#

luxiaotao1123

2020-08-17 991581410c848c8328e5c058c7aa9c859c1a8d96

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

@@ -5,8 +5,10 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
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;
@@ -15,6 +17,9 @@
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
@@ -28,14 +33,15 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;


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

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
@@ -61,7 +67,7 @@
                        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.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        command.setSourcePosX((short)0);     // 源库位排
                        command.setSourcePosY((short)0);     // 源库位列
                        command.setSourcePosZ((short)0);     // 源库位层
@@ -90,8 +96,10 @@
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            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 {
            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();
@@ -102,8 +110,9 @@
     * 读取状态
     */
    private void readStatus(){
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 46);
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 56);
        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();
            }
@@ -115,19 +124,22 @@
            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.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));
            // 异常信息
            crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
            crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
            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));
            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));
        } 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());
        }
    }
@@ -153,8 +165,10 @@
        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());
        }
    }
@@ -177,22 +191,25 @@
    /*****************************************************************************************/
    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);
//        // 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);

    }