From 8f444535d40bf13ce7ca2fb0585e1f9b8d089f1a Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期三, 24 十二月 2025 14:30:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java | 351 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 351 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
new file mode 100644
index 0000000..2df5438
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
@@ -0,0 +1,351 @@
+package com.zy.core.thread.impl;
+
+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.BasDualCrnp;
+import com.zy.asrs.entity.BasDualCrnpOpt;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.entity.DeviceDataLog;
+import com.zy.asrs.service.BasDualCrnpOptService;
+import com.zy.asrs.service.BasDualCrnpService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.utils.RedisUtil;
+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.DualCrnCommand;
+import com.zy.core.model.protocol.DualCrnProtocol;
+import com.zy.core.network.DeviceConnectPool;
+import com.zy.core.network.ZyDualCrnConnectDriver;
+import com.zy.core.network.entity.ZyDualCrnStatusEntity;
+import com.zy.core.thread.DualCrnThread;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.Date;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 鍙屽伐浣嶅爢鍨涙満绾跨▼
+ */
+@Data
+@Slf4j
+public class ZySiemensDualCrnThread implements Runnable, DualCrnThread {
+
+ private DeviceConfig deviceConfig;
+ private RedisUtil redisUtil;
+ private ZyDualCrnConnectDriver zyDualCrnConnectDriver;
+ private DualCrnProtocol crnProtocol;
+ private int deviceLogCollectTime = 200;
+ private boolean resetFlag = false;
+ private volatile boolean closed = false;
+ private ScheduledExecutorService readExecutor;
+ private ScheduledExecutorService processExecutor;
+
+ public ZySiemensDualCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
+ this.redisUtil = redisUtil;
+ }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+ this.connect();
+ this.initCrn();
+ readExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
+ @Override
+ public Thread newThread(Runnable r) {
+ Thread t = new Thread(r);
+ t.setName("DualCrnReader-" + deviceConfig.getDeviceNo());
+ t.setDaemon(true);
+ return t;
+ }
+ });
+ readExecutor.scheduleAtFixedRate(() -> {
+ if (closed || Thread.currentThread().isInterrupted()) {
+ return;
+ }
+ try {
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
+ readStatus();
+ } catch (Exception e) {
+ log.error("DualCrnThread Fail", e);
+ }
+ }, 0, 200, TimeUnit.MILLISECONDS);
+
+ processExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
+ @Override
+ public Thread newThread(Runnable r) {
+ Thread t = new Thread(r);
+ t.setName("DualCrnWriter-" + deviceConfig.getDeviceNo());
+ t.setDaemon(true);
+ return t;
+ }
+ });
+ processExecutor.scheduleAtFixedRate(() -> {
+ if (closed || Thread.currentThread().isInterrupted()) {
+ return;
+ }
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.DualCrn, deviceConfig.getDeviceNo());
+ if (task != null) {
+ step = task.getStep();
+ }
+ if (step == 2 && task != null) {
+ sendCommand((DualCrnCommand) task.getData());
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }, 0, 200, TimeUnit.MILLISECONDS);
+ }
+
+ /**
+ * 鍒濆鍖栧爢鍨涙満鐘舵��
+ */
+ private void initCrn() {
+ if (null == crnProtocol) {
+ crnProtocol = new DualCrnProtocol();
+ crnProtocol.setCrnNo(deviceConfig.getDeviceNo());
+ }
+ crnProtocol.setMode(-1);
+
+ //宸ヤ綅1
+ crnProtocol.setTaskNo(0);
+ crnProtocol.setStatus(-1);
+ crnProtocol.setBay(0);
+ crnProtocol.setLevel(0);
+ crnProtocol.setForkPos(-1);
+ crnProtocol.setLoaded(0);
+ crnProtocol.setWalkPos(0);
+
+ //宸ヤ綅2
+ crnProtocol.setTaskNoTwo(0);
+ crnProtocol.setStatusTwo(-1);
+ crnProtocol.setBayTwo(0);
+ crnProtocol.setLevelTwo(0);
+ crnProtocol.setForkPosTwo(-1);
+ crnProtocol.setLoadedTwo(0);
+ crnProtocol.setWalkPosTwo(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);
+ }
+
+ @Override
+ public boolean connect() {
+ zyDualCrnConnectDriver = new ZyDualCrnConnectDriver(deviceConfig);
+ zyDualCrnConnectDriver.start();
+ DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyDualCrnConnectDriver);
+ return true;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ ZyDualCrnStatusEntity crnStatus = zyDualCrnConnectDriver.getStatus();
+ if (crnStatus == null) {
+ OutputQueue.DUAL_CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧弻宸ヤ綅鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
+ return;
+ }
+
+ crnProtocol.setMode(crnStatus.getMode());
+
+ //宸ヤ綅1
+ crnProtocol.setTaskNo(crnStatus.getTaskNo());
+ crnProtocol.setStatus(crnStatus.getStatus());
+ crnProtocol.setBay(crnStatus.getBay());
+ crnProtocol.setLevel(crnStatus.getLevel());
