*

lsh

2025-04-08 a5df301fce6e16534bec1e9a9d55edd19896fe85

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

@@ -125,6 +125,11 @@
                        write((StaProtocol)task.getData());
                        read();
                        break;
                    // 写数据 ID+目标站
                    case 4:
                        writeAgvOk((StaProtocol)task.getData());
                        read();
                        break;
                   /* case 3:
                        write2((StaProtocol)task.getData());
                        read();
@@ -229,14 +234,80 @@
            }
        }

        OperateResultExOne<byte[]> resultAgvAndPlc = siemensS7Net.Read("DB102.0", (short) 30);
        if (resultAgvAndPlc.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                int sign =(i+2)/2-1;
                if ((i+2)%2!=0){
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    if (null == staProtocol) {
                        staProtocol = new StaProtocol();
                        staProtocol.setSiteId(siteId);
                        station.put(siteId, staProtocol);
                    }
                    staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6+4));     // 允许取货
                    staProtocol.setAgvStartPlace((short)0);   // 允许放货
                    continue;
                }
                Integer siteId = staNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6));     // 允许取货
                staProtocol.setAgvStartPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6 + 2));   // 允许放货
            }
        }

        OperateResultExOne<byte[]> resultAgvAndPlcOk = siemensS7Net.Read("DB132.0", (short) 30);
        if (resultAgvAndPlcOk.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                int sign =(i+2)/2-1;
                if ((i+2)%2!=0){
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    if (null == staProtocol) {
                        staProtocol = new StaProtocol();
                        staProtocol.setSiteId(siteId);
                        station.put(siteId, staProtocol);
                    }
                    staProtocol.setAgvTargetPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6+4));     // 允许取货
                    staProtocol.setAgvTargetPlace((short)0);   // 允许放货
                    continue;
                }
                Integer siteId = staNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                try{
                    staProtocol.setAgvTargetPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6));     // 取货完成
                    if (staProtocol.getAgvTargetPick()!=0){
                        System.out.println(staProtocol.getAgvTargetPick());
                    }
                    staProtocol.setAgvTargetPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6 + 2));   // 放货完成
                    if (staProtocol.getAgvTargetPlace()!=0){
                        System.out.println(staProtocol.getAgvTargetPlace());
                    }
                }catch (Exception e){
                    log.error(""+e);
                }
            }
        }


        if (slave.getId() == 1) {
            //条码
            //Thread.sleep(200);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840.0", (short) 60);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840.0", (short) 32);
            if (result2.IsSuccess) {
                for (int i = 0; i < 4; i++) {
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 10, 8, "UTF-8");
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                    if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
@@ -324,6 +395,87 @@
    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void writeAgvOk(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        if (staProtocol.getAgvTypeSign()==0 || staProtocol.getAgvTypeSign()==2 ){  //0取货
            switch (staProtocol.getSiteId()){
                case 100:
                    index=32;
                    break;
                case 101:
                    index=34;
                    break;
                case 102:
                    index=38;
                    break;
                case 103:
                    index=40;
                    break;
                case 104:
                    index=44;
                    break;
                case 105:
                    index=46;
                    break;
                case 106:
                    index=50;
                    break;
                case 107:
                    index=52;
                    break;
                default:
                    return;
            }
        }else {
            switch (staProtocol.getSiteId()){
                case 100:
                    index=30;
                    break;
                case 102:
                    index=36;
                    break;
                case 104:
                    index=42;
                    break;
                case 106:
                    index=48;
                    break;
                default:
                    return;
            }
        }

        OperateResult write = null;
        //任务下发次数
        int writeCount = 0;
        do {
            short textWrite = 1;// 任务完成
            if (staProtocol.getAgvTypeSign()>1){
                textWrite = 0;// 任务复位
            }
            write = siemensS7Net.Write("DB102." + index, textWrite);
            if(write.IsSuccess){
                writeCount=6;
            }else {
                writeCount++;
                log.error("写入输送线取放货完成命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
        }while (writeCount<5);

        if (!write.IsSuccess) {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线取放货完成站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线取放货完成命令下发码垛完成  给输送线写任务完成 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
        }


    }
    private void write(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
@@ -331,28 +483,68 @@
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, array);

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        OperateResult writeResult1 = siemensS7Net.Write("DB100." + index*6, (int) staProtocol.getWorkNo());    // 工作号
        OperateResult writeResult2 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo());    // 目标站
        if(writeResult1.IsSuccess&&writeResult2.IsSuccess){
            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo((int) staProtocol.getWorkNo());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }else{
                log.error("输送线写入失败"+staProtocol+"++++++++++++++++++++++++++++++++++++++");
        while(writeCount < 5){
            OperateResult writeResult1 = siemensS7Net.Write("DB100." + index*6,  staProtocol.getWorkNo().intValue());    // 工作号
            OperateResult writeResult2 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo());    // 目标站
            if(writeResult1.IsSuccess && writeResult2.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*6, (short)6);
                if(readResult.IsSuccess){
                    Integer workNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 4);
                    if(workNo.equals(staProtocol.getWorkNo().intValue()) && staProtocol.getStaNo().equals(staNo)){
                        //任务命令写入成功
                        writeFlag = true;
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

//            //重新添加数据到任务队列
//            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
//            read();//读取1次设备状态
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

//            Integer siteId = staProtocol.getSiteId();
//            staProtocol = station.get(siteId);
//            if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
//                staProtocol.setPakMk(true);
//            }
        }