package com.zy.core.thread; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.alibaba.fastjson.JSON; import com.core.common.DateUtils; import com.zy.core.ThreadHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; 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 SiemensS7Net siemensNet; private CrnSlave slave; private CrnProtocol crnProtocol; 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.Devp, 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: 库位移转 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; siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp()); siemensNet.setRack(slave.getRack().byteValue()); siemensNet.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensNet.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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } siemensNet.ConnectClose(); return result; } /** * 读取状态 */ private void readStatus(){ OperateResultExOne result = siemensNet.Read("DB8.18", (short) 46); if (result.IsSuccess) { OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2)); crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4)); crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6)); crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8)); crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10)); crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12)); crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16)); crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18)); crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20)); crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22)); crnProtocol.setError2(siemensNet.getByteTransform().TransInt16(result.Content, 24)); crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 26)); crnProtocol.setXSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28)); crnProtocol.setYSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30)); crnProtocol.setZSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32)); crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 34)); crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 38)); crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 42)); crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 46)); } 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } /** * 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()); short[] array = new short[9]; array[0] = command.getAckFinish(); array[1] = command.getTaskNo(); array[2] = command.getTaskMode(); array[3] = command.getSourcePosX(); array[4] = command.getSourcePosY(); array[5] = command.getSourcePosZ(); array[6] = command.getDestinationPosX(); array[7] = command.getDestinationPosY(); array[8] = command.getDestinationPosZ(); OperateResult result = siemensNet.Write("DB8.0", array); if (result.IsSuccess) { OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); readStatus(); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } @Override public void close() { siemensNet.ConnectClose(); } public CrnProtocol getCrnProtocol(){ if (crnProtocol == null) { readStatus(); } return this.crnProtocol; } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) { CrnSlave slave = new CrnSlave(); slave.setIp("192.168.6.9"); slave.setRack(0); slave.setSlot(0); CrnThread crnThread = new CrnThread(slave); crnThread.readStatus(); System.out.println(JSON.toJSONString(crnThread.crnProtocol)); // // 写 // CrnCommand 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: 库位移转 // 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); } }