#堆垛机写入

lsh

2024-05-17 7f6d12a2b9c7329444777569d4c55ff0d6bdcfb1

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

@@ -291,60 +291,73 @@
        OperateResult result2 = siemensNet.Write("DB100.22", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);

        if(!result.IsSuccess || !result2.IsSuccess){
            News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        try{
            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));
                one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
                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())
                        || !command.isTraySize() == one.isTraySize()
                ){
                    try{
//                        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));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
        int writeCount1 = 1;

                    if(!resetFlag) {
                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                    }

        do {
            try{
                if(!result.IsSuccess || !result2.IsSuccess){
                    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);
//                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                    result = siemensNet.Write("DB100.0", array);
                    result2 = siemensNet.Write("DB100.22", array2);
                    Thread.sleep(100);
                    readStatus();
                    return false;
                } else {
                    News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    writeCount1++;
                    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));
                    one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
                    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())
                            || !command.isTraySize() == one.isTraySize()
                    ){
                        try{
                            News.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.toJSON(command),JSON.toJSON(one));
                        }catch (Exception e){
                            try{
                                News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                            }catch (Exception e1){
                                News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                            }
                        }

                        try{
                            Thread.sleep(100);
                        }catch (Exception e){

                        }

//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                        News.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.toJSON(command),writeCount1);
                        result = siemensNet.Write("DB100.0", array);
                        result2 = siemensNet.Write("DB100.22", array2);
                        writeCount1++;
                        continue;

                    } else {
                        News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                        break;
                    }
                }
            }catch (Exception e){
                News.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
        }catch (Exception e){
            News.error("堆垛机命令地址写入后回读出错");
        }
            writeCount1++;
        } while (writeCount1<6);


        if (command.getAckFinish() == 0) {
@@ -417,6 +430,193 @@
        }
    }

    /**
     * 写入数据
     */
//    private boolean write(CrnCommand command) throws InterruptedException {
//        if (null == command) {
//            News.error("堆垛机写入命令为空");
//            return false;
//        }
//        // 向堆垛机发任务前的堆垛机状态
//        try{
//            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())
//                ){
////                    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){
//            News.error("堆垛机命令地址写入后回读出错");
//        }
////        convertRow(command);
//        command.setCrnNo(slave.getId());
////        short[] array = new short[10];
//        short[] array = new short[10];
//        array[0] = command.getAckFinish(); // 任务完成确认位
//        array[1] = command.getTaskNo();  // 任务号
//        array[2] = command.getTaskMode();  // 模式
//        array[3] = command.getSourcePosX(); // 源位置排号
//        array[4] = command.getSourcePosY(); // 源位置列号
//        array[5] = command.getSourcePosZ(); // 源位置层号
//        array[6] = command.getDestinationPosX();  // 目标位置排号
//        array[7] = command.getDestinationPosY(); // 目标位置列号
//        array[8] = command.getDestinationPosZ(); // 目标位置层号
//        array[9] = command.getCommand();
////        array[10] = 0;   //备用1
//
//        boolean[] array2 = new boolean[1];
//        array2[0] = command.isTraySize();
//        OperateResult result = siemensNet.Write("DB100.0", array);
//        OperateResult result2 = siemensNet.Write("DB100.22", array2);
//        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
//
//        if(!result.IsSuccess || !result2.IsSuccess){
//            News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
//            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));

//                    if(!resetFlag) {
//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
//                    }
//            Thread.sleep(100);
//            readStatus();
//            return false;
//        }
//
//        //堆垛机任务写入后，回读一次，看是否成功
//        Thread.sleep(200);
//        try{
//            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));
//                one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
//                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())
//                        || !command.isTraySize() == one.isTraySize()
//                ){
//                    try{
////                        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));
//                    }catch (Exception e){
//                        try{
//                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
//                        }catch (Exception e1){
//                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
//                        }
//                    }
//
//                    if(!resetFlag) {
//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
//                    }
//
//                    Thread.sleep(100);
//                    readStatus();
//                    return false;
//                } else {
//                    News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
//                }
//            }
//        }catch (Exception e){
//            News.error("堆垛机命令地址写入后回读出错");
//        }
//
//
//        if (command.getAckFinish() == 0) {
//            if (result.IsSuccess) {
//                Thread.sleep(300);
//                //任务下发次数
//                int writeCount2 = 0;
//
//                do {
//                    writeCount2++;
//                    short commandFinish = (short) 1;
//                    result = siemensNet.Write("DB100.18", commandFinish);
//                    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("DB100.18", (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{
//                                //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+"写入失败！"+"循环执行次数:"+writeCount2+"次");
//                    }
//                }while (writeCount2<5);
//            }
//        }
//
//
//        try {
//            // 日志记录
//            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
//            BasCrnOpt basCrnOpt = new BasCrnOpt(
//                    command.getTaskNo().intValue(),    // 任务号
//                    command.getCrnNo(),    // 堆垛机[非空]
//                    new Date(),    // 下发时间
//                    command.getTaskModeType().toString(),    // 模式
//                    command.getSourcePosX().intValue(),    // 源排
//                    command.getSourcePosY().intValue(),    // 源列
//                    command.getSourcePosZ().intValue(),    // 源层
//                    null,    // 源站
//                    command.getDestinationPosX().intValue(),    // 目标排
//                    command.getDestinationPosY().intValue(),    // 目标列
//                    command.getDestinationPosZ().intValue(),    // 目标层
//                    null,    // 目标站
//                    null,    // 响应结果
//                    null,    // 修改时间
//                    null    // 修改人员
//            );
//            bean.insert(basCrnOpt);
//        } catch (Exception ignore) {}
//
//        if (result != null && result.IsSuccess) {
//            Thread.sleep(200);
//            this.readStatus();
////            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
//    }

    public void requestStop() {
        isRunning = false;
    }