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
@@ -186,9 +187,8 @@


                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 (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_ONE) {
                    // 复位信号
                    if (resetFlag) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
@@ -196,10 +196,52 @@
                        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 (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_TWO) {
                    // 复位信号
                    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 (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_All && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_All) {
                    // 复位信号
                    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);
                        }
                    }
                }


                try {
                    // 根据实时信息更新数据库
@@ -243,9 +285,6 @@
            News.error("SiemensCrn" + " - 6" + " - 堆垛机写入命令为空");
            return false;
        }
        command.setCommand((short) 1);
        System.out.println("------------------");
        System.out.println(command);
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[16];
@@ -289,50 +328,80 @@
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 32);
                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));
                    one.setSourcePosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
                    one.setSourcePosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                    one.setSourcePosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));
                    one.setDestinationPosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                    one.setDestinationPosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));
                    one.setDestinationPosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                    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())
                    ) {
                        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.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                    one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                    one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                    one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                    one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                    one.setSourcePosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                    one.setSourcePosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
                    one.setSourcePosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                    one.setDestinationPosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));
                    one.setDestinationPosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                    one.setDestinationPosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));
                    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) {
@@ -344,19 +413,19 @@
        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.30", commandFinish);
            result = siemensNet.Write("DB100.28", commandFinish);
            int signFinish = 1;
            while (signFinish < 5) {
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.30", (short) 2);
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.28", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish) {
                    log.info("下发DB100.30  回读失败" + "commandFinish:" + commandFinish);
                    log.info("下发DB100.30  回读失败" + "array:" + JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    log.info("下发DB100.28  回读失败" + "commandFinish:" + commandFinish);
                    log.info("下发DB100.28  回读失败" + "array:" + JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.28", commandFinish);
                    signFinish++;
                } else {
                    log.info("下发DB100.30" + "commandFinish:" + commandFinish);
                    log.info("下发DB100.30" + "array:" + JSON.toJSONString(array));
                    log.info("下发DB100.28" + "commandFinish:" + commandFinish);
                    log.info("下发DB100.28" + "array:" + JSON.toJSONString(array));
                    break;
                }
            }