From ec1f480801fdc89e862f4e9bcad2aed47ae1d37b Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@63.com>
Date: 星期二, 15 三月 2022 15:37:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/SteThread.java | 233 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 145 insertions(+), 88 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SteThread.java b/src/main/java/com/zy/core/thread/SteThread.java
index 169d8aa..c7af558 100644
--- a/src/main/java/com/zy/core/thread/SteThread.java
+++ b/src/main/java/com/zy/core/thread/SteThread.java
@@ -4,16 +4,17 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
+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.asrs.entity.BasSte;
+import com.zy.asrs.service.BasSteOptService;
+import com.zy.asrs.service.BasSteService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.SlaveType;
-import com.zy.core.enums.SteStatusType;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
@@ -27,6 +28,7 @@
/**
* shuttle 绌挎杞︾嚎绋�
* Created by vincent on 2020/8/4
+ * 涓嶈兘鏈� 妲藉彿 鍜� 鏈烘灦鍙�
*/
@Data
@Slf4j
@@ -37,6 +39,10 @@
private SteProtocol steProtocol;
private short heartBeatVal = 1;
private boolean resetFlag = false;
+
+ private Integer lastRow;
+ private Integer lastBay;
+ private Integer lastLev;
public SteThread(SteSlave slave) {
this.slave = slave;
@@ -62,29 +68,11 @@
case 2:
write((SteCommand) task.getData());
break;
- // 澶嶄綅
- case 3:
- SteCommand command = (SteCommand) task.getData();
- if (null == command) {
- command = new SteCommand();
- }
-// command.setSteNo(slave.getId()); // 绌挎杞︾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();
+// heartbeat();
Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
@@ -122,9 +110,10 @@
@Override
public boolean connect() {
boolean result = false;
- siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
- siemensS7Net.setRack(slave.getRack().byteValue());
- siemensS7Net.setSlot(slave.getSlot().byteValue());
+ // 涓嶈兘鏈� 妲藉彿 鍜� 鏈烘灦鍙�
+ siemensS7Net = new SiemensS7Net(SiemensPLCS.S200Smart, slave.getIp());
+// siemensS7Net.setRack(slave.getRack().byteValue());
+// siemensS7Net.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensS7Net.ConnectServer();
if(connect.IsSuccess){
result = true;
@@ -144,35 +133,53 @@
*/
private void readStatus(){
try {
-// if (this.slave.getId() == 1 && flag1.equals(0)) {
-// Thread.sleep(3000);
-// flag1=1;
-// System.out.println("===");
-// }
- OperateResultExOne<byte[]> result = siemensS7Net.Read("D20", (short) 70);
+ OperateResultExOne<byte[]> result = siemensS7Net.Read("DB4", (short) 70);
if (result.IsSuccess) {
if (null == steProtocol) {
steProtocol = new SteProtocol();
}
-// steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
-// steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
-// steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
-// steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
-// steProtocol.setLevel(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
-// steProtocol.setForkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 10));
-// steProtocol.setLiftPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 12));
-// steProtocol.setWalkPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
-// steProtocol.setLoaded(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
-// steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
+ steProtocol.setSteNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
+ steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
+ steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
+// steProtocol.setExecute();
+// steProtocol.setWaiting();
+ steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt32(result.Content, 6));
+ steProtocol.setAlarm0(siemensS7Net.getByteTransform().TransInt32(result.Content, 10));
+ steProtocol.setCharge(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
+// steProtocol.setFullCharge();
+// steProtocol.setLowCharge();
+ steProtocol.setFeed(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
+ steProtocol.setLoca(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
+// steProtocol.setCloser();
+// steProtocol.setSpeed();
+ steProtocol.setPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 28));
+ steProtocol.setLoad(siemensS7Net.getByteTransform().TransInt16(result.Content, 30));
+ steProtocol.setTrack(siemensS7Net.getByteTransform().TransInt16(result.Content, 32));
+ steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt32(result.Content, 38));
+ steProtocol.setTaskType(siemensS7Net.getByteTransform().TransInt16(result.Content, 42));
+ steProtocol.setRow(siemensS7Net.getByteTransform().TransInt16(result.Content, 44));
+ steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 46));
+ steProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(result.Content, 48));
+
+ steProtocol.setHisTaskNo(siemensS7Net.getByteTransform().TransInt32(result.Content, 58));
+ steProtocol.setHisTaskStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 62));
+ steProtocol.setCheckQty(siemensS7Net.getByteTransform().TransInt16(result.Content, 64));
