联调

dubin

2 天以前 a3991c24aa69d18cad0195c28fa80abe2871bbd2

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

@@ -147,13 +147,13 @@
        crnProtocol.setWalkPos((short) 0);
        crnProtocol.setLoaded((short) 0);
        crnProtocol.setAlarm((short) 0);
        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);
        crnProtocol.setxSpeed((float) 0);
        crnProtocol.setySpeed((float) 0);
        crnProtocol.setzSpeed((float) 0);
        crnProtocol.setxDistance((float) 0);
        crnProtocol.setyDistance((float) 0);
        crnProtocol.setxDuration((float) 0);
        crnProtocol.setyDuration((float) 0);
    }

    @Override
@@ -181,7 +181,7 @@
     */
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -201,18 +201,17 @@
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));



                //crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                //crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                //crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                //crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 46));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 50));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 54));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 58));
                crnProtocol.setxSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setzSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 50) / 10000);
                crnProtocol.setyDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 54) / 10000);
                crnProtocol.setxDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 58) / 10000);
                crnProtocol.setyDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 62) / 10000);

                //2工位
                crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
@@ -227,7 +226,11 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
//                    if (crnProtocol.getTaskNo() == 0){
//                        News.error("堆垛机工位1工作号为0，不予确认，工位1{}",crnProtocol.getLoaded() == 1 ? "有物" : "无物");
//                        return;
//                    }
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台1信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物");
                    if (resetFlag) {
                        if (crnProtocol.getTaskNo() == 9999) {
@@ -238,7 +241,7 @@
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 工位1复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
@@ -246,8 +249,12 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物");
//                    if (crnProtocol.getTaskNoTwo() == 0){
//                        News.error("堆垛机工位2工作号为0，不予确认，工位2{}",crnProtocol.getLoadedTwo() == 1 ? "有物" : "无物");
//                        return;
//                    }
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台2信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNoTwo(), crnProtocol.getLoadedTwo() == 1 ? "有物" : "无物");
                    if (resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
@@ -257,7 +264,7 @@
                        crnCommand.setAckFinish((short) 1);
                        if (write2(crnCommand)) {
                            resetFlagTwo = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 工位2复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
@@ -302,7 +309,7 @@
     */
    private boolean write(CrnCommand command) throws InterruptedException {
        if (null == command) {
            News.error("堆垛机写入命令为空");
            News.error("堆垛机工位1写入命令为空");
            return false;
        }
        // 向堆垛机发任务前的堆垛机状态
@@ -329,12 +336,12 @@
                }
            }
        } catch (Exception e) {
            News.error("堆垛机命令地址写入后回读出错");
            News.error("堆垛机工位1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[9];
        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
@@ -344,11 +351,12 @@
        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


        OperateResult result = siemensNet.Write("DB100.0", array);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
        News.info("堆垛机工位1命令下发[id:{}] >>>>> {}", slave.getId(), array);

        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
@@ -358,7 +366,7 @@
            try {
                if (!result.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);
                    News.error("写入堆垛机工位1plc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);

//                    }
@@ -385,7 +393,7 @@
                            || !command.getAckFinish().equals(one.getAckFinish())
                    ) {
                        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));
                            News.error("堆垛机工位1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));
@@ -400,18 +408,18 @@

                        }
//                        if (!resetFlag){
                        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);
                        News.error("写入堆垛机工位1plc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);
//                        }
                        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));
                        News.info("堆垛机工位1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);
                News.error("堆垛机工位1命令地址写入后回读出错,异常：" + e);
            }
            writeCount1++;
        } while (writeCount1 < 6);
@@ -434,17 +442,17 @@
                        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");
                                News.error("堆垛机工位1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");
                                News.info("堆垛机工位1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");
                            News.error("堆垛机工位1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("堆垛机工位1任务确认位" + commandFinish + "写入失败！" + "循环执行次数:" + writeCount2 + "次");
                    }
                } while (writeCount2 < 5);
            }
@@ -482,8 +490,8 @@
            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());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机工位1plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("写入堆垛机工位1plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
@@ -493,12 +501,12 @@
     */
    private boolean write2(CrnCommand command) throws InterruptedException {
        if (null == command) {
            News.error("堆垛机写入命令为空");
            News.error("堆垛机工位2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("DB100.20", (short) 18);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 20);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -520,7 +528,7 @@
                }
            }
        } catch (Exception e) {
            News.error("堆垛机命令地址写入后回读出错");
            News.error("堆垛机工位2命令地址写入后回读出错");
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
@@ -542,21 +550,21 @@
        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);
        News.info("堆垛机工位2命令下发[id:{}] >>>>> {}", slave.getId(), array);

        int writeCount1 = 1;
        do {
            try {
                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);
                    News.error("写入堆垛机工位2plc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);
//                    }
                    Thread.sleep(100);
                    writeCount1++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 18);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
@@ -575,7 +583,7 @@
                            || !command.getAckFinish().equals(one.getAckFinish())
                    ) {
                        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));
                            News.error("堆垛机工位2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));
@@ -590,18 +598,18 @@

                        }
//                        if (!resetFlag){
                        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);
                        News.error("写入堆垛机工位2plc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);
//                        }
                        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));
                        News.info("堆垛机工位2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);
                News.error("堆垛机工位2命令地址写入后回读出错2,异常：" + e);
            }
            writeCount1++;
        } while (writeCount1 < 6);
@@ -624,17 +632,17 @@
                        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");
                                News.error("堆垛机工位2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");
                            News.error("堆垛机工位2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("堆垛机工位2任务确认位" + commandFinish + "写入失败！" + "循环执行次数:" + writeCount2 + "次");
                    }
                } while (writeCount2 < 5);
            }
@@ -673,7 +681,7 @@
            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());
            News.error("写入堆垛机工位2plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }