cigs4/ym-packing/src/main/java/com/cnbm/packing/dispatch/KukaJoinThread.java

package com.cnbm.packing.dispatch;

import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.RandomUtil;
import com.cnbm.packing.dispatch.enums.kuka.step1.Step1Mes2PlcVar;
import com.cnbm.packing.dispatch.enums.kuka.step1.Step1Plc2MesVar;
import com.cnbm.packing.dispatch.enums.kuka.step2.Step2Mes2PlcVar;
import com.cnbm.packing.dispatch.enums.kuka.step2.Step2Plc2MesVar;
import com.cnbm.packing.dispatch.enums.kuka.step3.Step3Mes2PlcVar;
import com.cnbm.packing.dispatch.enums.kuka.step3.Step3Plc2MesVar;
import com.cnbm.packing.dto.WoPowerLevelDTO;
import com.cnbm.packing.entity.WoPackagingBox;
import com.cnbm.packing.entity.WoPackagingBoxSubstrate;
import com.cnbm.packing.entity.WoPowerLevel;
import com.cnbm.packing.service.*;
import com.cnbm.s7.s7connector.enmuc.S7Client;
import com.cnbm.s7.s7connector.type.PlcVar;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.ApplicationArguments;
import org.springframework.boot.ApplicationRunner;
import org.springframework.core.annotation.Order;
import org.springframework.stereotype.Component;

import java.time.LocalDateTime;
import java.util.Date;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;

/**
 * @Desc: ""
 * @Author: caixiang
 * @DATE: 2022/12/23 12:33
 */
@Component
@Order(value = 1)
public class KukaJoinThread implements ApplicationRunner {
    private static final Logger logger = LoggerFactory.getLogger(KukaJoinThread.class);

    @Autowired
    DynamicDataSourceService service;
    @Autowired
    WoPowerLevelServiceBiz levelServiceBiz;

    @Autowired
    WoCompensationPowerServiceBiz compensationPowerServiceBiz;

    @Autowired
    WoPackagingBoxSubstrateServiceBiz substrateServiceBiz;

    @Autowired
    WoPackagingBoxServiceBiz boxServiceBiz;

    public KukaJoinThread(){
        this.kukaStep1 = Executors.newScheduledThreadPool(1);
        this.kukaStep2 = Executors.newScheduledThreadPool(1);
        this.kukaStep3 = Executors.newScheduledThreadPool(1);
    }

    private ScheduledExecutorService kukaStep1;
    private ScheduledExecutorService kukaStep2;
    private ScheduledExecutorService kukaStep3;



    /**
     * return
     *          成功： 返回相应的object对象
     *          失败： 返回null
     * */
    private Object read(S7Client s7Client,Step1Plc2MesVar var) {
        try {
            return s7Client.read(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getLength(), var.getStrSize(), var.getType());
        }catch (Exception e){
            logger.error("host:"+s7Client.getHost()+" ; read 操作出现问题: "+e.getMessage());
            e.printStackTrace();
            return null;
        }
    }
    private void write(S7Client s7Client, Step1Mes2PlcVar var, Object newValue) {
        if(var.getType().equals(PlcVar.STRING_Array)){
            String[] s = (String[])newValue;
            String[] ss = (String[])newValue;
            if(s.length > var.getLength() ){
                ss = new String[var.getLength()];
                for(int i=0;i< var.getLength();i++){
                    ss[i] = s[i];
                }
            }
            s7Client.write(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getStrSize(), var.getType(),ss);
        }else {
            s7Client.write(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getStrSize(), var.getType(),newValue);
        }
    }

    private Object read(S7Client s7Client, Step2Plc2MesVar var) {
        try {
            return s7Client.read(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getLength(), var.getStrSize(), var.getType());
        }catch (Exception e){
            logger.error("host:"+s7Client.getHost()+" ; read 操作出现问题: "+e.getMessage());
            e.printStackTrace();
            return null;
        }
    }
    private void write(S7Client s7Client, Step2Mes2PlcVar var, Object newValue) {
        if(var.getType().equals(PlcVar.STRING_Array)){
            String[] s = (String[])newValue;
            String[] ss = (String[])newValue;
            if(s.length > var.getLength() ){
                ss = new String[var.getLength()];
                for(int i=0;i< var.getLength();i++){
                    ss[i] = s[i];
                }
            }
            s7Client.write(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getStrSize(), var.getType(),ss);
        }else {
            s7Client.write(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getStrSize(), var.getType(),newValue);
        }
    }

