#

luxiaotao1123

2020-09-12 c88db5e02d675f2a877ec484dd39ad5baab0d0b8

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

@@ -1,7 +1,9 @@
package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
@@ -10,6 +12,7 @@
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.model.CrnSlave;
@@ -30,9 +33,10 @@
@Slf4j
public class CrnThread implements Runnable, ThreadHandler {

    private MelsecMcNet melsecMcNet;
    private SiemensS7Net siemensNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    public CrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -45,7 +49,7 @@
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
@@ -90,8 +94,10 @@
    @Override
    public boolean connect() {
        boolean result = false;
        melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
        OperateResult connect = melsecMcNet.ConnectServer();
        siemensNet = new SiemensS7Net(SiemensPLCS.S300, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        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()));
@@ -100,7 +106,7 @@
            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());
        }
        melsecMcNet.ConnectClose();
        siemensNet.ConnectClose();
        return result;
    }

@@ -108,59 +114,72 @@
     * 读取状态
     */
    private void readStatus(){
        try {
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 62);
        if (result.IsSuccess) {
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }
            crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content);
            crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content);
            crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content);
            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(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content);
            crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content);
            crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content);
            crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content);
        } 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());
            return;
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
            // 异常信息
            crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
            crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
            crnProtocol.setError3(siemensNet.getByteTransform().TransBool(result.Content, 26, 2));
            crnProtocol.setError4(siemensNet.getByteTransform().TransBool(result.Content, 28, 2));
            crnProtocol.setError5(siemensNet.getByteTransform().TransBool(result.Content, 30, 2));
            crnProtocol.setError6(siemensNet.getByteTransform().TransBool(result.Content, 32, 2));
            crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 34));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 38));
            crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 42));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 46));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 50));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 54));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 58));

            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 (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                if (resetFlag) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
                    if (write(crnCommand)) {
                        resetFlag = false;
                    }

                }
            }

            // 根据实时信息更新数据库
            BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
            BasCrnp basCrnp = new BasCrnp();
            basCrnp.setCrnNo(slave.getId());
            if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }

        } 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());
        }

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

        // 根据实时信息更新数据库
        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        BasCrnp basCrnp = new BasCrnp();
        basCrnp.setCrnNo(slave.getId());
        if (basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
            log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }

    }

    /**
     * 写入数据
     */
    private void write(CrnCommand command){
    private boolean write(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return;
            return false;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
@@ -173,30 +192,22 @@
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        OperateResult result = melsecMcNet.Write("DB8.0", array);
        OperateResult result = siemensNet.Write("DB8.0", array);
        if (result.IsSuccess) {
            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            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)));
//            readStatus();
            return true;
        } else {
            System.out.println(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()));
            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());
            return false;
        }
    }

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

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


    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/