1

zhangc

2025-04-14 7662f4db87c6e5510d4f2429900012f871497ed6

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

@@ -1,237 +1,69 @@
package com.zy.core.thread;

import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.core.News;
import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.LiftCommandModeType;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import com.zy.core.model.protocol.LiftStaProtocol;

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

/**
 * 提升机线程
 */
@Data
@Slf4j
public class LiftThread implements  Runnable, ThreadHandler {
public interface LiftThread extends ThreadHandler {

    private ModbusTcpNet modbusTcpNet;
    private LiftSlave slave;
    private LiftProtocol liftProtocol;
    LiftProtocol getStatus();//获取提升机状态

    public LiftThread(LiftSlave slave) {
        this.slave = slave;
    }
    LiftProtocol getStatus(boolean clone);//获取提升机状态

    @Override
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Lift, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((LiftCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    List<LiftStaProtocol> getLiftStaProtocols();

    @Override
    public boolean connect() {
        boolean result = false;
        //-------------------------提升机连接方法------------------------//
        modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
        // 当你需要指定格式的数据解析时，就需要设置下面的这个信息
        modbusTcpNet.setDataFormat(DataFormat.ABCD);
        OperateResult connect = modbusTcpNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        }
        modbusTcpNet.ConnectClose();
        //-------------------------提升机连接方法------------------------//
        return result;
    }
    CommandResponse move(LiftCommand command);//升降移动

    @Override
    public void close() {
        modbusTcpNet.ConnectClose();
    }
    CommandResponse palletInOut(LiftCommand command);//托盘出入

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 17);
            if (result.IsSuccess) {
                if (null == liftProtocol) {
                    liftProtocol = new LiftProtocol();
                    liftProtocol.setLiftNo(slave.getId().shortValue());
                }
    CommandResponse lock(LiftCommand command);//锁定提升机

                //----------读取提升机状态-----------
                //获取数据
                byte[] content = result.Content;
                //提升机锁定
                liftProtocol.setLiftLock(modbusTcpNet.getByteTransform().TransInt16(content,0));
                //位置到达反馈
                liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
                //准备就绪
                liftProtocol.setReady(modbusTcpNet.getByteTransform().TransBool(content,3));
                //运行中
                liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4));
                //联机/单机
                liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5));
                //输送线前端光电有货
                liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6));
                //输送线正转反馈
                liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7));
                //输送线反转反馈
                liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8));
                //输送线电机过载
                liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9));
                //输送线末端光电有货
                liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
                //进输送线卡托盘报警
                liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11));
                //出输送线卡托盘报警
                liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12));
                //平台位置偏差报警
                liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13));
                //平台扭矩偏差报警
                liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14));
                //平台四向车检测
                liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15));
                //未就绪状态
                liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16));
                //伺服1错误
                liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17));
                //伺服2错误
                liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18));
                //伺服3错误
                liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19));
                //伺服4错误
                liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20));
                //提升机实际速度反馈
                liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,21));
    CommandResponse unlock(LiftCommand command);//解锁提升机

                ///读取提升机状态-end
    CommandResponse reset(LiftCommand command);//复位

                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
    boolean isIdle();//是否空闲

                // 根据实时信息更新数据库
                //.....
    boolean isDeviceIdle();//设备是否空闲

            }else {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}提升机plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "提升机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initLift();
        }
    }
    boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲

    private boolean write(LiftCommand command){
        if (null == command) {
            News.error("提升机写入命令为空");
            return false;
        }
    boolean setProtocolStatus(LiftProtocolStatusType status);//设置工作状态

        command.setLiftNo(slave.getId());
        // 开始任务
        short[] array = new short[30];
        //开始运行
        array[0] = command.getRun();
        //目标位置
        array[1] = command.getDistPosition();
        //运行速度
        array[2] = command.getSpeed();
        //二层高度设定
        array[3] = command.getHeight2();
        //三层高度设定
        array[4] = command.getHeight3();
        //四层高度设定
        array[5] = command.getHeight4();
        //提升机锁定
        array[29] = command.getLiftLock();
    boolean setSyncTaskNo(Integer taskNo);//设置工作号

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            News.info("提升机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
    boolean isLock(ExecuteSupport support);

    /**
     * 初始化提升机
     */
    private void initLift() {
        if (null == liftProtocol) {
            liftProtocol = new LiftProtocol();
        }
    }
    int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type);//生成硬件设备工作号

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        LiftSlave slave = new LiftSlave();
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
        LiftThread thread = new LiftThread(slave);
        thread.connect();
        thread.readStatus();
    String getLiftLocNo(int lev);//获取提升机位置

        LiftCommand command = new LiftCommand();
        command.setRun((short) 0);
        command.setDistPosition((short) 12);
        command.setSpeed((short) 300);
        command.setHeight2((short) 100);
        command.setHeight3((short) 200);
        command.setHeight4((short) 303);
        command.setLiftLock((short) 1);
        thread.write(command);
    String getLiftStandByLocNo(int lev, boolean in);//获取提升机待机位

    }
    List<NavigateNode> getLiftStaNodes(int lev);

    Integer getLevToStaNo(int lev);

    //***************获取命令*****************
    List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//提升机移动

    List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//载车移动

    List<LiftCommand> getPalletInCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//托盘入

    List<LiftCommand> getPalletOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//托盘出

    List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock);//锁定/解锁提升机

    List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal);//小车已到位/已驶离信号

}