+ steProtocol.setReady(siemensS7Net.getByteTransform().TransInt16(result.Content, 66));
+ steProtocol.setChargeNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 68));
+
+ steProtocol.setHeart(siemensS7Net.getByteTransform().TransInt16(result.Content, 72));
+ steProtocol.setCrnStopRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 74));
+ steProtocol.setCrnStopFork(siemensS7Net.getByteTransform().TransInt16(result.Content, 76));
+ steProtocol.setCrnAllowRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 78));
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 (steProtocol.getStatusType().equals(SteStatusType.WAITING)) {
+ if (steProtocol.getWaiting()) {
if (resetFlag) {
SteCommand steCommand = new SteCommand();
-// steCommand.setAckFinish((short)1);
- if (write(steCommand)) {
+ steCommand.setComplete(true);
+ if (write(steCommand) && confirmPos()) {
resetFlag = false;
}
}
@@ -180,14 +187,15 @@
// 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(steProtocol.getAlarm()==null?0:steProtocol.getAlarm().longValue());
- basCrnp.setCrnNo(slave.getId());
- if (!basCrnpService.updateById(steProtocol.toSqlModel(basCrnp))){
- log.error("绌挎杞lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- }
+ BasSteService service = SpringUtils.getBean(BasSteService.class);
+ if (null != service) {
+ BasSte basSte = new BasSte();
+ basSte.setSteNo(slave.getId());
+ if (!service.updateById(steProtocol.toSqlModel(basSte))){
+ log.error("绌挎杞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}绌挎杞lc鐘舵�佷俊鎭け璐�",DateUtils.convert(new Date()), slave.getId()));
throw new CoolException(MessageFormat.format( "绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
@@ -205,38 +213,44 @@
* 鍐欏叆鏁版嵁
*/
private boolean write(SteCommand command){
- return true;
-// if (null == command) {
-// log.error("绌挎杞﹀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();
+ if (null == command) {
+ log.error("绌挎杞﹀啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+ command.setSteNo(slave.getId());
+ OperateResult result = null;
+ // 寮�濮嬩换鍔�
+ if (!command.getComplete()) {
+ OperateResult result0 = siemensS7Net.Write("D0", command.getTaskNo());
+ short[] array = new short[10];
+ array[0] = command.getTaskMode();
+// 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 = siemensS7Net.Write("D0", array);
-//
-// if (command.getAckFinish() == 0) {
-// short commandFinish = 1;
-// result = siemensS7Net.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(), // 绌挎杞闈炵┖]
+ OperateResult result1 = siemensS7Net.Write("D0", array);
+ // 纭寮�濮嬩换鍔�
+ if (result0.IsSuccess) {
+ result = siemensS7Net.Write("D0", true);
+ }
+ // 浠诲姟瀹屾垚
+ } else {
+ result = siemensS7Net.Write("D0", true);
+ }
+
+ try {
+ // 鏃ュ織璁板綍
+ BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
+// BasSteOpt basSteOpt = new BasSteOpt(
+// command.getTaskNo(), // 浠诲姟鍙�
+// command.getSteNo(), // 绌挎杞闈炵┖]
// new Date(), // 涓嬪彂鏃堕棿
-// command.getTaskModeType().toString(), // 妯″紡
+// command.getTaskModeType().desc, // 妯″紡
// command.getSourcePosX().intValue(), // 婧愭帓
// command.getSourcePosY().intValue(), // 婧愬垪
// command.getSourcePosZ().intValue(), // 婧愬眰
@@ -249,18 +263,61 @@
// null, // 淇敼鏃堕棿
// null // 淇敼浜哄憳
// );
-// bean.insert(basCrnOpt);
-// } catch (Exception ignore) {}
-//
-// if (result.IsSuccess) {
-// log.info("绌挎杞﹀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}銆戝啓鍏ョ┛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()));
-// log.error("鍐欏叆绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
-// return false;
-// }
+// bean.insert(basSteOpt);
+ } catch (Exception ignore) {}
+
+ if (result != null && result.IsSuccess) {
+ // 缁存姢鏁版嵁搴撴帓鍒楀眰
+ if (!steProtocol.getWaiting()) {
+ this.lastRow = command.getRow().intValue();
+ this.lastBay = command.getBay().intValue();
+ this.lastLev = command.getLev().intValue();
+ }
+
+
+ log.info("绌挎杞﹀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}銆戝啓鍏ョ┛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()));
+ log.error("鍐欏叆绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+
+ public void modifyPos(Integer row, Integer bay, Integer lev) {
+ this.lastRow = row;
+ this.lastBay = bay;
+ this.lastLev = lev;
+ }
+
+ public boolean confirmPos() {
+ if (this.lastRow != null && this.lastRow != 0) {
+ if (this.lastBay != null && this.lastBay != 0) {
+ if (this.lastLev != null && this.lastLev != 0) {
+ BasSteService service = SpringUtils.getBean(BasSteService.class);
+ BasSte basSte = service.selectById(slave.getId());
+ if (basSte != null) {
+ // 鏇存柊plc鏁版嵁鍧�
+ short[] arr = new short[] {this.lastRow.shortValue(), this.lastBay.shortValue(), this.lastLev.shortValue()};
+ OperateResult result = siemensS7Net.Write("D0", arr);
+ if (result.IsSuccess) {
+ // 鏇存柊鏁版嵁搴�
+ if (service.updatePos(this.lastRow, this.lastBay, this.lastLev) > 0) {
+ this.lastRow = null;
+ this.lastBay = null;
+ this.lastLev = null;
+ return true;
+ } else {
+ log.error("{}鍙风┛姊溅淇敼鏁版嵁搴撳畾浣嶅け璐ワ紒锛侊紒", slave.getId());
+ }
+ }
+ }
+
+ }
+ }
+ }
+ return false;
}
@Override
--
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