*

lsh

6 天以前 f287ab5ee6b9938e0d48cdb62c05078bdec463d8

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

@@ -5,6 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
@@ -15,6 +16,9 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.TaskProtocolCache;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -22,11 +26,14 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.TaskProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;

/**
 * RGV线程
@@ -38,7 +45,9 @@

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
    private RgvProtocol rgvProtocol;
//    private RgvProtocol rgvProtocol;
    private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();

    /**
     * 工位1复位信号
     */
@@ -55,46 +64,135 @@
    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        boolean connect = this.connect();
        if (connect){

            // 启动读数据线程
            new Thread(this::readStatusRgv).start();

            // 启动任务下发线程
            new Thread(this::taskTakeIssued).start();

            new Thread(this::taskPutIssued).start();

            new Thread(this::taskWalkIssued).start();
        }
    }

    private void readStatusRgv(){
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 工位1、2写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(RgvTaskModeType.NONE); // 任务模式
                        command.setDestinationStaNo(0L);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
                Thread.sleep(100);

                readStatus();

            } catch (Exception e) {
                log.error("RGV线程异常！！！"+e.getMessage());
                log.error("RGV数据读取线程异常！！！"+e.getMessage());
                initRgv();
//                e.printStackTrace();
            }

        }

    }

    /**
     * 任务下发
     */
    private void taskTakeIssued() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);
                if (!deviceDetection()){
                    continue;
                }
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null) {
                    initRgv();
                    rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                }
                if (rgvProtocol.getAvoid() == 0 || !rgvProtocol.getLoaded().equals((short) 0)) {
                    continue;
                }
                List<TaskProtocol> allTakeTaskProtocol = taskProtocolCache.getAllTakeTaskProtocol();
                for(TaskProtocol taskProtocol: allTakeTaskProtocol){
                    if (taskProtocol.getTaskStatus() == 1){//准备下发








                        TaskProtocol issued = new TaskProtocol(taskProtocol);
                        write(issued);
                        taskProtocol.setIsRunning(taskProtocol.getIsRunning() +1);
                        taskProtocolCache.updateTaskProtocol(taskProtocol);
                        break;
                    }
                }


            } catch (Exception e) {
                log.error("RGV取货任务下发线程异常！！！"+e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    public boolean deviceDetection(){
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        if (rgvProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
                || !rgvProtocol.getStatusType().equals(RgvStatusType.IDLE)) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocolOther == null) {
            return false;
        }
        if (rgvProtocolOther.statusEnable){
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
                return false;
            }
        }
        return true;
    }

    /**
     * 任务下发
     */
    private void taskPutIssued() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);

            } catch (Exception e) {
                log.error("RGV放货任务下发线程异常！！！"+e.getMessage());
//                e.printStackTrace();
            }
        }
    }

    /**
     * 任务下发
     */
    private void taskWalkIssued() {
        while (true) {
            try {
                // 休眠 1 秒
                Thread.sleep(100);


            } catch (Exception e) {
                log.error("RGV行走任务下发线程异常！！！"+e.getMessage());
//                e.printStackTrace();
            }
        }
    }

@@ -102,8 +200,10 @@
     * 初始化RGV状态
     */
    private void initRgv() {
        if (null == rgvProtocol) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        if (rgvProtocol == null) {
            rgvProtocol = new RgvProtocol();
            rgvProtocol.setRgvNo(slave.getId());
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
@@ -113,6 +213,15 @@
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
        BasRgv rgv = basRgvService.selectById(slave.getId());
        if (!Cools.isEmpty(rgv)){
            rgvProtocol.setStatusEnable(rgv.getStatus() == 1);
        } else {
            rgvProtocol.setStatusEnable(false);
        }
        RgvStatusCache.updateRgvStatus(rgvProtocol);

    }

    @Override
@@ -142,7 +251,9 @@
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                // 构建设备状态对象
                RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                if (rgvProtocol == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
@@ -155,37 +266,49 @@
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                // 工位1复位信号
                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }
//                // 工位1复位信号
//                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag1) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish1((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag1 = false;
//                        }
//                    }
//                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = new BasRgv();
                    BasRgv basRgv = basRgvService.selectById(slave.getId());
                    if (!Cools.isEmpty(basRgv)){
                        rgvProtocol.setStatusEnable(basRgv.getStatus() == 1);
                    } else {
                        rgvProtocol.setStatusEnable(false);
                    }
//                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){}
                } catch (Exception ignore){

                }


                // 更新缓存
                RgvStatusCache.updateRgvStatus(rgvProtocol);

            } else {
                initRgv();
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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()));
//                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            e.printStackTrace();
//            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
@@ -194,40 +317,40 @@
    /**
     * 写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
    private boolean write(TaskProtocol taskProtocol) throws InterruptedException {
        if (null == taskProtocol) {
            log.error("RGV写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
//        taskProtocol.setRgvNo(slave.getId());
        Long[] array = new Long[11];
//        array[0] = taskProtocol.getAckFinish1();
        array[1] = taskProtocol.getTaskNo();
//        array[2] = taskProtocol.getTaskMode();
//        array[4] = command.getDestinationStaNo();
        array[10] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);
//        array[10] = taskProtocol.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", taskProtocol.getTaskNo());

        if (command.getAckFinish1() == 0) {
            short commandFinish = 3;  //工位1、2任务同时写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }
//        if (taskProtocol.getAckFinish1() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入
//            Thread.sleep(100L);
//            result = siemensNet.Write("DB100.20", commandFinish);
//        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo().intValue(),
                    command.getTaskNo().intValue(),
                    command.getRgvNo(),
                    taskProtocol.getTaskNo().intValue(),
                    taskProtocol.getTaskNo().intValue(),
                    slave.getId(),
                    new Date(),
                    command.getTaskModeType().toString(),
                    String.valueOf(taskProtocol.getTaskStatus()),
                    null,
                    null,
                    null,
                    command.getDestinationStaNo().intValue(),
                    result.IsSuccess? 1 : 0,
                    null,
                    new Date(),
                    null
@@ -238,8 +361,8 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(taskProtocol)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));