1

zhang

2025-09-26 3897c8800805f6e99e30d700fe0c11c5ed2df84a

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

@@ -74,7 +74,12 @@
                        break;
                    // 写入数据 1号工位
                    case 2:
                        write((CrnCommand) task.getData());
                        CrnCommand data = (CrnCommand) task.getData();
                        if (data.getPltType() == null || data.getPltType() == 1) {
                            write(data);
                        } else if (data.getPltType() == 2) {
                            write2(data);
                        }
                        break;
                    // 复位 1号工位
                    case 3:
@@ -93,10 +98,6 @@
                        command.setDestinationPosY((short) 0);     // 目标库位列
                        command.setDestinationPosZ((short) 0);     // 目标库位层
                        write(command);
                        break;
                    // 写入数据 2号工位
                    case 4:
                        write2((CrnCommand) task.getData());
                        break;
                    // 复位 2号工位
                    case 6:
@@ -489,7 +490,7 @@
            return false;
        }
        // 向堆垛机发任务前的堆垛机状态
        try{
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
@@ -505,13 +506,13 @@
                        || !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())
                ){
                ) {
//                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                } else {
//                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
        } catch (Exception e) {
            News.error("堆垛机命令地址写入后回读出错");
        }
//        convertRow(command);
@@ -531,7 +532,7 @@
//        array[10] = 0;   //备用1

        short[] array2 = new short[1];
        array2[0] =  command.getAckFinish();
        array2[0] = command.getAckFinish();
        OperateResult result = siemensNet.Write("DB100.20", array);
        OperateResult result2 = siemensNet.Write("DB100.0", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
@@ -539,7 +540,7 @@
        int writeCount1 = 1;
        do {
            try {
                if (!result.IsSuccess||!result2.IsSuccess) {
                if (!result.IsSuccess || !result2.IsSuccess) {
//                    if (!resetFlag){
                    News.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.toJSON(command), writeCount1);
                    result = siemensNet.Write("DB100.0", array);
@@ -609,26 +610,26 @@
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.38", commandFinish);
                    if(result.IsSuccess){
                    if (result.IsSuccess) {
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                            commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1) {
                                News.error("堆垛机任务确认位" + commandFinish + "写入数据与回读数据不一致！" + "循环执行次数:" + writeCount2 + "次");
                            } else {
                                //任务命令写入成功
//                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        } else {
                            News.error("堆垛机任务确认位" + commandFinish + "回读失败！" + "循环执行次数:" + writeCount2 + "次");
                        }
                    } else {
                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                        News.error("堆垛机任务确认位" + commandFinish + "写入失败！" + "循环执行次数:" + writeCount2 + "次");
                    }
                }while (writeCount2<5);
                } while (writeCount2 < 5);
            }
        }

@@ -654,7 +655,8 @@
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
@@ -668,6 +670,7 @@
            return false;
        }
    }

    public void requestStop() {
        isRunning = false;
    }