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.common.SpringUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.BasLift; import com.zy.asrs.entity.BasLiftOpt; import com.zy.asrs.service.BasLiftOptService; import com.zy.asrs.service.BasLiftService; import com.zy.common.utils.CommonUtils; import com.zy.common.utils.RedisUtil; import com.zy.core.DevpThread; 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.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.DevpSlave; import com.zy.core.model.LiftSlave; import com.zy.core.model.Task; import com.zy.core.model.command.*; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.StaProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.ArrayList; import java.util.Date; import java.util.List; /** * 提升机线程 */ @Data @Slf4j public class LiftThread implements Runnable, ThreadHandler { private ModbusTcpNet modbusTcpNet; private LiftSlave slave; private LiftProtocol liftProtocol; private RedisUtil redisUtil; public LiftThread(LiftSlave slave,RedisUtil redisUtil) { this.slave = slave; this.redisUtil = redisUtil; } @Override public void run() { this.connect(); while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Lift, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((LiftCommand) task.getData()); break; //分配任务 case 3: assignWork((LiftAssignCommand) task.getData()); break; default: break; } Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } } } @Override public boolean connect() { boolean result = false; //-------------------------提升机连接方法------------------------// modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x02); // 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}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } modbusTcpNet.ConnectClose(); //-------------------------提升机连接方法------------------------// return result; } @Override public void close() { modbusTcpNet.ConnectClose(); } private void readStatus() { try { OperateResultExOne result = modbusTcpNet.Read("41117", (short) 50); if (result.IsSuccess) { if (null == liftProtocol) { liftProtocol = new LiftProtocol(); liftProtocol.setLiftNo(slave.getId().shortValue()); } //----------读取提升机状态----------- //获取数据 byte[] content = result.Content; //提升机锁定 liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0))); //位置到达反馈 liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2)); byte by = modbusTcpNet.getByteTransform().TransByte(content, 5); int[] datas = CommonUtils.byteToBits(by); //准备就绪 liftProtocol.setReady(CommonUtils.intToBoolean(datas[0])); //运行中 liftProtocol.setRunning(CommonUtils.intToBoolean(datas[1])); //联机/单机 liftProtocol.setMode(CommonUtils.intToBoolean(datas[2])); //输送线前端光电有货 liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas[3])); //输送线正转反馈 liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas[4])); //输送线反转反馈 liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas[5])); //输送线电机过载 liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas[6])); //输送线末端光电有货 liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas[7])); //进输送线卡托盘报警 liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[8])); //出输送线卡托盘报警 liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas[9])); //平台位置偏差报警 liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas[10])); //平台扭矩偏差报警 liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas[11])); //平台四向车检测 liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas[12])); //未就绪状态 liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6)); //伺服1错误 liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8)); //伺服2错误 liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10)); //伺服3错误 liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12)); //伺服4错误 liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14)); //提升机实际速度反馈 liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16)); ///读取提升机状态-end //提升机处于运行状态，将标记置为true if (liftProtocol.getRunning()) { liftProtocol.setPakMk(true); } //提升机处于未运行、就绪、标记true、有任务号 if (!liftProtocol.getRunning() && liftProtocol.getPakMk() && liftProtocol.getTaskNo() != 0) { //还有未完成的命令 executeWork(liftProtocol.getTaskNo()); } //将提升机状态保存至数据库 BasLiftService liftService = SpringUtils.getBean(BasLiftService.class); BasLift basLift = liftService.selectById(liftProtocol.getLiftNo()); if (basLift == null) { basLift = new BasLift(); //提升机号 basLift.setLiftNo(slave.getId()); liftService.insert(basLift); } basLift.setStatus(liftProtocol.getProtocolStatus()); basLift.setWrkNo(liftProtocol.getTaskNo().intValue()); basLift.setUpdateTime(new