#入库任务BUG修复

lsh

2024-06-06 ae0f47d70a1a4d539bf7cb0d69e0375d91ef3f7c

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

@@ -5,6 +5,7 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
@@ -37,6 +38,11 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;
    private boolean resetFlagTwo = false;

    public Long sign = System.currentTimeMillis();

    public boolean isRunning = true;

    /**
     * 堆垛机是否在回原点运动中标记
@@ -51,7 +57,7 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
        while (isRunning) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
@@ -85,6 +91,28 @@
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    // 写入数据
                    case 5:
                        write5((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 6:
                        CrnCommand command2 = (CrnCommand) task.getData();
                        if (null == command2) {
                            command2 = new CrnCommand();
                        }
                        command2.setCrnNo(slave.getId()); // 堆垛机编号
                        command2.setTaskNo((short) 0); // 工作号
                        command2.setAckFinish((short) 1);  // 任务完成确认位
                        command2.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        command2.setSourcePosX((short)0);     // 源库位排
                        command2.setSourcePosY((short)0);     // 源库位列
                        command2.setSourcePosZ((short)0);     // 源库位层
                        command2.setDestinationPosX((short)0);     // 目标库位排
                        command2.setDestinationPosY((short)0);     // 目标库位列
                        command2.setDestinationPosZ((short)0);     // 目标库位层
                        write5(command2);
                        break;
                    default:
                        break;
                }
@@ -92,7 +120,8 @@
            } catch (Exception e) {
//                e.printStackTrace();
            }

//            System.out.println("第"+slave.getId()+"个堆垛机线程运行一轮："+(System.currentTimeMillis()-sign));
            sign = System.currentTimeMillis();
        }
    }

@@ -175,10 +204,24 @@
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));


                //工位2数据  无则无需理会
                try{
                    crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 56));
                    crnProtocol.setStatusTwo(siemensNet.getByteTransform().TransInt16(result.Content, 56));
                    crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 58));
                    crnProtocol.setLiftPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 60));
                    crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 64));
                }catch (Exception e){

                }

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

                // 复位信号
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 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;
@@ -186,6 +229,16 @@
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                        }
                    }
                    if (resetFlagTwo) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write5(crnCommand)) {
                            resetFlag = false;
                        }
                    }
@@ -247,12 +300,163 @@
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
        OperateResult result = siemensNet.Write("DB100.0", array);
        log.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
        Thread.sleep(200);
        int writeCount1 = 1;
        do {
            try{
                if(!result.IsSuccess){
                    log.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);
                    Thread.sleep(100);
                    writeCount1++;
                    continue;
                }
                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())
                    ){
                        try{
                            log.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));
                        }catch (Exception e){
                            try{
                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                            }catch (Exception e1){
                                log.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));
                        log.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);
                        writeCount1++;
                        continue;

                    } else {
                        log.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));
                        break;
                    }
                }
            }catch (Exception e){
                log.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
            writeCount1++;
        } while (writeCount1<6);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    break;
                }

            }
        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
                    command.getSourcePosY().intValue(),    // 源列
                    command.getSourcePosZ().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosX().intValue(),    // 目标排
                    command.getDestinationPosY().intValue(),    // 目标列
                    command.getDestinationPosZ().intValue(),    // 目标层
                    null,    // 目标站
                    null,    // 响应结果
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            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()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 写入数据  工位2
     */
    private boolean write5(CrnCommand command) throws InterruptedException {
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
//        array[0] = command.getAckFinish();
        array[0] = command.getTaskNo();
        array[1] = command.getTaskMode();
        array[2] = command.getSourcePosX();
        array[3] = command.getSourcePosY();
        array[4] = command.getSourcePosZ();
        array[5] = command.getDestinationPosX();
        array[6] = command.getDestinationPosY();
        array[7] = command.getDestinationPosZ();
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", command.getAckFinish());
        OperateResult result2 = siemensNet.Write("DB100.20", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.38", commandFinish);
        }

        try {
@@ -412,4 +616,9 @@

    }

    // 提供一个方法来停止线程
    public void requestStop() {
        isRunning = false;
    }

}