优化完成任务

野心家

2024-10-23 073a67a60ed7abfc19bbb5e69d7294dec10ddc75

 src/main/java/com/zy/core/thread/SiemensCrnThread.java

@@ -348,12 +348,12 @@
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosZ();
        array[4] = command.getSourcePosX();
        array[5] = command.getSourcePosY();
        array[6] = command.getDestinationPosZ();
        array[7] = command.getDestinationPosX();
        array[8] = command.getDestinationPosY();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();

        // 作业信息
@@ -401,19 +401,22 @@
                one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                //one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!crnCommand.getTaskNo().equals(one.getTaskNo()) && !crnCommand.getAckFinish().equals(one.getAckFinish())
                        && !crnCommand.getSourcePosZ().equals(one.getSourcePosZ()) &&  !crnCommand.getSourcePosX().equals(one.getSourcePosX()) && !crnCommand.getSourcePosY().equals(one.getSourcePosY())
                        && !crnCommand.getDestinationPosZ().equals(one.getDestinationPosZ()) &&  !crnCommand.getDestinationPosX().equals(one.getDestinationPosX()) && !crnCommand.getDestinationPosY().equals(one.getDestinationPosY())
                if (!one.getTaskNo().equals(array[1]) || !one.getAckFinish().equals(array[0])
                        || !one.getSourcePosZ().equals(array[5]) ||  !one.getSourcePosX().equals(array[3])
                        || !one.getSourcePosY().equals(array[4])
                        || !one.getDestinationPosZ().equals(array[8]) ||  !one.getDestinationPosX().equals(array[6])
                        || !one.getDestinationPosY().equals(array[7])
                ){
                    log.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("传参==堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("实发==堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, crnCommand));
                    Thread.sleep(100);
@@ -426,6 +429,7 @@
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
            log.error("堆垛机命令地址写入后回读出错:异常信息："+e);
        }
        return true;
    }
@@ -466,17 +470,16 @@
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosZ();
        array[4] = command.getSourcePosX();
        array[5] = command.getSourcePosY();
        array[6] = command.getDestinationPosZ();
        array[7] = command.getDestinationPosX();
        array[8] = command.getDestinationPosY();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
        // 日志记录
//        try {
            if (command.getAckFinish() != 1) {
                BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
                BasCrnOpt basCrnOpt = new BasCrnOpt(
@@ -567,22 +570,49 @@
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(500);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            /*
            *
            *  if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
            command.setTaskNo((short) 999);
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        if (Cools.isEmpty(command.getAckFinish())) {
            array[0] = 5;
        } else {
            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();
        array[9] = command.getCommand();
        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
            * */
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                //one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!crnCommand.getTaskNo().equals(one.getTaskNo()) && !crnCommand.getAckFinish().equals(one.getAckFinish())
                && !crnCommand.getSourcePosZ().equals(one.getSourcePosZ()) &&  !crnCommand.getSourcePosX().equals(one.getSourcePosX()) && !crnCommand.getSourcePosY().equals(one.getSourcePosY())
                        && !crnCommand.getDestinationPosZ().equals(one.getDestinationPosZ()) &&  !crnCommand.getDestinationPosX().equals(one.getDestinationPosX()) && !crnCommand.getDestinationPosY().equals(one.getDestinationPosY())
                if (!one.getTaskNo().equals(array[1]) || !one.getAckFinish().equals(array[0])
                        || !one.getSourcePosZ().equals(array[5]) ||  !one.getSourcePosX().equals(array[3])
                        || !one.getSourcePosY().equals(array[4])
                        || !one.getDestinationPosZ().equals(array[8]) ||  !one.getDestinationPosX().equals(array[6])
                        || !one.getDestinationPosY().equals(array[7])
                ){
                    log.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));