//package com.zy.core.thread.impl; // //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.baomidou.mybatisplus.mapper.EntityWrapper; //import com.core.common.DateUtils; //import com.core.common.SpringUtils; //import com.zy.asrs.entity.BasLift; //import com.zy.asrs.entity.DeviceDataLog; //import com.zy.asrs.service.BasLiftService; //import com.zy.asrs.service.DeviceDataLogService; //import com.zy.asrs.utils.Utils; //import com.zy.common.ExecuteSupport; //import com.zy.common.utils.RedisUtil; //import com.zy.core.News; //import com.zy.core.action.ForkLiftAction; //import com.zy.core.cache.OutputQueue; //import com.zy.core.cache.SlaveConnection; //import com.zy.core.enums.*; //import com.zy.core.model.CommandResponse; //import com.zy.core.model.ForkLiftSlave; //import com.zy.core.model.command.ForkLiftCommand; //import com.zy.core.model.protocol.ForkLiftProtocol; //import com.zy.core.model.protocol.ForkLiftStaProtocol; //import com.zy.core.thread.ForkLiftThread; //import lombok.Data; //import lombok.extern.slf4j.Slf4j; // //import java.text.MessageFormat; //import java.util.*; // //@Slf4j //@SuppressWarnings("all") //public class LfdZyForkLiftSlaveThread implements ForkLiftThread { // // private Integer masterId; // private ForkLiftSlave slave; // private ForkLiftProtocol forkLiftProtocol; // private RedisUtil redisUtil; // private List forkLiftStaProtocols = new ArrayList<>(); // private LfdZyForkLiftMasterThread masterThread; // // public LfdZyForkLiftSlaveThread(ForkLiftSlave slave, RedisUtil redisUtil, Integer masterId) { // this.slave = slave; // this.redisUtil = redisUtil; // this.masterId = masterId; // //初始化站点 // for (ForkLiftSlave.Sta sta : this.slave.getSta()) { // ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol(); // forkLiftStaProtocol.setStaNo(sta.getStaNo());//站点号 // forkLiftStaProtocol.setLev(sta.getLev());//站点楼层 // String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev()); // forkLiftStaProtocol.setLocNo(locNo);//站点库位号 // forkLiftStaProtocol.setLiftNo(sta.getLiftNo());//提升机号 // forkLiftStaProtocols.add(forkLiftStaProtocol); // } // } // // @Override // public boolean connect() { // boolean result = false; // LfdZyForkLiftMasterThread masterThread = (LfdZyForkLiftMasterThread) SlaveConnection.get(SlaveType.ForkLiftMaster, masterId); // if(masterThread != null) { // result = true; // this.masterThread = masterThread; // } // return result; // } // // @Override // public void close() { // // } // // @Override // public void run() { // News.info("{}号货叉提升机线程启动", slave.getId()); // this.connect(); // while (true) { // try { // if (this.masterThread == null) { // this.connect(); // continue; // } // // read(); // Thread.sleep(300); // execute(); // } catch (Exception e) { // e.printStackTrace(); // } // } // } // // private void execute() { // ForkLiftAction forkLiftAction = null; // try { // forkLiftAction = SpringUtils.getBean(ForkLiftAction.class); // }catch (Exception e){} // if (forkLiftAction == null) { // return; // } // // Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId()); // if (object == null) { // return; // } // // Integer taskNo = Integer.valueOf(String.valueOf(object)); // if (taskNo != 0) { // //存在任务需要执行 // boolean result = forkLiftAction.executeWork(slave.getId(), taskNo); // } // } // // private void read() { // try { // readStatus(); // // //提升机处于运行状态，将标记置为true // if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP) // || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN) // || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) { // forkLiftProtocol.setPakMk(true); // } // } catch (Exception e) { // OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); // } // } // // private void readStatus() { // try { // //获取提升机数据 // OperateResultExOne result1 = this.masterThread.read(this.slave.getId(), "status"); // SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net(); // if (result1.IsSuccess) { // if (null == forkLiftProtocol) { // forkLiftProtocol = new ForkLiftProtocol(); // forkLiftProtocol.setLiftNo(slave.getId()); // forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE); // // InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend(); // } // // //----------读取提升机状态----------- // //模式 // forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0)); // //PLC任务号 // forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 2)); // //任务状态 // forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4)); // //任务模式 // forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6)); // //取货数据 // forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8)); // //放货数据 // forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10)); // //出入库模式 // forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12)); // //故障码 // forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14)); // //当前层 // forkLiftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16)); // // //************补充扩展字段************* // InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend(); // forkLiftProtocol.setExtend(forkLiftExtend); // // }else { // OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId())); // } // // OperateResultExOne result2 = this.masterThread.read(this.slave.getId(), "staStatusTray"); // if (result2.IsSuccess) { // for (int i = 0; i < this.slave.getSta().size(); i++) { // ForkLiftSlave.Sta sta = this.slave.getSta().get(i); // if (forkLiftStaProtocols.isEmpty()) { // continue; // } // // short val = siemensS7Net.getByteTransform().TransInt16(result2.Content, i * 2); // ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i); // forkLiftStaProtocol.setHasTray(val == 1); // } // } // // OperateResultExOne result3 = this.masterThread.read(this.slave.getId(), "staStatusCar"); // if (result3.IsSuccess) { // for (int i = 0; i < this.slave.getSta().size(); i++) { // ForkLiftSlave.Sta sta = this.slave.getSta().get(i); // if (forkLiftStaProtocols.isEmpty()) { // continue; // } // // short val = siemensS7Net.getByteTransform().TransInt16(result3.Content, i * 2); // ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i); // forkLiftStaProtocol.setHasCar(val == 1); // } // } // // if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) { // //采集时间超过5s，保存一次数据记录 // //保存数据记录 // DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class); // DeviceDataLog deviceDataLog = new DeviceDataLog(); // deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content)); // deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol)); // deviceDataLog.setType("forkLift"); // deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo()); // deviceDataLog.setCreateTime(new Date()); // deviceDataLogService.insert(deviceDataLog); // // //保存数据记录 // DeviceDataLog deviceDataLog2 = new DeviceDataLog(); // deviceDataLog2.setOriginData(Base64.getEncoder().encodeToString(result2.Content)); // deviceDataLog2.setWcsData(JSON.toJSONString(forkLiftStaProtocols)); // deviceDataLog2.setType("forkLiftStaProtocols"); // deviceDataLog2.setDeviceNo(forkLiftProtocol.getLiftNo()); // deviceDataLog2.setCreateTime(new Date()); // deviceDataLogService.insert(deviceDataLog2); // // //更新采集时间 // forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis()); // } // // //将提升机状态保存至数据库 // BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class); // BasLift basLift = basLiftService.selectOne(new EntityWrapper() // .eq("lift_no", slave.getId())); // if (basLift == null) { // basLift = new BasLift(); // //提升机号 // basLift.setLiftNo(forkLiftProtocol.getLiftNo()); // basLift.setStatus(1); // basLiftService.insert(basLift); // } // //任务号 // basLift.setWrkNo(forkLiftProtocol.getTaskNo()); // //修改时间 // basLift.setUpdateTime(new Date()); // //设备状态 // basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol)); // if (basLiftService.updateById(basLift)) { // OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo())); // } // // } catch (Exception e) { // OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取货叉提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); // } // } // // @Override // public ForkLiftProtocol getStatus(boolean clone) { // if (this.forkLiftProtocol == null) { // return null; // } // return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol; // } // // @Override // public List getForkLiftStaProtocols() { // return this.forkLiftStaProtocols; // } // // @Override // public ForkLiftProtocol getStatus() { // return getStatus(true); // } // // @Override // public CommandResponse pickAndPut(ForkLiftCommand command) { // CommandResponse response = new CommandResponse(false); // // short[] array = new short[4]; // array[0] = command.getTaskNo();//任务号 // array[1] = command.getMode();//任务模式 // array[2] = command.getPick();//取货数据 // array[3] = command.getPut();//放货数据 // OperateResult result = this.masterThread.write(this.slave.getId(), "write", array); // if (result.IsSuccess) { // OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm()); // if (result2.IsSuccess) { // response.setResult(true); // } // } // return response; // } // // @Override // public CommandResponse shuttleSwitch(ForkLiftCommand command) { // CommandResponse response = new CommandResponse(false); // // short[] array = new short[4]; // array[0] = command.getTaskNo();//任务号 // array[1] = command.getMode();//任务模式 // array[2] = command.getPick();//取货数据 // array[3] = command.getPut();//放货数据 // OperateResult result = this.masterThread.write(this.slave.getId(), "write", array); // if (result.IsSuccess) { // OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm()); // if (result2.IsSuccess) { // response.setResult(true); // } // } // return response; // } // // @Override // public CommandResponse move(ForkLiftCommand command) { // CommandResponse response = new CommandResponse(false); // // short[] array = new short[4]; // array[0] = command.getTaskNo();//任务号 // array[1] = command.getMode();//任务模式 // array[2] = command.getPut();//放货数据 // OperateResult result = this.masterThread.write(this.slave.getId(), "write", array); // if (result.IsSuccess) { // OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm()); // if (result2.IsSuccess) { // response.setResult(true); // } // } // return response; // } // // @Override // public CommandResponse reset() { // CommandResponse response = new CommandResponse(false); // OperateResult result = this.masterThread.write(this.slave.getId(), "confirm", (short) 1); // if (result.IsSuccess) { // News.info("货叉提升机确认命令下发成功，提升机号={}", forkLiftProtocol.getLiftNo()); // response.setResult(true); // } // return response; // } // // @Override // public boolean isIdle() { // if (this.forkLiftProtocol.getTaskNo() == null // || this.forkLiftProtocol.getProtocolStatus() == null // || this.forkLiftProtocol.getModel() == null // || this.forkLiftProtocol.getErrorCode() == null // ) { // return false; // } // // boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id // && this.forkLiftProtocol.getWrkNo() == 0 // && this.forkLiftProtocol.getTaskNo() == 0 // && this.forkLiftProtocol.getModel() == 2 // && this.forkLiftProtocol.getErrorCode() == 0 // ; // return res; // } // // @Override // public boolean isDeviceIdle() { // return isDeviceIdle(null); // } // // @Override // public boolean isDeviceIdle(ExecuteSupport support) { // if (null != support) { // Boolean judgement = support.judgement(); // if (judgement != null && !judgement) { // return true; // } // } // // if (this.forkLiftProtocol.getTaskNo() == null // || this.forkLiftProtocol.getProtocolStatus() == null // || this.forkLiftProtocol.getModel() == null // || this.forkLiftProtocol.getErrorCode() == null // ) { // return false; // } // // boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id // && this.forkLiftProtocol.getWrkNo() == 0 // && this.forkLiftProtocol.getModel() == 2 // && this.forkLiftProtocol.getErrorCode() == 0 // ; // return res; // } // // @Override // public boolean setProtocolStatus(ForkLiftProtocolStatusType status) { // return false; // } // // @Override // public boolean setSyncTaskNo(Integer taskNo) { // this.forkLiftProtocol.setSyncTaskNo(taskNo); // return true; // } // // @Override // public boolean switchIOMode(ForkLiftIoModeType type) { // OperateResult result = this.masterThread.write(this.slave.getId(), "switchIOMode", type.id.shortValue()); // if (result.IsSuccess) { // return true; // } // return false; // } // // @Override // public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) { // return taskNo; // } // // @Override // public List getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) { // Integer realPick = pick % 1000; // Integer realPut = put % 1000; // // List commands = new ArrayList<>(); // ForkLiftCommand command = new ForkLiftCommand(); // command.setLiftNo(slave.getId()); // command.setTaskNo(taskNo.shortValue()); // command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue()); // command.setPick(realPick.shortValue()); // command.setPut(realPut.shortValue()); // command.setConfirm((short) 1); // // commands.add(command); // return commands; // } // // @Override // public List getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) { // Integer realPick = pick % 1000; // Integer realPut = put % 1000; // // List commands = new ArrayList<>(); // ForkLiftCommand command = new ForkLiftCommand(); // command.setLiftNo(slave.getId()); // command.setTaskNo(taskNo.shortValue()); // command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue()); // command.setPick(realPick.shortValue()); // command.setPut(realPut.shortValue()); // command.setConfirm((short) 1); // // commands.add(command); // return commands; // } // // @Override // public List getMoveCommand(Integer taskNo, Integer pick, Integer put) { // Integer realPick = pick % 1000; // Integer realPut = put % 1000; // // List commands = new ArrayList<>(); // ForkLiftCommand command = new ForkLiftCommand(); // command.setLiftNo(slave.getId()); // command.setTaskNo(taskNo.shortValue()); // command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue()); // command.setPick(realPick.shortValue()); // command.setPut(realPut.shortValue()); // command.setConfirm((short) 1); // // commands.add(command); // return commands; // } // // /** // * 扩展字段 // */ // @Data // private class InnerForkLiftExtend { // // } //}