#改造

cpT

2025-07-03 c2f21a3a34b76e1bd90aed3e2ebb394df57123cc

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

@@ -10,8 +10,10 @@
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasErrLog;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasErrLogService;
import com.zy.asrs.service.DeviceErrorService;
import com.zy.core.CrnThread;
import com.zy.core.cache.CrnErrCache;
@@ -95,6 +97,11 @@
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    // 复位
                    case 4:
                        CrnCommand command4 = (CrnCommand) task.getData();
                        write(command4);
                        break;
                    default:
                        break;
                }
@@ -131,6 +138,12 @@
        crnProtocol.setyDistance((short) 0);
        crnProtocol.setxDuration((short) 0);
        crnProtocol.setyDuration((short) 0);
        try{
            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "离线");
        } catch (Exception e1){

        }

    }

    @Override
@@ -197,10 +210,18 @@
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;

                        if (!Cools.isEmpty(crnProtocol.getLaneNo()) && crnProtocol.getLaneNo()!=0){
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setAckFinish((short)1);
//                            crnCommand.setTaskNo(crnProtocol.getTaskNo());
                            crnCommand.setLaneNo(crnProtocol.getLaneNo());
                            crnCommand.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                            if (write(crnCommand)) {
                                resetFlag = false;
                            }
                        } else {
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "巷道号为0");
                        }
                    }
                }
@@ -223,7 +244,7 @@
                if (System.currentTimeMillis()-currentTimeMilliConnectCrn>1000*60*10){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("Crn", slave.getId(), "读取堆垛机plc状态信息失败");
                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "读取堆垛机plc状态信息失败");
                    } catch (Exception e2){
                        Thread.sleep(1000);
//                log.error("e2:"+e2.getMessage());
@@ -262,7 +283,14 @@
            return false;
        }
        CrnErrCache.updateCrnErr(slave.getId(), "-");

//        try{
//            BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
//            BasErrLog basErrLog = new BasErrLog(command,"","任务下发记录");
//            if (!basErrLogService.insert(basErrLog)) {
//                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "任务下发记录失败");
//            }
//        } catch (Exception e3){
//        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -275,8 +303,14 @@
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
//        array[9] = command.getCommand();
        array[9] = (short)0;
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);

        if (command.getAckFinish() == 0) {
            OperateResult result100 = siemensNet.Write("DB100.0", (short)0);
        }

        try{
            Thread.sleep(50L);
        } catch (Exception e){}
@@ -289,18 +323,51 @@
            try{
                Thread.sleep(100L);
            } catch (Exception e){}
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB101.0", (short) 4);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
            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())
                ){
                    i++;
                    CrnErrCache.updateCrnErr(slave.getId(), "堆垛机命令地址写入后回读失败");

                    log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));

                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+command.getLaneNo()+";写入次数"+i+";堆垛机命令地址写入后回读失败:"+JSON.toJSONString(command.getNowTask()));
                    } catch (Exception e2){
                    }
                    try{
                        BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
                        BasErrLog basErrLog = new BasErrLog(command,"堆垛机命令地址写入后回读失败","");
                        if (!basErrLogService.insert(basErrLog)) {
                            log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "堆垛机命令地址写入后回读失败记录失败");
                        }
                    } catch (Exception e3){
                    }
                    result = siemensNet.Write("DB100.0", array);
                }else{
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("crnWrite", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机指令下发:"+JSON.toJSONString(command.getNowTask()));
                    } catch (Exception e2){
                    }
                    break;
                }
            }
@@ -320,7 +387,19 @@
                    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));
                    CrnErrCache.updateCrnErr(slave.getId(), "下发DB100.18  回读失败");

                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+command.getLaneNo()+";写入次数"+signFinish+";下发DB100.18  回读失败:"+JSON.toJSONString(command.getNowTask()));
                    } catch (Exception e2){
                    }
                    try{
                        BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
                        BasErrLog basErrLog = new BasErrLog(command,"下发DB100.18  回读失败","");
                        if (!basErrLogService.insert(basErrLog)) {
                            log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "下发DB100.18  回读失败记录失败");
                        }
                    } catch (Exception e3){
                    }
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
@@ -495,4 +574,30 @@
        isRunning = false;
    }


    /**
     * 清除作业启动中
     */
    @Override
    public void setWrkSign() {
    }


    /**
     * 清除作业启动中
     */
    @Override
    public void setResetFlag(boolean flag) {
        this.resetFlag = flag;
    }


    /**
     * 清除作业启动中
     */
    @Override
    public boolean getResetFlag() {
        return resetFlag;
    }

}