#

lsh

2024-04-09 c7bcef9d03f58c984d475932710c247ee778d95b

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

@@ -426,6 +426,7 @@
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
            log.error("堆垛机命令地址写入后回读出错:异常信息："+e);
        }
        return true;
    }
@@ -579,9 +580,9 @@
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!crnCommand.getTaskNo().equals(one.getTaskNo()) && !crnCommand.getAckFinish().equals(one.getAckFinish())
                && !crnCommand.getSourcePosZ().equals(one.getSourcePosZ()) &&  !crnCommand.getSourcePosX().equals(one.getSourcePosX()) && !crnCommand.getSourcePosY().equals(one.getSourcePosY())
                        && !crnCommand.getDestinationPosZ().equals(one.getDestinationPosZ()) &&  !crnCommand.getDestinationPosX().equals(one.getDestinationPosX()) && !crnCommand.getDestinationPosY().equals(one.getDestinationPosY())
                if (!crnCommand.getTaskNo().equals(one.getTaskNo()) || !crnCommand.getAckFinish().equals(one.getAckFinish())
                        || !crnCommand.getSourcePosZ().equals(one.getSourcePosZ()) ||  !crnCommand.getSourcePosX().equals(one.getSourcePosX()) || !crnCommand.getSourcePosY().equals(one.getSourcePosY())
                        || !crnCommand.getDestinationPosZ().equals(one.getDestinationPosZ())  ||  !crnCommand.getDestinationPosX().equals(one.getDestinationPosX()) || !crnCommand.getDestinationPosY().equals(one.getDestinationPosY())
                ){
                    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));
                    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(crnCommand));