#

Junjie

2025-06-19 a5b175f8943b1a2477508c9d271315a13cd1818f

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

@@ -154,7 +154,11 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            short len = 56;
            if (slave.getId() == 1) {
                len = 58;
            }
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", len);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -181,6 +185,9 @@
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                if (slave.getId() == 1) {
                    crnProtocol.setCrnLane((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));
                }

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

@@ -239,6 +246,23 @@
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }

        int writeAck = 0;
        do {
            OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
            if (resultAck.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (ack != 0) {
                    writeAck++;
                }else {
                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成");
                    break;
                }
            }
        }while (writeAck <5);

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -254,14 +278,51 @@
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        OperateResult result = null;
        int idx = 0;
        do {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
            if (resultRead.IsSuccess) {
                if (command.getAckFinish() == 0) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    if(taskNo == 0) {
                        result = siemensNet.Write("DB100.0", array);
                    }else {
                        break;
                    }
                }else {
                    short ackFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    if(ackFinish != command.getAckFinish()) {
                        result = siemensNet.Write("DB100.0", array);
                    }else {
                        break;
                    }
                }
            }
            idx++;
            Thread.sleep(500L);
        } while (idx < 5);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            int i = 0;
            do {
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
                OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read("DB100.18", (short) 2);
                if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0);
                    if(taskNo != 0 && confirm == 0) {
                        result = siemensNet.Write("DB100.18", commandFinish);
                    }
                }
                i++;
                Thread.sleep(500L);
            } while (i < 5);
        }

        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
@@ -297,7 +358,6 @@
            return false;
        }
    }


    @Override
    public void close() {