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.core.common.SpringUtils; //import com.zy.asrs.entity.BasRgv; //import com.zy.asrs.entity.BasRgvOpt; //import com.zy.asrs.service.BasRgvOptService; //import com.zy.asrs.service.BasRgvService; import com.zy.core.RgvThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.RgvStatusType; import com.zy.core.enums.RgvTaskModeType; import com.zy.core.enums.SlaveType; import com.zy.core.model.RgvSlave; import com.zy.core.model.Task; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.RgvProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * RGV线程 */ @Data @Slf4j public class ZyRgvThread implements Runnable, RgvThread { private SiemensS7Net siemensNet; private RgvSlave slave; private RgvProtocol rgvProtocol; private boolean resetFlag1 = false;//工位1复位信号 private boolean resetFlag2 = false;//工位2复位信号 public ZyRgvThread(RgvSlave slave) { this.slave = slave; } @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { this.connect(); while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((RgvCommand) task.getData()); break; // 工位1复位 case 3: writeAckFinish1((RgvCommand) task.getData()); break; //工位2复位 case 4: writeAckFinish2((RgvCommand) task.getData()); 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.RGV.offer(MessageFormat.format( "【{0}】RGV 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("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV 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("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); initRgv(); } return result; } /** * 读取状态 */ private void readStatus(){ try { OperateResultExOne result = siemensNet.Read("DB101.0", (short) 38); if (result.IsSuccess) { if (null == rgvProtocol) { rgvProtocol = new RgvProtocol(); rgvProtocol.setRgvNo(slave.getId()); } rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式 rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//工位1工作号 rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 6));//工位1工作号 rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));//RGV状态 rgvProtocol.setColumnNumber(siemensNet.getByteTransform().TransInt16(result.Content, 12));//RGV当前位置 rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));//走行在定位 rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 16));//RGV当前位置 rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 20));//工位1有物 rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 22));//异常码 rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 24));//备用2 rgvProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 28));//备用3 rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用4 rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 36));//工位1有物 OutputQueue.RGV.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 (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) { } try { // 根据实时信息更新数据库 // BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class); // BasRgv basRgv = new BasRgv(); // basRgv.setRgvNo(slave.getId()); // basRgv.setMode(rgvProtocol.getMode().intValue()); // basRgv.setStatus(rgvProtocol.getStatus().intValue()); // basRgv.setTaskNo1(rgvProtocol.getTaskNo1()); // basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue()); // basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue()); // basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue()); //// basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue()); //// basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue()); //// basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue()); //// basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue()); // basRgv.setAlarm(rgvProtocol.getAlarm().intValue()); //// basRgv.setHeart(rgvProtocol.getHeart().intValue()); // basRgv.setTemp1(rgvProtocol.getTemp1()); // basRgv.setTemp2(rgvProtocol.getTemp2().intValue()); // basRgv.setTemp3(rgvProtocol.getTemp3().intValue()); //// basRgv.setTemp4(rgvProtocol.getTemp4().intValue()); //// basRgv.setTemp5(rgvProtocol.getTemp5().intValue()); // if (!basRgvService.updateById(basRgv)){ // log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); // } } catch (Exception ignore){} } else { initRgv(); OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception e) { e.printStackTrace(); OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); initRgv(); } } private boolean writeAckFinish1(RgvCommand command) throws InterruptedException { OperateResult write = siemensNet.Write("DB100.22.1", true); if (!write.IsSuccess){ log.error("任务1确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId()); MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(3, command)); } return write.IsSuccess; } private boolean writeAckFinish2(RgvCommand command) throws InterruptedException { OperateResult write = siemensNet.Write("DB100.22.2", true); if (!write.IsSuccess){ log.error("任务2确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId()); MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command)); } return write.IsSuccess; } /** * 写入数据 */ private boolean write(RgvCommand command) throws InterruptedException { if (null == command) { log.error("RGV写入命令为空"); return false; } command.setRgvNo(slave.getId()); short[] array = new short[5]; array[0] = command.getSourceStaNo1(); array[1] = command.getSourceStaNo2(); array[2] = command.getDestinationStaNo1(); array[3] = command.getDestinationStaNo2(); array[4] = command.getTaskMode(); int[] array2 = new int[3]; array2[0] = command.getTaskNo1(); array2[1] = command.getTaskNo2(); array2[2] = 0; boolean[] array3 = new boolean[3]; array3[0] = command.isCommand(); array3[1] = command.isAckFinish1(); array3[2] = command.isAckFinish2(); OperateResult result1 = siemensNet.Write("DB100.0",array); OperateResult result2 = siemensNet.Write("DB100.10",array2); OperateResult result3 = siemensNet.Write("DB100.22",array3); if (!result1.IsSuccess && !result2.IsSuccess && !result3.IsSuccess){ log.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command)); MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command)); Thread.sleep(100); readStatus(); return false; } //RGV任务写入后，回读一次，看是否成功 Thread.sleep(400); try { OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 24); OperateResultExOne readAck1 = siemensNet.Read("DB100.0", (short) 22.1); OperateResultExOne readAck2 = siemensNet.Read("DB100.0", (short) 22.2); if (resultRead.IsSuccess && readAck1.IsSuccess && readAck2.IsSuccess){ RgvCommand one = new RgvCommand(); one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0)); one.setSourceStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); one.setDestinationStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10)); one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 14)); one.setCommand(siemensNet.getByteTransform().TransBool(resultRead.Content, 22)); one.setAckFinish1(siemensNet.getByteTransform().TransBool(readAck1.Content, 0)); one.setAckFinish2(siemensNet.getByteTransform().TransBool(readAck2.Content, 0)); // one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); if ( !command.isAckFinish1() == one.isAckFinish1() || !command.isAckFinish2() == one.isAckFinish2() || !command.isCommand() == one.isCommand() || !command.getTaskNo1().equals(one.getTaskNo1()) || !command.getTaskNo2().equals(one.getTaskNo2()) || !command.getTaskMode().equals(one.getTaskMode()) || !command.getSourceStaNo1().equals(one.getSourceStaNo1()) || !command.getDestinationStaNo1().equals(one.getDestinationStaNo1()) || !command.getSourceStaNo2().equals(one.getSourceStaNo2()) || !command.getDestinationStaNo2().equals(one.getDestinationStaNo2()) ){ try{ log.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); }catch (Exception e){ try{ log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); }catch (Exception e1){ log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); } } log.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command)); Thread.sleep(100); readStatus(); return false; }else { log.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } }else { log.error("RGV命令地址写入后回读出错,重新加入队列"); MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command)); } }catch (Exception e){ log.error("RGV命令地址写入后回读出错"); } if (!command.isAckFinish1() && !command.isAckFinish2()) { if (result1.IsSuccess) { Thread.sleep(300); //任务下发次数 int writeCount2 = 0; do { writeCount2++; result1 = siemensNet.Write("DB100.22", true); if(result1.IsSuccess){ //RGV任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne resultRead = siemensNet.Read("DB100.22", (short) 2); if (resultRead.IsSuccess) { boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0); if (!commandFinish){ log.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次"); }else{ //任务命令写入成功 log.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); break; } }else { log.error("RGV任务确认位回读失败！"+"循环执行次数:"+writeCount2+"次"); } } else { log.error("RGV任务确认位写入失败！"+"循环执行次数:"+writeCount2+"次"); } }while (writeCount2<5); } } if (result1 != null && result1.IsSuccess) { Thread.sleep(200); this.readStatus(); log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } /** * 初始化堆垛机状态 */ private void initRgv() { if (null == rgvProtocol) { rgvProtocol = new RgvProtocol(); } rgvProtocol.setMode((short) 0);//模式 rgvProtocol.setTaskNo1(0);//工位1工作号 rgvProtocol.setTaskNo2(0);//工位1工作号 rgvProtocol.setStatus((short) 0);//RGV状态 rgvProtocol.setColumnNumber((short) 0);//RGV当前位置 rgvProtocol.setWalkPos((short) 0);//走行在定位 rgvProtocol.setRgvPos(0);//RGV当前位置 rgvProtocol.setLoaded1((short) 0);//工位1有物 rgvProtocol.setAlarm((short) 0);//异常码 rgvProtocol.setxSpeed( 0);//备用2 rgvProtocol.setxDistance(0);//备用3 rgvProtocol.setxDuration( 0);//备用4 } @Override public void close() { siemensNet.ConnectClose(); } }