Date()); basLift.setPakMk(liftProtocol.getPakMk()); basLift.setLiftLock(liftProtocol.getLiftLock()); basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue()); basLift.setReady(liftProtocol.getReady()); basLift.setRunning(liftProtocol.getRunning()); basLift.setMode(liftProtocol.getMode()); basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock()); basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback()); basLift.setReverseFeedback(liftProtocol.getReverseFeedback()); basLift.setMotorOverload(liftProtocol.getMotorOverload()); basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock()); basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm()); basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm()); basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm()); basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm()); basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck()); basLift.setNotReady(liftProtocol.getNotReady().intValue()); basLift.setServoError1(liftProtocol.getServoError1().intValue()); basLift.setServoError2(liftProtocol.getServoError2().intValue()); basLift.setServoError3(liftProtocol.getServoError3().intValue()); basLift.setServoError4(liftProtocol.getServoError4().intValue()); basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue()); if (liftService.updateById(basLift)) { OutputQueue.LIFT.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())); } }else { OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}提升机plc状态信息失败", DateUtils.convert(new Date()), slave.getId())); throw new CoolException(MessageFormat.format( "提升机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort())); } } catch (Exception e) { OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); initLift(); } } private boolean write(LiftCommand command){ if (null == command) { News.error("提升机写入命令为空"); return false; } command.setLiftNo(slave.getId().shortValue()); // 开始任务 short[] array = new short[30]; //开始运行 array[0] = command.getRun(); if (command.getDistPosition() != null) { //目标位置 array[1] = command.getDistPosition(); } if (command.getSpeed() != null) { //运行速度 array[2] = command.getSpeed(); } if (command.getHeight2() != null) { //二层高度设定 array[3] = command.getHeight2(); } if (command.getHeight3() != null) { //三层高度设定 array[4] = command.getHeight3(); } if (command.getHeight4() != null) { //四层高度设定 array[5] = command.getHeight4(); } if (command.getHeight5() != null) { //四层高度设定 array[6] = command.getHeight5(); } if (command.getLiftLockShortValue() != null) { //提升机锁定 array[29] = command.getLiftLockShortValue(); } if (array[2] == 0) { // 开始任务 short[] tmp = new short[2]; tmp[0] = array[0]; tmp[1] = array[1]; array = tmp; } OperateResult result = modbusTcpNet.Write("41088", array);; if (result != null && result.IsSuccess) { News.info("提升机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } //分配任务 private void assignWork(LiftAssignCommand assignCommand) { //手动模式指令 if (!assignCommand.getAuto()) { LiftCommand command = new LiftCommand(); //提升机当前楼层 Short lev = liftProtocol.getLev(); List commands = assignCommand.getCommands(); if (commands == null) { commands = new ArrayList(); } liftProtocol.setTaskNo(assignCommand.getTaskNo()); switch (assignCommand.getTaskMode()) { case 1://移动提升机 command = getLiftUpDownCommand(assignCommand.getLev());//获取提升机上升下降命令 break; case 3://无货正转 command = getLiftTurnCommand(3);//获取提升机转动命令 break; case 4://无货反转 command = getLiftTurnCommand(4);//获取提升机转动命令 break; case 5://有货正转 command = getLiftTurnCommand(1);//获取提升机转动命令 break; case 6://有货反转 command = getLiftTurnCommand(2);//获取提升机转动命令 break; case 7://链条停止 command = getLiftTurnCommand(5);//获取提升机转动命令 break; case 0://复位 command = getResetCommand();//获取复位命令 break; default: } commands.add(command); assignCommand.setCommands(commands); } LiftRedisCommand redisCommand = new LiftRedisCommand(); redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号 redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号 redisCommand.setCommandStep(0);//命令执行步序 redisCommand.setAssignCommand(assignCommand);//命令 //任务数据保存到redis redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand)); liftProtocol.setAssignCommand(assignCommand); liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING); //执行下发任务 executeWork(assignCommand.getTaskNo()); } //执行任务 private boolean executeWork(Short wrkNo) { //读取redis数据 if (wrkNo == null) { return false; } //将标记置为false(防止重发) liftProtocol.setPakMk(false); Object o = redisUtil.get("lift_wrk_no_" + wrkNo); if (o == null) { return false; } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); List commands = redisCommand.getAssignCommand().getCommands(); //当前步序 int commandStep = redisCommand.getCommandStep(); //总步序 int size = commands.size(); LiftAssignCommand assignCommand = redisCommand.getAssignCommand(); //取出命令 LiftCommand command = commands.get(commandStep); if (command.getOperaStaNo() != null && command.getDevpId() != null) { //站点和输送线ID不为null，需要下发站点指令调度指定站点进行链条转动 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId()); StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue()); if (!staProtocol.isLiftArrival()) {//链条转动条件，需要有提升机到位信号 liftProtocol.setPakMk(true); return false; } staProtocol.setWorkNo(wrkNo);//设置任务号 if (command.getStaNo() != null) { staProtocol.setStaNo(command.getStaNo());//设置目标站 } if (command.getRotationDire() != null) { staProtocol.setRotationDire(command.getRotationDire());//站点链条转动信号 } Integer devpId = command.getDevpId(); boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//下发命令使输送线链条运转 } //下发命令 if (!write(command)) { News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); return false; }else { News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); liftProtocol.setWrkTime(new Date());//更新工作时间 //判断数据是否执行完成 if (commandStep < size - 1) { //更新redis数据 //步序增加 commandStep++; redisCommand.setCommandStep(commandStep); //任务数据保存到redis redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand)); }else { //已执行完成 //保存数据到数据库做流水 BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class); if (liftOptService != null) { BasLiftOpt opt = new BasLiftOpt( redisCommand.getWrkNo().intValue(), redisCommand.getLiftNo().intValue(), new Date(), null, null, null, JSON.toJSONString(assignCommand) ); liftOptService.insert(opt); } //删除redis redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo()); //对主线程抛出等待确认状态waiting liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING); News.info("提升机任务执行完成等待确认中，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); } } return true; } /** * 获取提升机解锁命令 */ public LiftCommand getUnlockCommand(Short liftNo) { LiftCommand command = new LiftCommand(); command.setRun((short) 0); command.setLiftNo(liftNo); command.setLiftLock(false); return command; } /** * 获取复位命令 */ public LiftCommand getResetCommand() { LiftCommand command = new LiftCommand(); command.setRun((short) 5); command.setLiftLock(false); return command; } /** * 获取提升机上升下降命令 */ public LiftCommand getLiftUpDownCommand(Integer lev) { LiftCommand command = new LiftCommand(); command.setRun((short) 1);//升降 Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值 command.setDistPosition(position); // command.setSpeed((short) 200); // command.setHeight2((short) 180); // command.setHeight3((short) 1645); // command.setHeight4((short) (2 * 1645)); // command.setHeight5((short) (3 * 1645)); return command; } /** * 获取提升机上升下降命令 */ public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) { LiftCommand command = new LiftCommand(); Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值 command.setRun((short) 1);//升降 command.setLiftNo(liftNo);//提升机号 command.setTaskNo(taskNo);//任务号 command.setDistPosition(position);//目标楼层 // command.setSpeed((short) 200); // command.setHeight2((short) 180); // command.setHeight3((short) 1645); // command.setHeight4((short) 3290); // command.setHeight5((short) 4945); return command; } /** * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转，3=>无货正转，4=>无货反转 */ public LiftCommand getLiftTurnCommand(Integer direction) { LiftCommand command = new LiftCommand(); Short run = 0; switch (direction) { case 1: run = 6;//有货正转 break; case 2: run = 3;//有货反转 break; case 3: run = 2;//无货正转 break; case 4: run = 7;//无货反转 break; case 5: run = 4;//链条停止 } command.setRun(run); return command; } /** * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转 */ public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) { LiftCommand command = new LiftCommand(); Short run = 0; switch (direction) { case 1: run = 6;//有货正转 break; case 2: run = 3;//有货反转 break; case 3: run = 2;//无货正转 break; case 4: run = 7;//无货反转 break; case 5: run = 4;//链条停止 } command.setRun(run); command.setLiftNo(liftNo);//提升机号 command.setTaskNo(taskNo);//任务号 return command; } /** * 初始化提升机 */ private void initLift() { if (null == liftProtocol) { liftProtocol = new LiftProtocol(); } } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { LiftSlave slave = new LiftSlave(); slave.setId(1); slave.setIp("192.168.4.24"); slave.setPort(502); // LiftThread thread = new LiftThread(slave,); // thread.connect(); // thread.readStatus(); // // LiftCommand command = new LiftCommand(); // command.setRun((short) 1); // command.setDistPosition((short) 12); // command.setSpeed((short) 300); // command.setHeight2((short) 100); // command.setHeight3((short) 200); // command.setHeight4((short) 303); // command.setLiftLock(true); // thread.write(command); } }