From 5e4345b5903010cbd63bb7edad3bbce479e2b57d Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期二, 06 一月 2026 09:51:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java | 176 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 109 insertions(+), 67 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
index b2ec61c..513fd34 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
@@ -1,27 +1,28 @@
package com.zy.core.thread.impl;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
-import com.zy.asrs.service.DeviceDataLogService;
+import com.zy.asrs.service.BasCrnpService;
+import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
-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.enums.CrnTaskModeType;
+import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.network.DeviceConnectPool;
-import com.zy.core.network.ZyCrnConnectThread;
+import com.zy.core.network.ZyCrnConnectDriver;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import com.zy.core.thread.CrnThread;
import lombok.Data;
@@ -32,7 +33,6 @@
/**
* 鍫嗗灈鏈虹嚎绋�
- * Created by vincent on 2020/8/4
*/
@Data
@Slf4j
@@ -40,9 +40,9 @@
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
- private ZyCrnConnectThread zyCrnConnectThread;
+ private ZyCrnConnectDriver zyCrnConnectDriver;
private CrnProtocol crnProtocol;
- private boolean resetFlag = false;
+ private int deviceLogCollectTime = 200;
public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
this.deviceConfig = deviceConfig;
@@ -54,26 +54,39 @@
public void run() {
this.connect();
this.initCrn();
- while (true) {
- try {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
- if (task != null) {
- step = task.getStep();
+
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
+ readStatus();
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("CrnThread Fail", e);
}
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- readStatus();
- break;
- default:
- break;
- }
- Thread.sleep(200);
- } catch (Exception e) {
-// e.printStackTrace();
}
- }
+ });
+ readThread.start();
+
+ Thread processThread = new Thread(() -> {
+ while (true) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
+ if (task != null) {
+ step = task.getStep();
+ }
+ if (step == 2) {
+ sendCommand((CrnCommand) task.getData());
+ }
+
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("CrnProcess Fail", e);
+ }
+ }
+ });
+ processThread.start();
}
/**
@@ -94,21 +107,20 @@
crnProtocol.setWalkPos(0);
crnProtocol.setLoaded(0);
crnProtocol.setAlarm(0);
- crnProtocol.setXSpeed(0);
- crnProtocol.setYSpeed(0);
- crnProtocol.setZSpeed(0);
- crnProtocol.setXDistance(0);
- crnProtocol.setYDistance(0);
- crnProtocol.setXDuration(0);
- crnProtocol.setYDuration(0);
+ crnProtocol.setXSpeed(0D);
+ crnProtocol.setYSpeed(0D);
+ crnProtocol.setZSpeed(0D);
+ crnProtocol.setXDistance(0D);
+ crnProtocol.setYDistance(0D);
+ crnProtocol.setXDuration(0D);
+ crnProtocol.setYDuration(0D);
}
@Override
public boolean connect() {
- SiemensS7Net siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
- ThreadHandler thread = new ZyCrnConnectThread(siemensS7Net, deviceConfig);
- new Thread(thread).start();
- DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), thread);
+ zyCrnConnectDriver = new ZyCrnConnectDriver(deviceConfig);
+ zyCrnConnectDriver.start();
+ DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
return true;
}
@@ -116,10 +128,9 @@
* 璇诲彇鐘舵��
*/
private void readStatus(){
- ZyCrnStatusEntity crnStatus = zyCrnConnectThread.getStatus();
+ ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
if (crnStatus == null) {
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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
- News.error("SiemensCrn"+" - 5"+" - 璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
return;
}
@@ -147,20 +158,6 @@
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()), deviceConfig.getDeviceNo()));
-// // 澶嶄綅淇″彿
-// if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
-// if (resetFlag) {
-// if(crnProtocol.getTaskNo()==9999){
-// backHpFlag = false;
-// }
-// CrnCommand crnCommand = new CrnCommand();
-// crnCommand.setAckFinish((short)1);
-// if (write(crnCommand)) {
-// resetFlag = false;
-// }
-// }
-// }
-
if (crnProtocol.getAlarm() > 0) {
crnProtocol.setLastCommandTime(-1L);
}
@@ -169,26 +166,47 @@
crnProtocol.setLastCommandTime(System.currentTimeMillis());
}
- if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > 1000 * 1) {
- //閲囬泦鏃堕棿瓒呰繃1s锛屼繚瀛樹竴娆℃暟鎹褰�
+ if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
//淇濆瓨鏁版嵁璁板綍
- DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
DeviceDataLog deviceDataLog = new DeviceDataLog();
deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
deviceDataLog.setType(String.valueOf(SlaveType.Crn));
deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
deviceDataLog.setCreateTime(new Date());
- deviceDataLogService.insert(deviceDataLog);
+ redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
//鏇存柊閲囬泦鏃堕棿
crnProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ BasCrnpService basCrnpService = null;
+ try {
+ basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ }catch (Exception e){
+
+ }
+ if (basCrnpService != null) {
+ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
+ if(basCrnp == null) {
+ basCrnp = new BasCrnp();
+ basCrnp.setCrnNo(deviceConfig.getDeviceNo());
+ basCrnp.setStatus(1);
+ basCrnp.setInEnable("N");
+ basCrnp.setOutEnable("N");
+ basCrnp.setMaxInTask(5);
+ basCrnp.setMaxOutTask(5);
+ basCrnp.setCreateTime(new Date());
+ basCrnpService.insert(basCrnp);
+ }
}
}
@Override
public void close() {
- zyCrnConnectThread.close();
+ if (zyCrnConnectDriver != null) {
+ zyCrnConnectDriver.close();
+ }
}
@Override
@@ -213,18 +231,15 @@
}
@Override
- public CrnCommand getMoveCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
+ public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
- crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo)); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo)); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo)); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
crnCommand.setCommand((short) 1); // 浠诲姟纭
return crnCommand;
}
@@ -249,6 +264,33 @@
@Override
public synchronized CommandResponse sendCommand(CrnCommand command) {
this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
- return zyCrnConnectThread.sendCommand(command);
+ CommandResponse response = null;
+ try {
+ response = zyCrnConnectDriver.sendCommand(command);
+ return response;
+ } finally {
+ String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
+ String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
+ BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
+ ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
+ BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
+ command.getTaskNo().intValue(),
+ command.getCrnNo(),
+ new Date(),
+ String.valueOf(command.getTaskMode()),
+ sourceLocNo,
+ targetLocNo,
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(statusEntity),
+ 1,
+ JSON.toJSONString(response)
+ );
+ if (bean != null) {
+ bean.insert(basCrnpOpt);
+ }
+ }
}
}
--
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