From 2b6156951c18ea9ff60ed5578db633cebbe99fa7 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 25 九月 2025 10:46:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 271 +----------------------------------------------------
1 files changed, 7 insertions(+), 264 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 1e3d471..6574b52 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -1,274 +1,17 @@
package com.zy.core.thread;
-import HslCommunication.Core.Transfer.DataFormat;
-import HslCommunication.Core.Types.OperateResult;
-import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.ModBus.ModbusTcpNet;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
-import com.alibaba.fastjson.JSON;
-import com.core.common.DateUtils;
-import com.core.common.RadixTools;
-import com.core.exception.CoolException;
-import com.zy.common.utils.CommonUtils;
-import com.zy.core.News;
import com.zy.core.ThreadHandler;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.OutputQueue;
-import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.ShuttleStatusType;
-import com.zy.core.enums.SlaveType;
-import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.SteSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.SteCommand;
-import com.zy.core.model.protocol.ShuttleProtocol;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
+import com.zy.core.model.DeviceCommandMsgModel;
+import com.zy.core.properties.DeviceConfig;
-import java.text.MessageFormat;
-import java.util.Date;
-import java.util.Random;
+import java.net.Socket;
-/**
- * 鍥涘悜绌挎杞︾嚎绋�
- */
-@Data
-@Slf4j
-public class ShuttleThread implements Runnable, ThreadHandler {
+public interface ShuttleThread extends ThreadHandler {
- private ModbusTcpNet modbusTcpNet;
- private ShuttleSlave slave;
- private ShuttleProtocol shuttleProtocol;
- private SiemensS7Net siemensS7Net;
+ DeviceConfig getDeviceConfig();
- public ShuttleThread(ShuttleSlave slave) {
- this.slave = slave;
- }
+ void stopThread();
- @Override
- public void run() {
- this.connect();
- while (true) {
- try {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Shuttle, slave.getId());
- if (task != null) {
- step = task.getStep();
- }
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- readStatus();
- break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((ShuttleCommand) task.getData());
- break;
- default:
- break;
- }
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
+ Socket getSocket();
- @Override
- public boolean connect() {
- boolean result = false;
- //-------------------------鍥涘悜绌挎杞﹁繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
- // 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
- modbusTcpNet.setDataFormat(DataFormat.ABCD);
- OperateResult connect = modbusTcpNet.ConnectServer();
- if(connect.IsSuccess){
- result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝洓鍚戠┛姊溅plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.info("鍥涘悜绌挎杞lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- } else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍥涘悜绌挎杞lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- }
- modbusTcpNet.ConnectClose();
- //-------------------------鍥涘悜绌挎杞﹁繛鎺ユ柟娉�------------------------//
- return result;
- }
-
- @Override
- public void close() {
-
- }
-
- private void readStatus() {
- try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
- if (result.IsSuccess) {
- if (null == shuttleProtocol) {
- shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId().shortValue());
- }
-
- //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
- //鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //灏忚溅蹇欑姸鎬佷綅
- shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
- //褰撳墠浜岀淮鐮�
- shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
- //鐢垫睜鐢甸噺鐧惧垎姣�
- shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
- //鐢垫睜娓╁害
- shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
- //閿欒缂栧彿
- shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
- //Plc杈撳嚭鐘舵�両O
- shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
- //閿欒淇℃伅鐮�
- shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
- //PLC杈撳叆鐘舵��
- shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
- //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
- shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
- //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
- shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
- //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
- shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
- //褰撳墠鐨勭數鍘嬪��
- shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
- //褰撳墠鐨勬ā鎷熼噺鍊�
- shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
- //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
- shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
- //褰撳墠鐨勮璧颁己鏈嶉�熷害
- shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
- //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
- shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
- //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
- shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));
-
- ///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
-
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
- log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
-
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- //.....
-
- }else {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆憑1}鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
- throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
- }
- } catch (Exception e) {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- initShuttle();
- }
- }
-
- private boolean write(ShuttleCommand command){
- if (null == command) {
- News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
- return false;
- }
-
- command.setShuttleNo(slave.getId());
- // 寮�濮嬩换鍔�
- //...
- short[] array = new short[17];
- //鎺у埗鎸囦护瀛�
- array[0] = command.getCommandWord();
- //鍚浜岀淮缂栧彿
- array[1] = command.getStartCodeNum();
- //涓棿浜岀淮缂栧彿
- array[2] = command.getMiddleCodeNum();
- //鐩爣浜岀淮缂栧彿
- array[3] = command.getDistCodeNum();
-
- //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
- array[4] = startToDistDistances[0];
- array[5] = startToDistDistances[1];
-
- //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
- array[6] = middleToDistDistances[0];
- array[7] = middleToDistDistances[1];
-
- //灏忚溅杩愯鏂瑰悜
- array[8] = command.getRunDirection();
- //鎵樼洏椤跺崌
- array[9] = command.getPalletLift();
-
- //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
- array[10] = forceMoveDistances[0];
- array[11] = forceMoveDistances[1];
-
- //鍏呯數寮�鍏�
- array[12] = command.getChargeSwitch();
- //灏忚溅IO鎺у埗
- array[13] = command.getIOControl();
- //灏忚溅杩愯閫熷害
- array[14] = command.getRunSpeed();
- //灏忚溅闆疯揪澶囩敤
- array[15] = command.getRadarTmp();
- //鎸囦护缁撴潫浣�
- array[16] = command.getCommandEnd();
-
- OperateResult result = modbusTcpNet.Write("0", array);;
- if (result != null && result.IsSuccess) {
- News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
- return true;
- } else {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ洓鍚戠┛姊溅plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- News.error("鍐欏叆鍥涘悜绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
-
- /**
- * 鍒濆鍖栧洓鍚戠┛姊溅
- */
- private void initShuttle() {
- if (null == shuttleProtocol) {
- shuttleProtocol = new ShuttleProtocol();
- }
-// shuttleProtocol.setShuttleNo(slave.getId().shortValue());
-// shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
-// shuttleProtocol.setCurrentCode("0");
- }
-
- /******************************************************************************************/
- /**************************************** 娴嬭瘯涓撶敤 *****************************************/
- /*****************************************************************************************/
- public static void main(String[] args) throws InterruptedException {
- ShuttleSlave slave = new ShuttleSlave();
- slave.setId(1);
- slave.setIp("192.168.4.24");
- slave.setPort(502);
- ShuttleThread thread = new ShuttleThread(slave);
- thread.connect();
- thread.readStatus();
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 0);
- command.setStartCodeNum((short) 12323);
- command.setMiddleCodeNum((short) 22323);
- command.setDistCodeNum((short) 29999);
- command.setStartToDistDistance(109999);
- command.setMiddleToDistDistance(5000);
- command.setRunDirection((short) 1);
- command.setPalletLift((short) 2);
- command.setForceMoveDistance(3000);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- thread.write(command);
-
- }
}
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