#

zjj

2024-04-18 c51948e7cf311e24f329181bc711b160c5bf76e7

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

@@ -38,6 +38,11 @@
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;

    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
    }
@@ -142,10 +147,11 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 70);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
@@ -161,19 +167,22 @@
                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));

                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 (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
@@ -223,28 +232,141 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        convertRow(command);
        // 向堆垛机发任务前的堆垛机状态
        try{
            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())
                ){
                    log.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                } else {
                    log.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        short[] array = new short[12];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getSourceStaNo();
        array[10] = command.getDestinationStaNo();
        array[11] = command.getCommand();
        array[0] = command.getAckFinish(); // 任务完成确认位
        array[1] = command.getTaskNo();  // 任务号
        array[2] = command.getTaskMode();  // 模式
        array[3] = command.getSourcePosX(); // 源位置排号
        array[4] = command.getSourcePosY(); // 源位置列号
        array[5] = command.getSourcePosZ(); // 源位置层号
        array[6] = command.getDestinationPosX();  // 目标位置排号
        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
        OperateResult result = siemensNet.Write("DB100.0", array);
        log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);

        if(!result.IsSuccess){
            log.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);
            readStatus();
            return false;
        }

        //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);
            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[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));
                        }
                    }
                    log.error("堆垛机命令回读失败后，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);
                    readStatus();
                    return false;
                } 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));
                }
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
        }


        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = siemensNet.Write("DB100.22", commandFinish);
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.18", commandFinish);
                    if(result.IsSuccess){
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                log.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                log.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            log.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        log.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            Thread.sleep(200L);
//            result = siemensNet.Write("DB100.18", commandFinish);
//            log.info("堆垛机commandFinish下发[id:{}] >>>>> {}", slave.getId(), commandFinish);
////            result = siemensNet.Write("DB100.22", commandFinish);
//        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);