package com.zy.core.thread; import HslCommunication.Core.Transfer.DataFormat; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.ModBus.ModbusTcpNet; import com.alibaba.fastjson.JSON; import com.core.common.DateUtils; import com.core.exception.CoolException; import com.zy.common.utils.CommonUtils; 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.SlaveType; import com.zy.core.model.ShuttleSlave; import com.zy.core.model.Task; import com.zy.core.model.command.ShuttleCommand; import com.zy.core.model.protocol.ShuttleProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * 四向穿梭车线程 */ @Data @Slf4j public class ShuttleThread implements Runnable, ThreadHandler { private ModbusTcpNet modbusTcpNet; private ShuttleSlave slave; private ShuttleProtocol shuttleProtocol; public ShuttleThread(ShuttleSlave slave) { this.slave = slave; } @Override public void run() { this.connect(); while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Shuttle, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((ShuttleCommand) task.getData()); break; default: break; } Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } } } @Override public boolean connect() { boolean result = false; //-------------------------四向穿梭车连接方法------------------------// modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01); // 当你需要指定格式的数据解析时，就需要设置下面的这个信息 modbusTcpNet.setDataFormat(DataFormat.ABCD); OperateResult connect = modbusTcpNet.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.CRN.offer(MessageFormat.format( "【{0}】四向穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.info("四向穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】四向穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("四向穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } modbusTcpNet.ConnectClose(); //-------------------------四向穿梭车连接方法------------------------// return result; } @Override public void close() { modbusTcpNet.ConnectClose(); } private void readStatus() { try { OperateResultExOne result = modbusTcpNet.Read("200", (short) 17); if (result.IsSuccess) { if (null == shuttleProtocol) { shuttleProtocol = new ShuttleProtocol(); shuttleProtocol.setShuttleNo(slave.getId().shortValue()); } //----------读取四向穿梭车状态----------- //获取数据 byte[] content = result.Content; //小车忙状态位 shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0)); //当前二维码 shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2)); //电池电量百分比 shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4)); //电池温度 shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6)); //错误编号 shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8)); //Plc输出状态IO shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10)); //错误信息码 shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12)); //PLC输入状态 shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14)); //当前或者之前读到的二维码值 shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16)); //读到的二维码X方向偏移量 shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18)); //读到的二维码Y方向偏移量 shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20)); //当前的电压值 shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22)); //当前的模拟量值 shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24)); //当前的升降伺服速度 shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26)); //当前的行走伺服速度 shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28)); //当前的升降伺服负载率 shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30)); //当前的行走伺服负载率 shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32)); ///读取四向穿梭车状态-end OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); // 根据实时信息更新数据库 //..... }else { OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId())); throw new CoolException(MessageFormat.format( "四向穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort())); } } catch (Exception e) { OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); initShuttle(); } } private boolean write(ShuttleCommand command){ if (null == command) { News.error("四向穿梭车写入命令为空"); return false; } command.setShuttleNo(slave.getId()); // 开始任务 short[] array = new short[17]; //控制指令字 array[0] = command.getCommandWord(); //启始二维编号 array[1] = command.getStartCodeNum(); //中间二维编号 array[2] = command.getMiddleCodeNum(); //目标二维编号 array[3] = command.getDistCodeNum(); //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间 short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance()); array[4] = startToDistDistances[0]; array[5] = startToDistDistances[1]; //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间 short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance()); array[6] = middleToDistDistances[0]; array[7] = middleToDistDistances[1]; //小车运行方向 array[8] = command.getRunDirection(); //托盘顶升 array[9] = command.getPalletLift(); //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间 short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance()); array[10] = forceMoveDistances[0]; array[11] = forceMoveDistances[1]; //充电开关 array[12] = command.getChargeSwitch(); //小车IO控制 array[13] = command.getIOControl(); //小车运行速度 array[14] = command.getRunSpeed(); //小车雷达备用 array[15] = command.getRadarTmp(); //指令结束位 array[16] = command.getCommandEnd(); OperateResult result = modbusTcpNet.Write("0", array);; if (result != null && result.IsSuccess) { News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("写入四向穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } /** * 初始化四向穿梭车 */ private void initShuttle() { if (null == shuttleProtocol) { shuttleProtocol = new ShuttleProtocol(); } // shuttleProtocol.setShuttleNo(slave.getId().shortValue()); // shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY); // shuttleProtocol.setCurrentCode("0"); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { ShuttleSlave slave = new ShuttleSlave(); slave.setId(1); slave.setIp("192.168.4.24"); slave.setPort(502); ShuttleThread thread = new ShuttleThread(slave); thread.connect(); thread.readStatus(); ShuttleCommand command = new ShuttleCommand(); command.setCommandWord((short) 0); command.setStartCodeNum((short) 12323); command.setMiddleCodeNum((short) 22323); command.setDistCodeNum((short) 29999); command.setStartToDistDistance(109999); command.setMiddleToDistDistance(5000); command.setRunDirection((short) 1); command.setPalletLift((short) 2); command.setForceMoveDistance(3000); command.setChargeSwitch((short) 2); command.setIOControl((short) 0); command.setRunSpeed((short) 0); command.setRadarTmp((short) 0); command.setCommandEnd((short) 1); thread.write(command); } }