#

lsh

2022-12-17 859c827e2f1af3fe55c081d045db2c9f1ca79ef9

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

@@ -24,7 +24,6 @@
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;

import java.text.MessageFormat;
import java.util.Date;
@@ -42,6 +41,11 @@
    private CrnProtocol crnProtocol;
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;

    public MelsecCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -120,13 +124,13 @@
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setXSpeed(0F);
        crnProtocol.setYSpeed(0F);
        crnProtocol.setZSpeed(0F);
        crnProtocol.setXDistance(0F);
        crnProtocol.setYDistance(0F);
        crnProtocol.setXDuration(0F);
        crnProtocol.setYDuration(0F);
        crnProtocol.setxSpeed((short)0);
        crnProtocol.setySpeed((short)0);
        crnProtocol.setzSpeed((short)0);
        crnProtocol.setxDistance((short)0);
        crnProtocol.setyDistance((short)0);
        crnProtocol.setxDuration((short)0);
        crnProtocol.setyDuration((short)0);
    }

    @Override
@@ -161,6 +165,7 @@
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
@@ -176,13 +181,13 @@
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
                crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
                crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
                crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));
                crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 52));

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

@@ -190,6 +195,9 @@
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
@@ -229,6 +237,55 @@
            log.error("堆垛机写入命令为空");
            return false;
        }

//        OperateResult result = null;
//        try{
//            Integer exeCount=0;
//            do{
//                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();
//                array[9] = command.getCommand();
//                result = melsecMcNet.Write("D0", array);
//                if(result.IsSuccess) {
//                    if (command.getAckFinish() == 0) {
//                        short commandFinish = 1;
//                        result = melsecMcNet.Write("D9", commandFinish);
//                        if(result.IsSuccess){
//                            //写任务确认返回成功后，查询确认一次
//                            Thread.sleep(200);
//                            OperateResultExOne<byte[]> result1 = melsecMcNet.Read("D9", (short)2);
//                            if(result1.IsSuccess){
//                                short commandVal = melsecMcNet.getByteTransform().TransInt16(result1.Content,2);
//                                if(commandVal==1){
//                                    break;
//                                } else {
//                                    exeCount++;
//                                }
//                            } else{
//                                exeCount++;
//                            }
//                        }else{
//                            exeCount++;
//                        }
//                    }
//                }else{
//                    exeCount++;
//                }
//                Thread.sleep(200);
//            }while(exeCount>3);
//        }catch (Exception e){
//
//        }

        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        array[0] = command.getAckFinish();
@@ -242,11 +299,6 @@
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
        OperateResult result = melsecMcNet.Write("D0", array);

        try {
            Thread.sleep(200);
        }catch (Exception e){
        }

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
@@ -276,7 +328,7 @@
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}

        if (result.IsSuccess) {
        if (result != null && result.IsSuccess) {
            log.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;
@@ -303,7 +355,7 @@
        }
        OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
            log.error("堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }