#

luxiaotao1123

2020-08-13 97283d17c312d0e6aca7946bc060015c17349a57

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

@@ -1,13 +1,16 @@
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.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
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;
@@ -20,12 +23,13 @@
@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;
        this.connect();
    }

    @Override
@@ -41,14 +45,26 @@
                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();
                        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;
@@ -64,15 +80,15 @@
    @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());
            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());
            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 +98,72 @@
     * 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) {
            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 {
            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) {
            readStatus();
        } else {
            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() {

    }


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