#

zjj

2024-03-02 af7633100085f0ea603f85784821a561b5431148

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

@@ -278,11 +278,15 @@
        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] = command.getLocType1();   //新增货物类型下发
//        array[10] = 0;   //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);

        if(!result.IsSuccess){
        if(!result.IsSuccess || !result2.IsSuccess){
            News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
            Thread.sleep(100);
@@ -293,7 +297,7 @@
        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        try{
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -304,10 +308,12 @@
                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));
                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()
                ){
                    try{
                        News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));