自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
pjb
2024-11-07 a94ec1f77595073621e46de6161397ed91e27d10 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -157,8 +157,8 @@


            if (result.IsSuccess) {


                if (null == crnProtocol) {


                    crnProtocol = new CrnProtocol();


                    crnProtocol.setCrnNo(slave.getId());


                }


                crnProtocol.setCrnNo(slave.getId());


                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));


                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));


                crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));


@@ -185,8 +185,8 @@




                // 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！！",


                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");


//                    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 (resetFlag) {


                        if(crnProtocol.getTaskNo()==9999){


                            backHpFlag = false;


@@ -196,8 +196,8 @@


                        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{}！！",


                                    slave.getId(), wrkNo, resetFlag);


//                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",


//                                    slave.getId(), wrkNo, resetFlag);


                        }


                    }


                }


@@ -243,36 +243,26 @@


            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));


        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;


                }


            }


        }catch (Exception e){


            News.error("堆垛机命令地址写入后回读出错");


        }


//        convertRow(command);


        }while (writeAck <5);






        command.setCrnNo(slave.getId());


//        short[] array = new short[10];


        short[] array = new short[10];


        short[] array = new short[11];


        array[0] = command.getAckFinish(); // 任务完成确认位


        array[1] = command.getTaskNo();  // 任务号


        array[2] = command.getTaskMode();  // 模式


@@ -283,12 +273,11 @@


        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


        array[10] = command.getTraySize();   //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);




        //堆垛机任务写入后，回读一次，看是否成功


@@ -297,11 +286,10 @@




        do {


            try{


                if(!result.IsSuccess || !result2.IsSuccess){


                if(!result.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);


                    writeCount1++;


                    continue;


@@ -309,6 +297,7 @@


                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


                if (resultRead.IsSuccess) {


                    CrnCommand one = new CrnCommand();


                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));


                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));


                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));


                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));


@@ -317,12 +306,14 @@


                    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));


                    one.setCommand(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));


                    one.setTraySize(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));


                    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()


                            || !command.getTraySize().equals(one.getTraySize()) || !command.getCommand().equals(one.getCommand())


                            || !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));


@@ -333,18 +324,8 @@


                                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;