#

Junjie

3 天以前 959139e7a5d89e8498d731082a949310ae1c6fcf

 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -1,27 +1,29 @@
package com.zy.core.thread.impl;

import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.DeviceDataLogService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
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.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyCrnConnectThread;
import com.zy.core.network.ZyCrnConnectDriver;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import com.zy.core.thread.CrnThread;
import lombok.Data;
@@ -32,7 +34,6 @@

/**
 * 堆垛机线程
 * Created by vincent on 2020/8/4
 */
@Data
@Slf4j
@@ -40,8 +41,9 @@

    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ZyCrnConnectThread zyCrnConnectThread;
    private ZyCrnConnectDriver zyCrnConnectDriver;
    private CrnProtocol crnProtocol;
    private int deviceLogCollectTime = 200;
    private boolean resetFlag = false;

    public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
@@ -56,6 +58,7 @@
        this.initCrn();
        while (true) {
            try {
                deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
                if (task != null) {
@@ -66,12 +69,15 @@
                    case 1:
                        readStatus();
                        break;
                    case 2:
                        sendCommand((CrnCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(200);
            } catch (Exception e) {
//                e.printStackTrace();
                e.printStackTrace();
            }
        }
    }
@@ -105,10 +111,9 @@

    @Override
    public boolean connect() {
        SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
        ThreadHandler thread = new ZyCrnConnectThread(siemensS7Net, deviceConfig);
        new Thread(thread).start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), thread);
        zyCrnConnectDriver = new ZyCrnConnectDriver(deviceConfig);
        new Thread(zyCrnConnectDriver).start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
        return true;
    }

@@ -116,7 +121,7 @@
     * 读取状态
     */
    private void readStatus(){
        ZyCrnStatusEntity crnStatus = zyCrnConnectThread.getStatus();
        ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
@@ -169,26 +174,38 @@
            crnProtocol.setLastCommandTime(System.currentTimeMillis());
        }

        if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > 1000 * 1) {
            //采集时间超过1s，保存一次数据记录
        if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
            //保存数据记录
            DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
            deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
            deviceDataLog.setType(String.valueOf(SlaveType.Crn));
            deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
            deviceDataLog.setCreateTime(new Date());
            deviceDataLogService.insert(deviceDataLog);

            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
            //更新采集时间
            crnProtocol.setDeviceDataLog(System.currentTimeMillis());
        }

        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        if (basCrnpService != null) {
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            if(basCrnp == null) {
                basCrnp = new BasCrnp();
                basCrnp.setCrnNo(deviceConfig.getDeviceNo());
                basCrnp.setStatus(1);
                basCrnp.setInEnable("N");
                basCrnp.setOutEnable("N");
                basCrnp.setCreateTime(new Date());
                basCrnpService.insert(basCrnp);
            }
        }
    }

    @Override
    public void close() {
        zyCrnConnectThread.close();
        zyCrnConnectDriver.close();
    }

    @Override
@@ -213,18 +230,15 @@
    }

    @Override
    public CrnCommand getMoveCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
    public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式:  堆垛机移动
        crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX((short) 0);     // 目标库位排
        crnCommand.setDestinationPosY((short) 0);     // 目标库位列
        crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        return crnCommand;
    }
@@ -249,6 +263,33 @@
    @Override
    public synchronized CommandResponse sendCommand(CrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        return zyCrnConnectThread.sendCommand(command);
        CommandResponse response = null;
        try {
            response = zyCrnConnectDriver.sendCommand(command);
            return response;
        } finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
            BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
            ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
            BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                    command.getTaskNo().intValue(),
                    command.getCrnNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    sourceLocNo,
                    targetLocNo,
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basCrnpOpt);
            }
        }
    }
}