对照协议调整

zhangchao

2024-08-30 0cd7adb27af908b7d0ce0db697f9567d77bcbeb2

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

@@ -244,27 +244,119 @@
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        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();
        short[] array = new short[17];
        array[0] = command.getTaskNo();
        array[1] = command.getTaskMode();
        array[2] = command.getSourcePosX();
        array[3] = command.getSourcePosY();
        array[4] = command.getSourcePosZ();
        array[5] = command.getDestinationPosX();
        array[6] = command.getDestinationPosY();
        array[7] = command.getDestinationPosZ();
        array[8] = command.getSourcePosXTwo();
        array[9] = command.getSourcePosYTwo();
        array[10] = command.getSourcePosZTwo();
        array[11] = command.getDestinationPosXTwo();
        array[12] = command.getDestinationPosYTwo();
        array[13] = command.getDestinationPosZTwo();
        array[14] = command.getCommand();
        array[15] = command.getAckFinish();

//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        //array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);


        log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);



        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        int writeCount = 1;
        do {
            try{
                if(!result.IsSuccess){
                    log.error("写入堆垛机plc数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(command),writeCount);
                    result = siemensNet.Write("DB100.0", array);
                    Thread.sleep(100);
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                    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));
                    if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                            || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                            || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                            || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                    ){
                        try{
                            log.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));
                        }catch (Exception e){
                            try{
                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(resultRead));
                            }catch (Exception e1){
                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
                            }
                        }
                        try{
                            Thread.sleep(100);
                        }catch (Exception e){

                        }
                        log.error("写入堆垛机plc数据失败，重新下发任务  回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(command),writeCount);
                        result = siemensNet.Write("DB100.0", array);
                        writeCount++;
                        continue;
                    } else {
                        log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));
                        break;
                    }
                }
            }catch (Exception e){
                log.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
            writeCount++;
        } while (writeCount<6);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }
        }


//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            Thread.sleep(100L);
//            result = siemensNet.Write("DB100.18", commandFinish);
//        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);