    private Object read(S7Client s7Client, Step3Plc2MesVar var) {
        try {
            return s7Client.read(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getLength(), var.getStrSize(), var.getType());
        }catch (Exception e){
            logger.error("host:"+s7Client.getHost()+" ; read 操作出现问题: "+e.getMessage());
            e.printStackTrace();
            return null;
        }
    }
    private void write(S7Client s7Client, Step3Mes2PlcVar var, Object newValue) {
        if(var.getType().equals(PlcVar.STRING_Array)){
            String[] s = (String[])newValue;
            String[] ss = (String[])newValue;
            if(s.length > var.getLength() ){
                ss = new String[var.getLength()];
                for(int i=0;i< var.getLength();i++){
                    ss[i] = s[i];
                }
            }
            s7Client.write(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getStrSize(), var.getType(),ss);
        }else {
            s7Client.write(var.getArea(), var.getAreaNumber(), var.getByteOffset(), var.getBitOffset(), var.getStrSize(), var.getType(),newValue);
        }
    }


    public String getBoxId(String sapMaterial){
        Integer todayBoxNum = service.getTodayBoxNum();
        String nowTime = DateUtil.format(new Date(), "yyMMdd");
        String res = "301"+sapMaterial+nowTime+todayBoxNum;
        return res;
    }

    @Override
    public void run(ApplicationArguments args) throws Exception {
        kukaStep1.execute(new Runnable() {
            @Override
            public void run() {
//                while (true){
//                    //read one
////                    logger.info("过程一 : "+ Arrays.toString((String[])read(S7Client.S7_1500,PlcVarActual.SubIdArrays)));
////                    try {
////                        Thread.sleep(300);
////                    } catch (InterruptedException e) {
////                        throw new S7ParseDataException(e);
////                    }
////                    //write one
////                    String[] toWrite = new String[60];
////                    for(int i=0;i<60;i++){
////                        toWrite[i] = RandomStringUtils.randomAlphanumeric(18);
////                    }
////                    try {
////                        write(S7Client.S7_1500,PlcVarActual.SubIdArrays,toWrite);
////                    } catch (Exception e) {
////                        throw new S7ParseDataException(e);
////                    }
//
//
//                }
            }
        });

        kukaStep1.scheduleAtFixedRate(new Runnable() {
            @Override
            public void run() {
                //调度开始
                logger.info("");
                logger.info("=================  现在开始执行 过程一 任务   ==================");
                Integer subArrived = waitingForTarget(Step1Plc2MesVar.SubArrivedToMes, true);
                if(subArrived != 1){
                    logger.info("失败"+" --- "+"步骤1.  MES监听 Step1Plc2MesVar.SubArrivedToMes 是否 等于 1 失败");
                }

                //一. 从plc 中获取 subId 和 lineNum
                String subId = (String) read(S7Client.S7_KUKA,Step1Plc2MesVar.SubIdToMes);
                Integer lineNum = (Integer) read(S7Client.S7_KUKA,Step1Plc2MesVar.LineNum);

                //二. MES 业务
                //===============           MES 业务 开始         =================
                //1. 从comline数据库中获取 实际pmpp
                float pmppBySubId = service.getPMPPBySubId(subId);
                //2. 匹配和计算补偿功率
                float actualPMPP = compensationPowerServiceBiz.calculCompensationPMPP(pmppBySubId,lineNum);
                //3. 依据补偿功率，获取工艺参数，并且把这些工艺参数传给kuka
                WoPowerLevel argByPMPP = levelServiceBiz.getArgByPMPP(actualPMPP, lineNum);
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.dLable_Pnom,Integer.valueOf(argByPMPP.getPowerClass()));
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.dLable_Voc,argByPMPP.getLableVoc());
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.dLable_Isc,argByPMPP.getLableIsc());
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.dLable_Vmpp,argByPMPP.getLableVmpp());
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.dLable_Impp,argByPMPP.getLableImpp());

                //4. 从camline那里获取可变字段


                //4. 把基板录到数据库
                WoPackagingBoxSubstrate woPackagingBoxSubstrate = new WoPackagingBoxSubstrate();
                woPackagingBoxSubstrate.setLineBody(lineNum);
                woPackagingBoxSubstrate.setPowerLevel(argByPMPP.getPowerClass());
                woPackagingBoxSubstrate.setSapMaterial(argByPMPP.getSapMaterialNum());
                woPackagingBoxSubstrate.setWoSubstrateId(subId);
                substrateServiceBiz.insert(woPackagingBoxSubstrate);
                //===============           MES 业务 结束         =================

                //三. 当MES完成任务后，把MesToPlc.SubArrivedFinish变量置为true，告诉plc，我操作完成了
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.SubArrivedFinish,true);

                //四. mes 监控 到PlcToMes.SubArrived==false，就把MesToPlc.SubArrivedFinish置为false
                Integer subArrived2 = waitingForTarget(Step1Plc2MesVar.SubArrivedToMes, false);
                if(subArrived2 != 1){
                    logger.info("失败"+" --- "+"步骤1.  MES监听 Step1Plc2MesVar.SubArrivedToMes 是否 等于 1 失败");
                }
                write(S7Client.S7_KUKA,Step1Mes2PlcVar.SubArrivedFinish,false);
                logger.info("=================  过程一 任务成功完成   ==================");
                logger.info("");


