*

lsh

2025-03-31 32877d296352896b17fed55f3a497cd969ee1545

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

@@ -392,44 +392,56 @@
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);

        OperateResult result = siemensNet.Write("DB100.0", array);

        int i=0;
        if(result.IsSuccess){
            log.info("堆垛机命令地址写入成功[id:{}]>>>>写入[{}]", slave.getId(),JSON.toJSON(command));
        }else{
            log.error("堆垛机命令地址写入失败！！！[id:{}]>>>>写入[{}]", slave.getId(),JSON.toJSON(command));
        }
//        do{
//            //堆垛机任务写入后，回读一次，看是否成功
//            Thread.sleep(300);
//            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
//            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())
//                ){
//                    i++;
//                    log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
//                    result = siemensNet.Write("DB100.0", array);
//                }else{
//                    i=5;
//                }
//            }
//        }while(i<5);


        do{
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(300);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
            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())
                ){
                    i++;
                    log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
                    result = siemensNet.Write("DB100.0", array);
                }else{
                    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;
                        }
                    }
                    break;
                }
            }
        }while(i<5);
        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);