
        }
        if ((array[1]==(short)0 && array[2] == (short)0) || (array[1]==(short)0 && array[2] == (short)42)){
            array[7]=(short)1;
        }else {
            array[7]=(short)0;
        }
//        array[7] = command.getSourceStaNo();

        if ((array[4]==(short)0 && array[5] == (short)0) || (array[4]==(short)0 && array[5] == (short)42)){
            array[8]=(short)1;
        }else {
            array[8]=(short)0;
        }
//        array[8] = command.getDestinationStaNo();

        // 作业信息
        OperateResult result = siemensNet.Write("DB1000.0", array);
        // 任务号
        OperateResult result1 = siemensNet.Write("DB1000.24", command.getTaskNo());
        OperateResult result = siemensNet.Write("DB10.0", array);
        // 任务号 + 完成位
        short[] array2 = new short[2];
        array2[0] = command.getTaskNo();
        array2[1] = command.getAckFinish();
        OperateResult result1 = siemensNet.Write("DB10.24", array2);

        // 结束位
        OperateResult result2 = siemensNet.Write("DB1000.28.1", true);
        if (command.getAckFinish() == 0) {
            OperateResult result2 = siemensNet.Write("DB10.28.1", true);
        }

        // 日志记录
        try {
            if (command.getAckFinish() != 1) {
@@ -292,10 +461,18 @@
            }
        } catch (Exception ignore) {}

        if (result.IsSuccess && result1.IsSuccess && result2.IsSuccess) {

            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
        if (result.IsSuccess && result1.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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)));

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }

            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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));