            }
        },1,1, TimeUnit.SECONDS);


        kukaStep2.scheduleAtFixedRate(new Runnable() {
            @Override
            public void run() {
                //调度开始
                logger.info("");
                logger.info("=================  现在开始执行 过程二 任务   ==================");
                Integer shelfIsFull = waitingForTarget(Step2Plc2MesVar.ShelfIsFull, true);
                if(shelfIsFull != 1){
                    logger.info("失败"+" --- "+"MES监听 Step2Plc2MesVar.ShelfIsFull 是否 等于 1 失败");
                }

                //一. 从plc 中获取 subIdList 和 lineNum
                String[] subIdList = (String[])read(S7Client.S7_KUKA,Step2Plc2MesVar.SubIdList);
//                Integer lineNum = (Integer) read(S7Client.S7_KUKA,Step2Plc2MesVar.LineNum);


                //二. MES 业务
                //===============           MES 业务 开始         =================
                //1.MES 生成BoxId
                if(subIdList.length<=0){
                    logger.info("失败"+" --- "+"从plc里面获取到的基板列表 为空");
                }
                WoPackagingBoxSubstrate bySubId = substrateServiceBiz.getBySubId(subIdList[0]);
                String boxId = getBoxId(bySubId.getSapMaterial());
                //2. 依次update 基板表，把boxId 赋予这些基板
                for(int i=0;i<subIdList.length;i++){
                    substrateServiceBiz.updatePackagingBoxIdByWoSubstrateId(boxId,subIdList[i]);
                }
                //3.去camline数据库 查询此基板ID 对应的订单
                String orderNameBySubId = service.getOrderNameBySubId(subIdList[0]);
                //4. box信息录入到box表
                WoPackagingBox woPackagingBox = new WoPackagingBox();
                woPackagingBox.setBoxNo(boxId);
                woPackagingBox.setPackagingTime(LocalDateTime.now());
                woPackagingBox.setPowerLevel(bySubId.getPowerLevel());
                woPackagingBox.setLineBody(bySubId.getLineBody());
                woPackagingBox.setSapMaterial(bySubId.getSapMaterial());
                //todo box表新增一个 orderNum 字段
                //1-手动模式，2-自动模式
                woPackagingBox.setModel(2);
                boxServiceBiz.insert(woPackagingBox);
                //===============           MES 业务 结束         =================

                //三. 把生成的BoxId 告诉kuka
                write(S7Client.S7_KUKA,Step2Mes2PlcVar.BoxId,boxId);

                //四. 当MES完成任务后，把MesToPlc.ShelfIsFullFinish变量置为true，告诉plc，我操作完成了
                write(S7Client.S7_KUKA,Step2Mes2PlcVar.ShelfIsFullFinish,true);

                //四. mes 监控 到PlcToMes.SubArrived==false，就把MesToPlc.SubArrivedFinish置为false
                Integer subArrived2 = waitingForTarget(Step2Plc2MesVar.ShelfIsFull, false);
                if(subArrived2 != 1){
                    logger.info("失败"+" --- "+"步骤1.  MES监听 Step1Plc2MesVar.SubArrivedToMes 是否 等于 1 失败");
                }
                write(S7Client.S7_KUKA,Step2Mes2PlcVar.ShelfIsFullFinish,false);
                logger.info("=================  过程二 任务成功完成   ==================");
                logger.info("");

            }
        },1,1, TimeUnit.SECONDS);


        kukaStep3.scheduleAtFixedRate(new Runnable() {
            @Override
            public void run() {
                //调度开始
                logger.info("");
                logger.info("=================  现在开始执行 过程三 任务   ==================");
                Integer shelfIsFull = waitingForTarget(Step3Plc2MesVar.ShelfIsFullArrived, true);
                if(shelfIsFull != 1){
                    logger.info("失败"+" --- "+"MES监听 Step3Plc2MesVar.ShelfIsFullArrived 是否 等于 1 失败");
                }

                //一. 从plc 中获取 subIdList 和 lineNum
                String boxId = (String)read(S7Client.S7_KUKA,Step3Plc2MesVar.BoxId);
                Integer lineNum = (Integer) read(S7Client.S7_KUKA,Step3Plc2MesVar.LineNum);


                //二. MES 业务
                //===============           MES 业务 开始         =================
                //1. box信息录入到box表
                boxServiceBiz.updateIsArrivedByBoxNo(1,boxId);
                //===============           MES 业务 结束         =================


