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Administrator

9 天以前 c83a822ffbf3f3421ad035ce59cf502f3860d0ca

 src/main/java/com/zy/core/network/real/ZyDualCrnRealConnect.java

@@ -7,17 +7,10 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.BasDualCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.service.BasDualCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.DualCrnTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.model.CommandResponse;
@@ -100,17 +93,20 @@
                crnStatus.setXDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 62));
                crnStatus.setYDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 66));

                OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.0", (short) 18);
                OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.0", (short) 36);
                if (taskResult.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(taskResult.Content, 0);
                    short taskMode = siemensNet.getByteTransform().TransInt16(taskResult.Content, 2);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 4);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 6);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 8);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 10);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 12);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 14);
                    short confirm = siemensNet.getByteTransform().TransInt16(taskResult.Content, 16);
                    byte[] taskContent = taskResult.Content;

                    // 工位1命令区：DB100.0 ~ DB100.17
                    short taskNo = siemensNet.getByteTransform().TransInt16(taskContent, 0);
                    short taskMode = siemensNet.getByteTransform().TransInt16(taskContent, 2);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskContent, 4);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskContent, 6);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskContent, 8);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskContent, 10);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskContent, 12);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskContent, 14);
                    short confirm = siemensNet.getByteTransform().TransInt16(taskContent, 16);

                    int hasData = 0;
                    if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {
@@ -153,41 +149,39 @@
                                Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());
                                if (lock == null) {
                                    OperateResult taskClearResult = siemensNet.Write("DB100.0", array);
                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 3);
                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 1);
                                    News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 1, JSON.toJSONString(map));
                                }
                            }
                        }
                    }
                    crnStatus.setTaskSend(hasData);
                }

                OperateResultExOne<byte[]> taskResult2 = siemensNet.Read("DB100.18", (short) 18);
                if (taskResult2.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 0);
                    short taskMode = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 2);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 4);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 6);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 8);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 10);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 12);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 14);
                    short confirm = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 16);
                    // 工位2命令区：DB100.18 ~ DB100.35
                    short taskNoTwo = siemensNet.getByteTransform().TransInt16(taskContent, 18);
                    short taskModeTwo = siemensNet.getByteTransform().TransInt16(taskContent, 20);
                    short sourcePosXTwo = siemensNet.getByteTransform().TransInt16(taskContent, 22);
                    short sourcePosYTwo = siemensNet.getByteTransform().TransInt16(taskContent, 24);
                    short sourcePosZTwo = siemensNet.getByteTransform().TransInt16(taskContent, 26);
                    short destinationPosXTwo = siemensNet.getByteTransform().TransInt16(taskContent, 28);
                    short destinationPosYTwo = siemensNet.getByteTransform().TransInt16(taskContent, 30);
                    short destinationPosZTwo = siemensNet.getByteTransform().TransInt16(taskContent, 32);
                    short confirmTwo = siemensNet.getByteTransform().TransInt16(taskContent, 34);

                    int hasData = 0;
                    if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {
                        hasData = 1;
                    int hasDataTwo = 0;
                    if(taskNoTwo != 0 || taskModeTwo != 0 || sourcePosXTwo != 0 || sourcePosYTwo != 0 || sourcePosZTwo != 0 || destinationPosXTwo != 0 || destinationPosYTwo != 0 || destinationPosZTwo != 0 || confirmTwo != 0) {
                        hasDataTwo = 1;
                        if (crnStatus.getTaskReceiveTwo() == 1) {
                            HashMap<String, Object> map = new HashMap<>();
                            map.put("taskNo", taskNo);
                            map.put("taskMode", taskMode);
                            map.put("sourcePosX", sourcePosX);
                            map.put("sourcePosY", sourcePosY);
                            map.put("sourcePosZ", sourcePosZ);
                            map.put("destinationPosX", destinationPosX);
                            map.put("destinationPosY", destinationPosY);
                            map.put("destinationPosZ", destinationPosZ);
                            map.put("confirm", confirm);
                            map.put("taskNo", taskNoTwo);
                            map.put("taskMode", taskModeTwo);
                            map.put("sourcePosX", sourcePosXTwo);
                            map.put("sourcePosY", sourcePosYTwo);
                            map.put("sourcePosZ", sourcePosZTwo);
                            map.put("destinationPosX", destinationPosXTwo);
                            map.put("destinationPosY", destinationPosYTwo);
                            map.put("destinationPosZ", destinationPosZTwo);
                            map.put("confirm", confirmTwo);

                            short[] array = new short[9];
                            array[0] = (short) 0;
@@ -201,7 +195,7 @@
                            array[8] = (short) 0;

                            boolean clear = false;
                            if (taskMode == DualCrnTaskModeType.CONFIRM.id) {
                            if (taskModeTwo == DualCrnTaskModeType.CONFIRM.id) {
//                                if (crnStatus.getStatusTwo() == 0) {
//                                    clear = true;
//                                }
@@ -215,13 +209,13 @@
                                Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());
                                if (lock == null) {
                                    OperateResult taskClearResult = siemensNet.Write("DB100.18", array);
                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 3);
                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 1);
                                    News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 2, JSON.toJSONString(map));
                                }
                            }
                        }
                    }
                    crnStatus.setTaskSendTwo(hasData);
                    crnStatus.setTaskSendTwo(hasDataTwo);
                }

                return crnStatus;
@@ -240,7 +234,7 @@
    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
        redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 3);
        redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 1);
        CommandResponse response = new CommandResponse(false);
         try {
             if (null == command) {
@@ -304,7 +298,7 @@
                    }
                 }
                 idx++;
                 Thread.sleep(500);
                 Thread.sleep(200);
             } while (idx < 5);

             OperateResult confirmResult = siemensNet.Write(confirmAddress, (short) 1);
@@ -319,7 +313,7 @@
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
                 response.setResult(true);
                 response.setMessage("命令下发成功");
                 redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 3);
                 redisUtil.set(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo(), "lock", 1);
             } else {
                 News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));