123

ZY

2025-05-14 ce641926a957d238b202aa0d9dac3b8f15aff153

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

@@ -39,6 +39,7 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;
    private boolean resetFlagTwo = false;

    /**
     * 堆垛机是否在回原点运动中标记
@@ -186,50 +187,57 @@


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

                if (crnProtocol.getMode() == 1) {
                if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_ONE) {
                    // 复位信号
                    if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                        System.out.println(crnProtocol);
                        if (resetFlag) {
                            if (crnProtocol.getTaskNo() == 9999) {
                                backHpFlag = false;
                            }
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setAckFinish((short) 1);
                            if (write(crnCommand)) {
                                resetFlag = false;
                            }
                    if (resetFlag) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlag = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }
                    }
                } else if (crnProtocol.getMode() == 2) {
                } else if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_TWO) {
                    // 复位信号
                    if (!Cools.isEmpty(crnProtocol.getStatusTypeTwo()) && crnProtocol.getStatusTypeTwo().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 (resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlagTwo = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }

                    }
                } else if (crnProtocol.getMode() == 3) {
                } else if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_All && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_All) {
                    // 复位信号
                    if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING) && !Cools.isEmpty(crnProtocol.getStatusTypeTwo()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) {
                        System.out.println(crnProtocol);
                        if (resetFlag) {
                            if (crnProtocol.getTaskNo() == 9999) {
                                backHpFlag = false;
                            }
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setAckFinish((short) 1);
                            if (write(crnCommand)) {
                                resetFlag = false;
                            }
                    if (resetFlag && resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlag = false;
                            resetFlagTwo = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }
                    }
                }
@@ -334,37 +342,66 @@
                    one.setDestinationPosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));
                    one.setDestinationPosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                    one.setDestinationPosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));
                    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.getSourcePosXTwo().equals(one.getSourcePosXTwo()) || !command.getSourcePosYTwo().equals(one.getSourcePosYTwo())
                            || !command.getSourcePosZTwo().equals(one.getSourcePosZTwo()) || !command.getDestinationPosXTwo().equals(one.getDestinationPosXTwo())
                            || !command.getDestinationPosYTwo().equals(one.getDestinationPosYTwo()) || !command.getDestinationPosZTwo().equals(one.getDestinationPosZTwo())
                    ) {
                        System.out.println(command.getTaskNo().equals(one.getTaskNo()));
                        System.out.println(one);
                        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.toJSONString(command), JSON.toJSONString(one));
                        } catch (Exception e) {
                    one.setCommand(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28));
                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                    if (command.getTaskMode() != 2) {
                        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.getCommand().equals(one.getCommand()) || !command.getAckFinish().equals(one.getAckFinish())
                        ) {
                            try {
                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(resultRead));
                            } catch (Exception e1) {
                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
                                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.toJSONString(command), JSON.toJSONString(one));
                            } catch (Exception e) {
                                try {
                                    log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(resultRead));
                                } catch (Exception e1) {
                                    log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
                                }
                            }
                        }
                        try {
                            Thread.sleep(100);
                        } catch (Exception e) {
                            try {
                                Thread.sleep(100);
                            } catch (Exception e) {

                            }
                            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.toJSONString(command), writeCount);
                            result = siemensNet.Write("DB100.0", array);
                            writeCount++;
                            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.toJSONString(command), JSON.toJSONString(one));
                            break;
                        }
                        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.toJSONString(command), writeCount);
                        result = siemensNet.Write("DB100.0", array);
                        writeCount++;
                        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.toJSONString(command), JSON.toJSONString(one));
                        break;
                        if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                                || !command.getSourcePosXTwo().equals(one.getSourcePosXTwo()) || !command.getSourcePosYTwo().equals(one.getSourcePosYTwo())
                                || !command.getSourcePosZTwo().equals(one.getSourcePosZTwo()) || !command.getDestinationPosXTwo().equals(one.getDestinationPosXTwo())
                                || !command.getDestinationPosYTwo().equals(one.getDestinationPosYTwo()) || !command.getDestinationPosZTwo().equals(one.getDestinationPosZTwo())
                                || !command.getCommand().equals(one.getCommand()) || !command.getAckFinish().equals(one.getAckFinish())
                        ) {
                            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.toJSONString(command), JSON.toJSONString(one));
                            } catch (Exception e) {
                                try {
                                    log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(resultRead));
                                } catch (Exception e1) {
                                    log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
                                }
                            }
                            try {
                                Thread.sleep(100);
                            } catch (Exception e) {

                            }
                            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.toJSONString(command), writeCount);
                            result = siemensNet.Write("DB100.0", array);
                            writeCount++;
                            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.toJSONString(command), JSON.toJSONString(one));
                            break;
                        }
                    }
                }
            } catch (Exception e) {