#

Junjie

2026-01-14 aa151079c2d02047f6cb5f8ad56ff92b98544e99

 src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java

@@ -12,7 +12,6 @@
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
@@ -31,6 +30,8 @@

import java.text.MessageFormat;
import java.util.Date;
import com.zy.asrs.entity.BasCrnpErrLog;
import com.zy.asrs.service.BasCrnpErrLogService;

/**
 * 堆垛机线程
@@ -44,7 +45,6 @@
    private ZyCrnConnectDriver zyCrnConnectDriver;
    private CrnProtocol crnProtocol;
    private int deviceLogCollectTime = 200;
    private boolean resetFlag = false;

    public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
@@ -56,30 +56,39 @@
    public void run() {
        this.connect();
        this.initCrn();
        while (true) {
            try {
                deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
                if (task != null) {
                    step = task.getStep();

        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                    readStatus();
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("CrnThread Fail", e);
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    case 2:
                        sendCommand((CrnCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(200);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
        });
        readThread.start();

        Thread processThread = new Thread(() -> {
            while (true) {
                try {
                    int step = 1;
                    Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
                    if (task != null) {
                        step = task.getStep();
                    }
                    if (step == 2) {
                        sendCommand((CrnCommand) task.getData());
                    }

                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("CrnProcess Fail", e);
                }
            }
        });
        processThread.start();
    }

    /**
@@ -100,19 +109,40 @@
        crnProtocol.setWalkPos(0);
        crnProtocol.setLoaded(0);
        crnProtocol.setAlarm(0);
        crnProtocol.setXSpeed(0);
        crnProtocol.setYSpeed(0);
        crnProtocol.setZSpeed(0);
        crnProtocol.setXDistance(0);
        crnProtocol.setYDistance(0);
        crnProtocol.setXDuration(0);
        crnProtocol.setYDuration(0);
        crnProtocol.setXSpeed(0D);
        crnProtocol.setYSpeed(0D);
        crnProtocol.setZSpeed(0D);
        crnProtocol.setXDistance(0D);
        crnProtocol.setYDistance(0D);
        crnProtocol.setXDuration(0D);
        crnProtocol.setYDuration(0D);

        BasCrnpService basCrnpService = null;
        try {
            basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        }catch (Exception e){

        }
        if (basCrnpService != null) {
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            if(basCrnp == null) {
                basCrnp = new BasCrnp();
                basCrnp.setCrnNo(deviceConfig.getDeviceNo());
                basCrnp.setStatus(1);
                basCrnp.setInEnable("N");
                basCrnp.setOutEnable("N");
                basCrnp.setMaxInTask(5);
                basCrnp.setMaxOutTask(5);
                basCrnp.setCreateTime(new Date());
                basCrnpService.insert(basCrnp);
            }
        }
    }

    @Override
    public boolean connect() {
        zyCrnConnectDriver = new ZyCrnConnectDriver(deviceConfig);
        new Thread(zyCrnConnectDriver).start();
        zyCrnConnectDriver.start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
        return true;
    }
@@ -124,7 +154,6 @@
        ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            News.error("SiemensCrn读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
            return;
        }

@@ -152,20 +181,6 @@

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

//        // 复位信号
//        if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//            if (resetFlag) {
//                if(crnProtocol.getTaskNo()==9999){
//                    backHpFlag = false;
//                }
//                CrnCommand crnCommand = new CrnCommand();
//                crnCommand.setAckFinish((short)1);
//                if (write(crnCommand)) {
//                    resetFlag = false;
//                }
//            }
//        }

        if (crnProtocol.getAlarm() > 0) {
            crnProtocol.setLastCommandTime(-1L);
        }
@@ -187,32 +202,49 @@
            //更新采集时间
            crnProtocol.setDeviceDataLog(System.currentTimeMillis());
        }

        BasCrnpService basCrnpService = null;
        
        try {
            basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        }catch (Exception e){

        }
        if (basCrnpService != null) {
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            if(basCrnp == null) {
                basCrnp = new BasCrnp();
                basCrnp.setCrnNo(deviceConfig.getDeviceNo());
                basCrnp.setStatus(1);
                basCrnp.setInEnable("N");
                basCrnp.setOutEnable("N");
                basCrnp.setMaxInTask(5);
                basCrnp.setMaxOutTask(5);
                basCrnp.setCreateTime(new Date());
                basCrnpService.insert(basCrnp);
            BasCrnpErrLogService errLogService = SpringUtils.getBean(BasCrnpErrLogService.class);
            if (errLogService != null) {
                String errFlagKey = RedisKeyType.DEVICE_ERR_ACTIVE_CRN.key + crnProtocol.getCrnNo();
                Object active = redisUtil.get(errFlagKey);
                if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                    if (active == null) {
                        BasCrnpErrLog log = new BasCrnpErrLog();
                        log.setWrkNo(crnProtocol.getTaskNo());
                        log.setStartTime(new Date());
                        log.setCrnNo(crnProtocol.getCrnNo());
                        log.setBarcode(crnProtocol.getBarcode());
                        log.setErrCode(crnProtocol.getAlarm());
                        log.setStatus(1);
                        log.setCreateTime(new Date());
                        log.setSystemStatus(JSON.toJSONString(crnProtocol));
                        errLogService.insert(log);
                        if (log.getId() != null) {
                            redisUtil.set(errFlagKey, log.getId(), 60 * 60 * 24);
                        }
                    }
                } else {
                    if (active != null) {
                        Long id = Long.valueOf(String.valueOf(active));
                        BasCrnpErrLog update = new BasCrnpErrLog();
                        update.setId(id);
                        update.setEndTime(new Date());
                        update.setStatus(2);
                        update.setUpdateTime(new Date());
                        errLogService.updateById(update);
                        redisUtil.del(errFlagKey);
                    }
                }
            }
        }
        } catch (Exception ignore) {}
    }

    @Override
    public void close() {
        zyCrnConnectDriver.close();
        if (zyCrnConnectDriver != null) {
            zyCrnConnectDriver.close();
        }
    }

    @Override
@@ -224,15 +256,15 @@
    public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 任务模式:  库位移转
        crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id); // 任务模式:  库位移转
        crnCommand.setSourcePosX(Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY(Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

@@ -240,13 +272,13 @@
    public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setAckFinish(0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

@@ -254,16 +286,16 @@
    public CrnCommand getResetCommand(Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo((short) 0); // 工作号
        crnCommand.setAckFinish((short) 1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 任务模式
        crnCommand.setSourcePosX((short)0);     // 源库位排
        crnCommand.setSourcePosY((short)0);     // 源库位列
        crnCommand.setSourcePosZ((short)0);     // 源库位层
        crnCommand.setDestinationPosX((short)0);     // 目标库位排
        crnCommand.setDestinationPosY((short)0);     // 目标库位列
        crnCommand.setDestinationPosZ((short)0);     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setAckFinish(1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 任务模式
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
        crnCommand.setSourcePosZ(0);     // 源库位层
        crnCommand.setDestinationPosX(0);     // 目标库位排
        crnCommand.setDestinationPosY(0);     // 目标库位列
        crnCommand.setDestinationPosZ(0);     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }