#

luxiaotao1123

2022-03-12 a5bcafa83c88e9beacc0429e2f4e8f3df775f7ae

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

@@ -2,21 +2,18 @@

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.SteStatusType;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
@@ -30,12 +27,13 @@
/**
 * shuttle 穿梭车线程
 * Created by vincent on 2020/8/4
 * 不能有 槽号 和 机架号
 */
@Data
@Slf4j
public class SteThread implements Runnable, ThreadHandler {

    private MelsecMcNet melsecMcNet;
    private SiemensS7Net siemensS7Net;
    private SteSlave slave;
    private SteProtocol steProtocol;
    private short heartBeatVal = 1;
@@ -49,11 +47,6 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
//        try {
//            Thread.sleep(2000);
//        } catch (InterruptedException e) {
//            e.printStackTrace();
//        }
        while (true) {
            try {
                int step = 1;
@@ -76,16 +69,16 @@
                        if (null == command) {
                            command = new SteCommand();
                        }
                        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
                        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
//                        command.setSteNo(slave.getId()); // 穿梭车编号
//                        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
//                        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:
@@ -108,37 +101,40 @@
        if (null == steProtocol) {
            steProtocol = new SteProtocol();
        }
        steProtocol.setMode((short) -1);
//        crnProtocol.setTaskNo((short)0);
        steProtocol.setStatus((short)-1);
        steProtocol.setBay((short)0);
        steProtocol.setLevel((short)0);
        steProtocol.setForkPos((short) -1);
        steProtocol.setLiftPos((short) -1);
        steProtocol.setWalkPos((short)0);
        steProtocol.setLoaded((short)0);
        steProtocol.setAlarm((short)0);
        steProtocol.setXSpeed(0F);
        steProtocol.setYSpeed(0F);
        steProtocol.setZSpeed(0F);
        steProtocol.setXDistance(0F);
        steProtocol.setYDistance(0F);
        steProtocol.setXDuration(0F);
        steProtocol.setYDuration(0F);
//        steProtocol.setMode((short) -1);
//        steProtocol.setTaskNo((short)0);
//        steProtocol.setStatus((short)-1);
//        steProtocol.setBay((short)0);
//        steProtocol.setLevel((short)0);
//        steProtocol.setForkPos((short) -1);
//        steProtocol.setLiftPos((short) -1);
//        steProtocol.setWalkPos((short)0);
//        steProtocol.setLoaded((short)0);
//        steProtocol.setAlarm((short)0);
//        steProtocol.setXSpeed(0F);
//        steProtocol.setYSpeed(0F);
//        steProtocol.setZSpeed(0F);
//        steProtocol.setXDistance(0F);
//        steProtocol.setYDistance(0F);
//        steProtocol.setXDuration(0F);
//        steProtocol.setYDuration(0F);
    }

    @Override
    public boolean connect() {
        boolean result = false;
        melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
        OperateResult connect = melsecMcNet.ConnectServer();
        // 不能有 槽号 和 机架号
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S200Smart, slave.getIp());
//        siemensS7Net.setRack(slave.getRack().byteValue());
//        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            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}】穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }
//        melsecMcNet.ConnectClose();
@@ -155,41 +151,29 @@
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
            OperateResultExOne<byte[]> result = siemensS7Net.Read("V20", (short) 70);
            if (result.IsSuccess) {
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                }
                steProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                steProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
                steProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                steProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                steProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                steProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                steProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                steProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                steProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
                steProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                steProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                steProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                steProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                steProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                steProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
                steProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
                steProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
                steProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
                steProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
                steProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
                steProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));
//                steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
//                steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
//                steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
//                steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
//                steProtocol.setLevel(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
//                steProtocol.setForkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 10));
//                steProtocol.setLiftPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 12));
//                steProtocol.setWalkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
//                steProtocol.setLoaded(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
//                steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (steProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),steProtocol.getTaskNo());
                if (steProtocol.getStatusType().equals(SteStatusType.WAITING)) {
                    if (resetFlag) {
                        SteCommand steCommand = new SteCommand();
                        steCommand.setAckFinish((short)1);
//                        steCommand.setAckFinish((short)1);
                        if (write(steCommand)) {
                            resetFlag = false;
                        }
@@ -203,17 +187,17 @@
                basCrnp.setCrnErr(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(steProtocol.toSqlModel(basCrnp))){
                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                    log.error("穿梭车plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "堆垛机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}穿梭车plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            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()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }

@@ -223,66 +207,67 @@
     * 写入数据
     */
    private boolean write(SteCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        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();
        array[9] = command.getCommand();
        OperateResult result = melsecMcNet.Write("D0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = melsecMcNet.Write("D9", commandFinish);
        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
                    command.getSourcePosY().intValue(),    // 源列
                    command.getSourcePosZ().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosX().intValue(),    // 目标排
                    command.getDestinationPosY().intValue(),    // 目标列
                    command.getDestinationPosZ().intValue(),    // 目标层
                    null,    // 目标站
                    null,    // 响应结果
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
        return true;
//        if (null == command) {
//            log.error("穿梭车写入命令为空");
//            return false;
//        }
//        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
//        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();
//        array[9] = command.getCommand();
//        OperateResult result = siemensS7Net.Write("D0", array);
//
//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            result = siemensS7Net.Write("D9", commandFinish);
//        }
//
//        try {
//            // 日志记录
//            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
//            BasCrnOpt basCrnOpt = new BasCrnOpt(
//                    command.getTaskNo().intValue(),    // 任务号
//                    command.getCrnNo(),    // 穿梭车[非空]
//                    new Date(),    // 下发时间
//                    command.getTaskModeType().toString(),    // 模式
//                    command.getSourcePosX().intValue(),    // 源排
//                    command.getSourcePosY().intValue(),    // 源列
//                    command.getSourcePosZ().intValue(),    // 源层
//                    null,    // 源站
//                    command.getDestinationPosX().intValue(),    // 目标排
//                    command.getDestinationPosY().intValue(),    // 目标列
//                    command.getDestinationPosZ().intValue(),    // 目标层
//                    null,    // 目标站
//                    null,    // 响应结果
//                    null,    // 修改时间
//                    null    // 修改人员
//            );
//            bean.insert(basCrnOpt);
//        } catch (Exception ignore) {}
//
//        if (result.IsSuccess) {
//            log.info("穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
    }

    @Override
    public void close() {
        melsecMcNet.ConnectClose();
        siemensS7Net.ConnectClose();
    }

    /**
@@ -294,7 +279,7 @@
        } else {
            heartBeatVal = 1;
        }
        OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
        OperateResult write = siemensS7Net.Write("D10", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
        }