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.Arith; import com.core.common.DateUtils; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasCrnOpt; import com.zy.asrs.entity.BasCrnp; import com.zy.asrs.service.BasCrnOptService; import com.zy.asrs.service.BasCrnpService; import com.zy.core.CrnThread; 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.Calendar; import java.util.Date; /** * 堆垛机线程 * Created by vincent on 2020/8/4 */ @Data @Slf4j public class MelsecCrnThread implements Runnable, CrnThread { private MelsecMcNet melsecMcNet; private CrnSlave slave; private CrnProtocol crnProtocol; private boolean resetFlag = false; private short heartBeatVal = 1; private int heartTimes = 0; public MelsecCrnThread(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; } // 心跳 2s一次 heartTimes++; if (Arith.remainder(heartTimes, 4) == 0) { heartbeat(); heartTimes = 0; } 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()); } // 命令下发区 -------------------------------------------------------------------------- /** * array[1] = command.getSourcePosY(); // 列 * array[2] = command.getSourcePosZ(); // 层 * array[3] = command.getSourcePosX(); // 排 * array[4] = command.getDestinationPosY(); // 列 * array[5] = command.getDestinationPosZ(); // 层 * array[6] = command.getDestinationPosX(); // 排 * array[7] = command.getTaskNo(); */ Date date = new Date(); Calendar cal = Calendar.getInstance(); cal.setTime(date); CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskMode(CrnTaskModeType.TIMING); // 任务模式: 设置时间 crnCommand.setSourcePosY((short) cal.get(Calendar.YEAR)); // 年：1980～2079 crnCommand.setSourcePosZ((short) (cal.get(Calendar.MONTH)+1)); // 月：1～12 crnCommand.setSourcePosX((short) cal.get(Calendar.DATE)); // 日：1～31 crnCommand.setDestinationPosY((short) cal.get(Calendar.HOUR_OF_DAY)); // 时：0～23 crnCommand.setDestinationPosZ((short) cal.get(Calendar.MINUTE)); // 分：0～59 crnCommand.setDestinationPosX((short) cal.get(Calendar.SECOND)); // 秒：0～59 crnCommand.setTaskNo((short) (cal.get(Calendar.DAY_OF_WEEK) - 1)); // 星期：0(日)～6(六) crnCommand.setTaskSend((short) 1); crnCommand.setAckFinish((short) 0); if (write(crnCommand)) { log.info("堆垛机plc校对时间成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } melsecMcNet.ConnectClose(); try { Thread.sleep(1000); } catch (InterruptedException ignore) {} return result; } /** * 读取状态 */ private void readStatus(){ OperateResultExOne result = melsecMcNet.Read("D1119", (short) 58); if (result.IsSuccess) { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 0)); crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 2)); crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4)); crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6)); crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8)); crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10)); crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12)); crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14)); crnProtocol.setFingerPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16)); crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 18)); crnProtocol.setAlarm1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20)); crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 22)); crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 24)); crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 26)); crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 28)); crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 30)); crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34)); crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38)); crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 42)); crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46)); crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 50)); crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54)); 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) { CrnCommand crnCommand = new CrnCommand(); crnCommand.setAckFinish((short)1); if (write(crnCommand)) { 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()); crnProtocol.setAlarm1((short) (crnProtocol.getAlarm1() + 1000)); 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()); } } else { 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()); } } /** * 写入数据 */ private boolean write(CrnCommand command){ if (null == command) { log.error("堆垛机写入命令为空"); return false; } if (command.getAckFinish() == 1) { command.setTaskSend((short) 0); } else if (command.getAckFinish() == 0) { command.setTaskSend((short) 1); } command.setCrnNo(slave.getId()); short[] array = new short[10]; array[0] = command.getTaskMode(); array[1] = command.getSourcePosY(); // 列 array[2] = command.getSourcePosZ(); // 层 array[3] = command.getSourcePosX(); // 排 array[4] = command.getDestinationPosY(); // 列 array[5] = command.getDestinationPosZ(); // 层 array[6] = command.getDestinationPosX(); // 排 array[7] = command.getTaskNo(); array[8] = command.getTaskSend(); array[9] = command.getAckFinish(); OperateResult result = melsecMcNet.Write("D1001", array); if (result.IsSuccess) { log.info("堆垛机命令下发[id:{}] >>>>> {}", 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))); try { // 日志记录 BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class); BasCrnOpt basCrnOpt = new BasCrnOpt( command.getTaskNo().intValue(), // 任务号 command.getCrnNo(), // 堆垛机[非空] new Date(), // 下发时间 command.getTaskModeType().toString(), // 模式 command.getSourcePosX().intValue(), // 源排 command.getSourcePosY().intValue(), // 源列 command.getSourcePosZ().intValue(), // 源层 null, // 源站 command.getDestinationPosX().intValue(), // 目标排 command.getDestinationPosY().intValue(), // 目标列 command.getDestinationPosZ().intValue(), // 目标层 null, // 目标站 null, // 响应结果 null, // 修改时间 null // 修改人员 ); bean.insert(basCrnOpt); } catch (Exception ignore) {} return true; } else { 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()); return false; } } /** * 心跳 */ private void heartbeat(){ if (heartBeatVal == 1) { heartBeatVal = 0; } else { heartBeatVal = 1; } OperateResult write = melsecMcNet.Write("D1000", heartBeatVal); if (!write.IsSuccess) { log.error("输送线plc编号={} 心跳失败", slave.getId()); } } @Override public void close() { melsecMcNet.ConnectClose(); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { CrnSlave slave = new CrnSlave(); slave.setId(1); slave.setIp("192.168.6.9"); MelsecCrnThread crnThread = new MelsecCrnThread(slave); crnThread.connect(); crnThread.readStatus(); System.out.println(JSON.toJSONString(crnThread.crnProtocol)); Thread.sleep(3000L); // 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) 2); // 目标库位排 // command.setDestinationPosY((short) 1); // 目标库位列 // command.setDestinationPosZ((short) 1); // 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); // } } }