#

luxiaotao1123

2020-08-17 7eab121b2462e5b83f144fe4f3be93db6128ca0f

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

@@ -1,16 +1,25 @@
package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.zy.core.Slave;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
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
@@ -20,17 +29,19 @@
@Slf4j
public class CrnThread implements Runnable, ThreadHandler {

    SiemensS7Net siemensNet;
    private Slave slave;
    private SiemensS7Net siemensNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;

    public CrnThread(Slave slave) {

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

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
@@ -41,19 +52,34 @@
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();   // 读取状态
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        break;
                    case 3:
                        write((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 4:
                    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:  库位移转
                        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;
                }
                Thread.sleep(3000);
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
@@ -64,15 +90,17 @@
    @Override
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200,slave.getIp());
        siemensNet.setRack((byte) 0);
        siemensNet.setSlot((byte) 1);
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            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());
        } else {
            log.info("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            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());
        }
        siemensNet.ConnectClose();
        return result;
@@ -82,36 +110,105 @@
     * 读取状态
     */
    private void readStatus(){
        CrnProtocol protocol = new CrnProtocol();
        protocol.setMode(siemensNet.ReadInt16("D2231").Content);
        protocol.setEStop(siemensNet.ReadInt16("D2232").Content);
        protocol.setTaskNo(siemensNet.ReadInt16("D2233").Content);
        protocol.setStatus(siemensNet.ReadInt16("D2234").Content);
        protocol.setBay(siemensNet.ReadInt16("D2235").Content);
        protocol.setLevel(siemensNet.ReadInt16("D2236").Content);
        protocol.setForkPos(siemensNet.ReadInt16("D2237").Content);
        protocol.setLiftPos(siemensNet.ReadInt16("D2238").Content);
        protocol.setWalkPos(siemensNet.ReadInt16("D2239").Content);
        protocol.setTaskFinish(siemensNet.ReadInt16("D2240").Content);
        protocol.setLoaded(siemensNet.ReadInt16("D2241").Content);
        protocol.setAlarm(siemensNet.ReadInt16("D2242").Content);
        protocol.setXDistance(siemensNet.ReadInt32("D2251").Content);
        protocol.setYDistance(siemensNet.ReadInt32("D2253").Content);
        protocol.setDuration(siemensNet.ReadInt32("D2255").Content);
        this.crnProtocol = protocol;
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 46);
        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));
            crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22));
            crnProtocol.setError2(siemensNet.getByteTransform().TransInt16(result.Content, 24));
            crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 26));
            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30));
            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransInt32(result.Content, 34));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransInt32(result.Content, 38));
            crnProtocol.setDuration(siemensNet.getByteTransform().TransInt32(result.Content, 42));
        } 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());
        }
    }

    /**
     * 写入数据
     */
    private void write(){

    private void write(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            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) {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            readStatus();
        } 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()));
            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());
        }
    }

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

    public CrnProtocol getCrnProtocol(){
        if (crnProtocol == null) {
            readStatus();
        }
        return this.crnProtocol;
    }


    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) {
        CrnSlave slave = new CrnSlave();
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        slave.setSlot(0);
        CrnThread crnThread = new CrnThread(slave);
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));
//        // 写
//        CrnCommand 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:  库位移转
//        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);

    }

}