                //四. 当MES完成任务后，把MesToPlc.ShelfIsFullArrivedFinish变量置为true，告诉plc，我操作完成了
                write(S7Client.S7_KUKA,Step3Mes2PlcVar.ShelfIsFullArrivedFinish,true);

                //四. mes 监控 到PlcToMes.SubArrived==false，就把MesToPlc.SubArrivedFinish置为false
                Integer subArrived2 = waitingForTarget(Step3Plc2MesVar.ShelfIsFullArrived, false);
                if(subArrived2 != 1){
                    logger.info("失败"+" --- "+"步骤1.  MES监听 Step3Plc2MesVar.ShelfIsFullArrived 是否 等于 1 失败");
                }
                write(S7Client.S7_KUKA,Step3Mes2PlcVar.ShelfIsFullArrivedFinish,false);
                logger.info("=================  过程三 任务成功完成   ==================");
                logger.info("");

            }
        },1,1, TimeUnit.SECONDS);

//        kukaStep2.scheduleAtFixedRate(new Runnable() {
//            @Override
//            public void run() {
//                try {
//                    String s = RandomUtil.randomString(5);
//                    System.out.println("start + "+s+" : "+LocalDateTime.now());
//                    Thread.sleep(3000);
//
//
//
//                    WoPackagingBoxSubstrate bySubId = substrateServiceBiz.getBySubId("sub123");
//                    System.out.println("bySubId:"+ bySubId.toString());
//
//                    String boxId = getBoxId(bySubId.getSapMaterial());
//                    System.out.println("boxId:"+ boxId.toString());
//
//                    //2. 依次update 基板表，把boxId 赋予这些基板
//                    substrateServiceBiz.updatePackagingBoxIdByWoSubstrateId(boxId,"sub123");
//                    //3.去camline数据库 查询此基板ID 对应的订单
//                    //String orderNameBySubId = service.getOrderNameBySubId("sub123");
//                    //4. box信息录入到box表
//                    WoPackagingBox woPackagingBox = new WoPackagingBox();
//                    woPackagingBox.setBoxNo(boxId);
//                    woPackagingBox.setPackagingTime(LocalDateTime.now());
//                    woPackagingBox.setPowerLevel(bySubId.getPowerLevel());
//                    woPackagingBox.setLineBody(bySubId.getLineBody());
//                    woPackagingBox.setSapMaterial(bySubId.getSapMaterial());
//                    //todo box表新增一个 orderNum 字段
//                    //1-手动模式，2-自动模式
//                    woPackagingBox.setModel(2);
//                    boxServiceBiz.insert(woPackagingBox);
//                }catch (Throwable e){
//                    //Error 和 Exception 都继承于Throwable ,所以当业务代码出现Error/Exception 都不会导致程序down掉
//                    e.printStackTrace();
//                }
//            }
//        },1,1, TimeUnit.SECONDS);


    }

    /**
     *
     * arg:
     *      Step1Plc2MesVar 参数类型
     *      targetValue        目的值
     * return:
     *      2 s7 访问异常;
     *      1 成功;
     * */
    private Integer waitingForTarget(Step1Plc2MesVar var, Boolean targetValue) {
        Integer res = 0;
        while (true){
            try {
                Boolean now = (Boolean) read(S7Client.S7_KUKA,var);
                if(targetValue.equals(now)){
                    res = 1;
                    break;
                }
                Thread.sleep(200);
            }catch (Exception e){
                logger.info("S7 数据采集 异常。");
                res = 2;
                break;
            }
        }
        return res;
    }
    /**
     *
     * arg:
     *      Step2Plc2MesVar 参数类型
     *      targetValue        目的值
     * return:
     *      2 s7 访问异常;
     *      1 成功;
     * */
    private Integer waitingForTarget(Step2Plc2MesVar var, Boolean targetValue) {
        Integer res = 0;
        while (true){
            try {
                Boolean now = (Boolean) read(S7Client.S7_KUKA,var);
                if(targetValue.equals(now)){
                    res = 1;
                    break;
                }
                Thread.sleep(200);
            }catch (Exception e){
                logger.info("S7 数据采集 异常。");
                res = 2;
                break;
            }
        }
        return res;
    }
    /**
     *
     * arg:
     *      Step3Plc2MesVar 参数类型
     *      targetValue        目的值
     * return:
     *      2 s7 访问异常;
     *      1 成功;
     * */
    private Integer waitingForTarget(Step3Plc2MesVar var, Boolean targetValue) {
        Integer res = 0;
        while (true){
            try {
                Boolean now = (Boolean) read(S7Client.S7_KUKA,var);
                if(targetValue.equals(now)){
                    res = 1;
                    break;
                }
                Thread.sleep(200);
            }catch (Exception e){
                logger.info("S7 数据采集 异常。");
                res = 2;
                break;
            }
        }
        return res;
    }
}