From 412c5291467a5812af769156912dca6024abc8f1 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@63.com>
Date: 星期一, 14 三月 2022 16:51:55 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/MelsecCrnThread.java | 409 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 409 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/MelsecCrnThread.java b/src/main/java/com/zy/core/thread/MelsecCrnThread.java
new file mode 100644
index 0000000..240532f
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/MelsecCrnThread.java
@@ -0,0 +1,409 @@
+package com.zy.core.thread;
+
+import HslCommunication.Core.Types.OperateResult;
+import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Melsec.MelsecMcNet;
+import com.alibaba.fastjson.JSON;
+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.CrnThread;
+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;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.Date;
+
+/**
+ * 鍫嗗灈鏈虹嚎绋�
+ * Created by vincent on 2020/8/4
+ */
+@Data
+@Slf4j
+public class MelsecCrnThread implements Runnable, ThreadHandler, CrnThread {
+
+ private MelsecMcNet melsecMcNet;
+ private CrnSlave slave;
+ private CrnProtocol crnProtocol;
+ private short heartBeatVal = 1;
+ private boolean resetFlag = false;
+
+ public MelsecCrnThread(CrnSlave slave) {
+ this.slave = slave;
+ }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+ this.connect();
+// try {
+// Thread.sleep(2000);
+// } catch (InterruptedException e) {
+// e.printStackTrace();
+// }
+ while (true) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Crn, 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((CrnCommand) task.getData());
+ break;
+ // 澶嶄綅
+ case 3:
+ CrnCommand command = (CrnCommand) task.getData();
+ if (null == command) {
+ command = new CrnCommand();
+ }
+ command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+ command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
+ write(command);
+ break;
+ default:
+ break;
+ }
+ // 蹇冭烦
+ heartbeat();
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ }
+ }
+
+ /**
+ * 鍒濆鍖栧爢鍨涙満鐘舵��
+ */
+ private void initCrn() {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ }
+ crnProtocol.setCrnNo(slave.getId());
+ crnProtocol.setMode((short) -1);
+// crnProtocol.setTaskNo((short)0);
+ crnProtocol.setStatus((short)-1);
+ crnProtocol.setBay((short)0);
+ crnProtocol.setLevel((short)0);
+ crnProtocol.setForkPos((short) -1);
+ crnProtocol.setLiftPos((short) -1);
+ crnProtocol.setWalkPos((short)0);
+ crnProtocol.setLoaded((short)0);
+ crnProtocol.setAlarm((short)0);
+ crnProtocol.setXSpeed(0F);
+ crnProtocol.setYSpeed(0F);
+ crnProtocol.setZSpeed(0F);
+ crnProtocol.setXDistance(0F);
+ crnProtocol.setYDistance(0F);
+ crnProtocol.setXDuration(0F);
+ crnProtocol.setYDuration(0F);
+ }
+
+ @Override
+ public boolean connect() {
+ boolean result = false;
+ melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
+ OperateResult connect = melsecMcNet.ConnectServer();
+ if(connect.IsSuccess){
+ result = true;
+ OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満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("鍫嗗灈鏈簆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}銆戝爢鍨涙満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("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ initCrn();
+ }
+// melsecMcNet.ConnectClose();
+ return result;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ try {
+// if (this.slave.getId() == 1 && flag1.equals(0)) {
+// Thread.sleep(3000);
+// flag1=1;
+// System.out.println("===");
+// }
+ OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
+ if (result.IsSuccess) {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ }
+ crnProtocol.setCrnNo(slave.getId());
+ crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
+ crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
+ crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
+ crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
+ crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
+ crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
+ crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
+ crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
+ crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
+ crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
+ crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));
+
+ OutputQueue.CRN.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()));
+
+ // 澶嶄綅淇″彿
+ if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
+ log.error("-------------------------------------------绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}][宸ヤ綔鍙凤細{}]==>> 鐘舵�佷负90锛岀瓑寰呯‘璁わ紒锛�",slave.getId(),crnProtocol.getTaskNo());
+ if (resetFlag) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setAckFinish((short)1);
+ if (write(crnCommand)) {
+ resetFlag = false;
+ }
+ }
+ }
+
+
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ BasCrnp basCrnp = new BasCrnp();
+ basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
+ basCrnp.setCrnNo(slave.getId());
+ if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
+ log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆憑1}鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐�",DateUtils.convert(new Date()), slave.getId()));
+ throw new CoolException(MessageFormat.format( "鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ initCrn();
+ }
+
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private boolean write(CrnCommand command){
+ if (null == command) {
+ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ 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 {
+ // 鏃ュ織璁板綍
+ BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+ BasCrnOpt basCrnOpt = new BasCrnOpt(
+ command.getTaskNo().intValue(), // 浠诲姟鍙�
+ command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
+ new Date(), // 涓嬪彂鏃堕棿
+ command.getTaskModeType().toString(), // 妯″紡
+ command.getSourcePosX().intValue(), // 婧愭帓
+ command.getSourcePosY().intValue(), // 婧愬垪
+ command.getSourcePosZ().intValue(), // 婧愬眰
+ null, // 婧愮珯
+ command.getDestinationPosX().intValue(), // 鐩爣鎺�
+ command.getDestinationPosY().intValue(), // 鐩爣鍒�
+ command.getDestinationPosZ().intValue(), // 鐩爣灞�
+ null, // 鐩爣绔�
+ null, // 鍝嶅簲缁撴灉
+ null, // 淇敼鏃堕棿
+ null // 淇敼浜哄憳
+ );
+ bean.insert(basCrnOpt);
+ } catch (Exception ignore) {}
+
+ if (result.IsSuccess) {
+ log.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.CRN.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.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+
+ @Override
+ public void close() {
+ melsecMcNet.ConnectClose();
+ }
+
+ /**
+ * 蹇冭烦
+ */
+ private void heartbeat(){
+ if (heartBeatVal == 1) {
+ heartBeatVal = 2;
+ } else {
+ heartBeatVal = 1;
+ }
+ OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
+ if (!write.IsSuccess) {
+ log.error("杈撻�佺嚎plc缂栧彿={} 蹇冭烦澶辫触", slave.getId());
+ }
+ }
+
+
+ /******************************************************************************************/
+ /**************************************** 娴嬭瘯涓撶敤 *****************************************/
+ /*****************************************************************************************/
+ public static void main(String[] args) throws InterruptedException {
+ CrnSlave slave = new CrnSlave();
+ slave.setId(1);
+ slave.setIp("192.168.3.39");
+ slave.setPort(5015);
+ slave.setRack(0);
+ slave.setSlot(0);
+ MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
+ melsecCrnThread.connect();
+ melsecCrnThread.readStatus();
+ System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
+
+ // 1.鍏ュ簱 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 2.鍑哄簱 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKOUT); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 4); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+
+// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// command.setSourcePosX((short)1); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short)1); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+// // 5.鍥炲師鐐� 涓嶇敤鍙� pass
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
+// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+// Thread.sleep(3000L);
+// crnThread.write(command);
+// }
+
+ }
+
+}
--
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