+ crnProtocol.setForkPos(crnStatus.getForkPos());
+ crnProtocol.setLoaded(crnStatus.getLoaded());
+ crnProtocol.setWalkPos(crnStatus.getWalkPos());
+
+ //宸ヤ綅2
+ crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
+ crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
+ crnProtocol.setBayTwo(crnStatus.getBayTwo());
+ crnProtocol.setLevelTwo(crnStatus.getLevelTwo());
+ crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
+ crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
+ crnProtocol.setWalkPosTwo(crnStatus.getWalkPosTwo());
+
+ crnProtocol.setAlarm(crnStatus.getAlarm());
+ crnProtocol.setTemp1(crnStatus.getTemp1());
+ crnProtocol.setTemp2(crnStatus.getTemp2());
+ crnProtocol.setTemp3(crnStatus.getTemp3());
+ crnProtocol.setTemp4(crnStatus.getTemp4());
+ crnProtocol.setXSpeed(crnStatus.getXSpeed());
+ crnProtocol.setYSpeed(crnStatus.getYSpeed());
+ crnProtocol.setZSpeed(crnStatus.getZSpeed());
+ crnProtocol.setXDistance(crnStatus.getXDistance());
+ crnProtocol.setYDistance(crnStatus.getYDistance());
+ crnProtocol.setXDuration(crnStatus.getXDuration());
+ crnProtocol.setYDuration(crnStatus.getYDuration());
+
+ OutputQueue.DUAL_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()));
+
+ if (crnProtocol.getAlarm() > 0) {
+ crnProtocol.setLastCommandTime(-1L);
+ }
+
+ if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
+ crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ }
+
+ if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
+ deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.DualCrn));
+ deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
+ deviceDataLog.setCreateTime(new Date());
+
+ 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());
+ }
+
+ BasDualCrnpService basDualCrnpService = null;
+ try {
+ basDualCrnpService = SpringUtils.getBean(BasDualCrnpService.class);
+ }catch (Exception e){
+
+ }
+ if (basDualCrnpService != null) {
+ BasDualCrnp basDualCrnp = basDualCrnpService.selectOne(new EntityWrapper<BasDualCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
+ if(basDualCrnp == null) {
+ basDualCrnp = new BasDualCrnp();
+ basDualCrnp.setCrnNo(deviceConfig.getDeviceNo());
+ basDualCrnp.setStatus(1);
+ basDualCrnp.setInEnable("N");
+ basDualCrnp.setOutEnable("N");
+ basDualCrnp.setMaxInTask(5);
+ basDualCrnp.setMaxOutTask(5);
+ basDualCrnp.setCreateTime(new Date());
+ basDualCrnpService.insert(basDualCrnp);
+ }
+ }
+ }
+
+ @Override
+ public void close() {
+ closed = true;
+ ScheduledExecutorService ex = readExecutor;
+ if (ex != null) {
+ try { ex.shutdownNow(); } catch (Exception ignore) {}
+ }
+ ScheduledExecutorService px = processExecutor;
+ if (px != null) {
+ try { px.shutdownNow(); } catch (Exception ignore) {}
+ }
+ if (zyDualCrnConnectDriver != null) {
+ zyDualCrnConnectDriver.close();
+ }
+ }
+
+ @Override
+ public DualCrnProtocol getStatus() {
+ return this.crnProtocol;
+ }
+
+ @Override
+ public DualCrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
+ DualCrnCommand crnCommand = new DualCrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ 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) 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.setStation(station.shortValue());//宸ヤ綅
+ crnCommand.setCommand((short) 1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public DualCrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
+ DualCrnCommand crnCommand = new DualCrnCommand();
+ 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.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;
+ }
+
+ @Override
+ public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
+ DualCrnCommand crnCommand = new DualCrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 浠诲姟妯″紡
+ crnCommand.setSourcePosX((short)0); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short)0); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short)0); // 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.setStation(station.shortValue());//宸ヤ綅
+ crnCommand.setCommand((short) 1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public synchronized CommandResponse sendCommand(DualCrnCommand command) {
+ this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ CommandResponse response = null;
+ try {
+ response = zyDualCrnConnectDriver.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());
+ BasDualCrnpOptService bean = SpringUtils.getBean(BasDualCrnpOptService.class);
+ ZyDualCrnStatusEntity statusEntity = zyDualCrnConnectDriver.getStatus();
+ BasDualCrnpOpt basDualCrnpOpt = new BasDualCrnpOpt(
+ 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(basDualCrnpOpt);
+ }
+ }
+ }
+}
--
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