package com.zy.core.thread; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Profinet.Melsec.MelsecMcNet; 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.core.ThreadHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.CrnStatusType; import com.zy.core.enums.CrnTaskModeType; import com.zy.core.enums.SlaveType; import com.zy.core.model.CrnSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * 堆垛机线程 * Created by vincent on 2020/8/4 */ @Data @Slf4j public class CrnThread implements Runnable, ThreadHandler { private MelsecMcNet melsecMcNet; private CrnSlave slave; private CrnProtocol crnProtocol; private boolean resetFlag = false; public CrnThread(CrnSlave slave) { this.slave = slave; } @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { this.connect(); while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Crn, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((CrnCommand) task.getData()); break; // 复位 case 3: CrnCommand command = (CrnCommand) task.getData(); if (null == command) { command = new CrnCommand(); } command.setCrnNo(slave.getId()); // 堆垛机编号 command.setTaskNo((short) 0); // 工作号 command.setAckFinish((short) 1); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.NONE); // 任务模式 command.setSourcePosX((short)0); // 源库位排 command.setSourcePosY((short)0); // 源库位列 command.setSourcePosZ((short)0); // 源库位层 command.setDestinationPosX((short)0); // 目标库位排 command.setDestinationPosY((short)0); // 目标库位列 command.setDestinationPosZ((short)0); // 目标库位层 write(command); break; default: break; } Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } } } @Override public boolean connect() { boolean result = false; melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort()); OperateResult connect = melsecMcNet.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); } melsecMcNet.ConnectClose(); return result; } /** * 读取状态 */ private void readStatus(){ try { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } /* 方法1 */ OperateResultExOne result = melsecMcNet.Read("D2231", (short) 62); if (result.IsSuccess) { crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0)); crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4)); crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6)); crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 8)); crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 10)); crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12)); crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14)); crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16)); // crnProtocol.setTaskFinish(melsecMcNet.getByteTransform().TransInt16(result.Content, 18)); crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20)); crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22)); crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2)); crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransBool(result.Content, 26, 2)); crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28)); crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30)); crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32)); crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34)); crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38)); crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 42)); crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46)); crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 50)); crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54)); crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58)); } else { throw new CoolException("堆垛机plc状态信息失败"); } /* 方法2 */ // crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content); // crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content); // crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content); //// crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16)); // crnProtocol.setLoaded(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content); // crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content); // crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content); // crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content); // crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content); // crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content); // crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content); // crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content); // crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content); } catch (Exception e) { e.printStackTrace(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return; } OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); // 复位信号 if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) { if (resetFlag) { if (melsecMcNet.Write("D2218", (short) 1).IsSuccess) { resetFlag = false; } } } // 根据实时信息更新数据库 // BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class); // BasCrnp basCrnp = new BasCrnp(); // basCrnp.setCrnNo(slave.getId()); // if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){ // log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); // } } /** * 写入数据 */ private void write(CrnCommand command){ if (null == command) { log.error("堆垛机写入命令为空"); return; } command.setCrnNo(slave.getId()); /* 方法 1 */ do { if (command.getDestinationPosZ() != null) { if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; } } if (command.getDestinationPosY() != null) { if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; } } if (command.getDestinationPosX() != null) { if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; } } if (command.getSourcePosZ() != null) { if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; } } if (command.getSourcePosY() != null) { if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; } } if (command.getDestinationPosX() != null) { if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; } } if (command.getTaskMode() != null) { if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; } } if (command.getTaskNo() != null) { if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; } } if (command.getAckFinish() != null) { if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; } } System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return; } while (false); System.out.println(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); /* 方法 2 */ // melsecMcNet.Write("D2218", command.getAckFinish()); // melsecMcNet.Write("D2217", command.getTaskNo()); // melsecMcNet.Write("D2216", command.getTaskMode()); // melsecMcNet.Write("D2214", command.getSourcePosX()); // melsecMcNet.Write("D2212", command.getSourcePosY()); // melsecMcNet.Write("D2210", command.getSourcePosZ()); // melsecMcNet.Write("D2208", command.getDestinationPosX()); // melsecMcNet.Write("D2204", command.getDestinationPosY()); // melsecMcNet.Write("D2202", command.getDestinationPosZ()); } @Override public void close() { melsecMcNet.ConnectClose(); } public CrnProtocol getCrnProtocol(){ if (crnProtocol == null) { readStatus(); } return this.crnProtocol; } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { CrnSlave slave = new CrnSlave(); slave.setId(1); slave.setIp("192.168.3.39"); slave.setPort(5015); slave.setRack(0); slave.setSlot(0); CrnThread crnThread = new CrnThread(slave); crnThread.connect(); crnThread.readStatus(); System.out.println(JSON.toJSONString(crnThread.crnProtocol)); // 1.入库 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 // command.setSourcePosX((short) 1); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 1); // 源库位层 // command.setDestinationPosX((short) 2); // 目标库位排 // command.setDestinationPosY((short) 3); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // crnThread.write(command); // 2.出库 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式 // command.setSourcePosX((short) 2); // 源库位排 // command.setSourcePosY((short) 4); // 源库位列 // command.setSourcePosZ((short) 3); // 源库位层 // command.setDestinationPosX((short) 1); // 目标库位排 // command.setDestinationPosY((short) 0); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // crnThread.write(command); // // 3.库位移转 源和目标都发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(slave.getId()); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)2); // 源库位排 // command.setSourcePosY((short)2); // 源库位列 // command.setSourcePosZ((short)3); // 源库位层 // command.setDestinationPosX((short)2); // 目标库位排 // command.setDestinationPosY((short)4); // 目标库位列 // command.setDestinationPosZ((short)4); // 目标库位层 // crnThread.write(command); // 4.站位移转 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(slave.getId()); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)1); // 源库位排 // command.setSourcePosY((short)0); // 源库位列 // command.setSourcePosZ((short)1); // 源库位层 // command.setDestinationPosX((short)2); // 目标库位排 // command.setDestinationPosY((short)0); // 目标库位列 // command.setDestinationPosZ((short)1); // 目标库位层 // crnThread.write(command); // // 5.回原点 不用发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 0); // 目标库位排 // command.setDestinationPosY((short) 0); // 目标库位列 // command.setDestinationPosZ((short) 0); // 目标库位层 // crnThread.write(command); // 7.坐标移行 目标发 pass CrnCommand command = new CrnCommand(); command.setCrnNo(1); // 堆垛机编号 command.setTaskNo((short) 0); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式 command.setSourcePosX((short) 0); // 源库位排 command.setSourcePosY((short) 0); // 源库位列 command.setSourcePosZ((short) 0); // 源库位层 command.setDestinationPosX((short) 1); // 目标库位排 command.setDestinationPosY((short) 3); // 目标库位列 command.setDestinationPosZ((short) 3); // 目标库位层 crnThread.write(command); // 只有出现指定异常才进行复位 // if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr // || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr // || crnThread.crnProtocol.getCrnError2().leftPutLoadErr // || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) { // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setAckFinish((short) 1); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.NONE); // 任务模式 // Thread.sleep(3000L); // crnThread.write(command); // } } }