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.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.LiftSlave; import com.zy.core.model.Task; import com.zy.core.model.command.LiftCommand; import com.zy.core.model.protocol.LiftProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * 提升机线程 */ @Data @Slf4j public class LiftThread implements Runnable, ThreadHandler { private ModbusTcpNet modbusTcpNet; private LiftSlave slave; private LiftProtocol liftProtocol; public LiftThread(LiftSlave slave) { this.slave = slave; } @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; 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) 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}】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("29", (short) 17); 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(modbusTcpNet.getByteTransform().TransInt16(content,0)); //位置到达反馈 liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2)); //准备就绪 liftProtocol.setReady(modbusTcpNet.getByteTransform().TransBool(content,3)); //运行中 liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4)); //联机/单机 liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5)); //输送线前端光电有货 liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6)); //输送线正转反馈 liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7)); //输送线反转反馈 liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8)); //输送线电机过载 liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9)); //输送线末端光电有货 liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10)); //进输送线卡托盘报警 liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11)); //出输送线卡托盘报警 liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12)); //平台位置偏差报警 liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13)); //平台扭矩偏差报警 liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14)); //平台四向车检测 liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15)); //未就绪状态 liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16)); //伺服1错误 liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17)); //伺服2错误 liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18)); //伺服3错误 liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19)); //伺服4错误 liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20)); //提升机实际速度反馈 liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,21)); ///读取提升机状态-end 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())); // 根据实时信息更新数据库 //..... }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()); // 开始任务 short[] array = new short[30]; //开始运行 array[0] = command.getRun(); //目标位置 array[1] = command.getDistPosition(); //运行速度 array[2] = command.getSpeed(); //二层高度设定 array[3] = command.getHeight2(); //三层高度设定 array[4] = command.getHeight3(); //四层高度设定 array[5] = command.getHeight4(); //提升机锁定 array[29] = command.getLiftLock(); OperateResult result = modbusTcpNet.Write("0", 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; } } /** * 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) 0); command.setDistPosition((short) 12); command.setSpeed((short) 300); command.setHeight2((short) 100); command.setHeight3((short) 200); command.setHeight4((short) 303); command.setLiftLock((short) 1); thread.write(command); } }