From 4686841f5b8803b04c6debaf6c7d5c50cae25d18 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <xltys1995>
Date: 星期五, 28 八月 2020 16:16:31 +0800
Subject: [PATCH] #v2.1.1
---
src/main/java/com/zy/core/thread/CrnThread.java | 378 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 367 insertions(+), 11 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/CrnThread.java b/src/main/java/com/zy/core/thread/CrnThread.java
index a8f07c3..f560126 100644
--- a/src/main/java/com/zy/core/thread/CrnThread.java
+++ b/src/main/java/com/zy/core/thread/CrnThread.java
@@ -1,31 +1,89 @@
package com.zy.core.thread;
-import com.zy.core.Slave;
+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.BasCrnp;
+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.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 CrnThread implements Runnable, ThreadHandler {
- private Slave slave;
+ private MelsecMcNet melsecMcNet;
+ private CrnSlave slave;
+ private CrnProtocol crnProtocol;
+ private boolean resetFlag = false;
- public CrnThread(Slave slave) {
+ public CrnThread(CrnSlave slave) {
this.slave = slave;
}
@Override
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
+ this.connect();
while (true) {
try {
- System.out.println("绾跨▼"+slave.getId()+"姝ｅ湪杩愯");
-
-
-
-
-
- Thread.sleep(1000);
+ 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;
+ }
+ Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
}
@@ -34,6 +92,304 @@
}
@Override
- public void close() {
+ 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());
+ }
+ melsecMcNet.ConnectClose();
+ return result;
}
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ try {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ }
+
+ /* 鏂规硶1 */
+ OperateResultExOne<byte[]> result = melsecMcNet.Read("D2231", (short) 62);
+ if (result.IsSuccess) {
+ crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
+ crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
+// crnProtocol.setTaskFinish(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2));
+ crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransBool(result.Content, 26, 2));
+ crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
+ crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30));
+ crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
+ crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
+ crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
+ crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
+ crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
+ crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
+ crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
+ crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58));
+
+ } else {
+ throw new CoolException("鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐�");
+ }
+ /* 鏂规硶2 */
+// 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.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("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());
+ return;
+ }
+
+ 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)) {
+ if (resetFlag) {
+ if (melsecMcNet.Write("D2218", (short) 1).IsSuccess) {
+ 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.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());
+// }
+
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private void write(CrnCommand command){
+ if (null == command) {
+ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return;
+ }
+ command.setCrnNo(slave.getId());
+ /* 鏂规硶 1 */
+ do {
+ if (command.getDestinationPosZ() != null) {
+ if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
+ }
+ if (command.getDestinationPosY() != null) {
+ if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
+ }
+ if (command.getDestinationPosX() != null) {
+ if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
+ }
+ if (command.getSourcePosZ() != null) {
+ if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
+ }
+ if (command.getSourcePosY() != null) {
+ if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
+ }
+ if (command.getDestinationPosX() != null) {
+ if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
+ }
+ if (command.getTaskMode() != null) {
+ if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
+ }
+ if (command.getTaskNo() != null) {
+ if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
+ }
+ if (command.getAckFinish() != null) {
+ if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
+ }
+
+ 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;
+ } while (false);
+
+
+ System.out.println(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()));
+ 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());
+
+
+
+ /* 鏂规硶 2 */
+// melsecMcNet.Write("D2218", command.getAckFinish());
+// melsecMcNet.Write("D2217", command.getTaskNo());
+// melsecMcNet.Write("D2216", command.getTaskMode());
+// melsecMcNet.Write("D2214", command.getSourcePosX());
+// melsecMcNet.Write("D2212", command.getSourcePosY());
+// melsecMcNet.Write("D2210", command.getSourcePosZ());
+// melsecMcNet.Write("D2208", command.getDestinationPosX());
+// melsecMcNet.Write("D2204", command.getDestinationPosY());
+// melsecMcNet.Write("D2202", command.getDestinationPosZ());
+
+ }
+
+ @Override
+ public void close() {
+ melsecMcNet.ConnectClose();
+ }
+
+ public CrnProtocol getCrnProtocol(){
+ if (crnProtocol == null) {
+ readStatus();
+ }
+ return this.crnProtocol;
+ }
+
+
+ /******************************************************************************************/
+ /**************************************** 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);
+ CrnThread crnThread = new CrnThread(slave);
+ crnThread.connect();
+ crnThread.readStatus();
+ System.out.println(JSON.toJSONString(crnThread.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);
+
+ // 7.鍧愭爣绉昏 鐩爣鍙� 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.OFFSET_MOVE); // 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) 1); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 3); // 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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