lift

Junjie

2023-06-26 7cd8c743cb1f377a3102d9a154669fb2bc10535c

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

@@ -226,6 +226,7 @@
            News.error("堆垛机写入命令为空");
            return false;
        }
//        siemensNet.Write("DB100.18", (short) 0);
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -254,15 +255,55 @@
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result=null;
        //任务下发次数
        int writeCount = 0;
        do {
            result = siemensNet.Write("DB100.0", array);
            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("DB100.0", (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())
                    ){
                        News.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));
                    }else{
                        //任务命令写入成功
                        log.info("写入堆垛机命令后返回成功，并且回读成功。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
                        break;
                    }
                }else {
                    writeCount++;
                    log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
                }
            } else {
                writeCount++;
                log.error("写入堆垛机命令后读取失败。堆垛机plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
            }
        }while (writeCount<5);

        if (command.getAckFinish() == 0) {
            if (result.IsSuccess) {
                short commandFinish = 1;
                Thread.sleep(300);
                result = siemensNet.Write("DB100.18", commandFinish);
            }
            short commandFinish = 1;
            Thread.sleep(300);
            result = siemensNet.Write("DB100.18", commandFinish);
            log.info("写入堆垛机命令后返回成功，并且回读成功。堆垛机plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(command), writeCount);
        }else {
            log.info("未写入堆垛机命令"+command.getAckFinish());
        }
        log.info("堆垛机命令测试-----"+command.getAckFinish());

        try {
            // 日志记录