站点转移功能入出罐装线异常修复

pjb

2025-09-14 cb2e9ba3d787767f4d7593ed53124e1135a391d5

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

@@ -8,11 +8,11 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.common.utils.News;
import com.zy.entity.BasCrnOpt;
import com.zy.entity.BasCrnp;
import com.zy.service.BasCrnOptService;
import com.zy.service.BasCrnpService;
import com.zy.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -89,6 +89,7 @@
                        command.setDestinationPosX((short)0);     // 目标库位排
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        command.setTaskCount((short) 0);
                        write(command);
                        break;
                    default:
@@ -110,6 +111,7 @@
            crnProtocol = new CrnProtocol();
        }
        crnProtocol.setMode((short) -1);
        crnProtocol.setCrnNo(slave.getId());
//        crnProtocol.setTaskNo((short)0);
        crnProtocol.setStatus((short)-1);
        crnProtocol.setBay((short)0);
@@ -267,7 +269,7 @@
//        convertRow(command);
        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        short[] array = new short[10];
        short[] array = new short[12];
        array[0] = command.getAckFinish(); // 任务完成确认位
        array[1] = command.getTaskNo();  // 任务号
        array[2] = command.getTaskMode();  // 模式
@@ -278,15 +280,11 @@
        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] = 0;   //备用1

        boolean[] array2 = new boolean[1];
        array2[0] = command.isTraySize();
        array[11] = command.getTaskCount(); // 空桶出库，告诉堆垛机取一个货还是两个货
        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result2 = siemensNet.Write("DB100.20", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);

        if(!result.IsSuccess || !result2.IsSuccess){
        if(!result.IsSuccess){
            News.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);
@@ -297,7 +295,7 @@
        //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) 20);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -308,12 +306,12 @@
                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.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 20));
                one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
                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.isTraySize() == one.isTraySize()

                ){
                    try{
                        News.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));
@@ -369,15 +367,13 @@
                    }
                }while (writeCount2<5);
            }
        } else {
            BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
            BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
            basCrnp.setModiTime(new Date());
            basCrnpService.updateById(basCrnp);
//            log.info("更新{}号堆垛机执行任务完成复位时间",slave.getId());
        }

//        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
@@ -402,8 +398,7 @@
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
        if (result.IsSuccess) {
            this.readStatus();
            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
@@ -431,7 +426,7 @@
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setIp("10.10.10.1");
        slave.setRack(0);
        slave.setSlot(0);
        SiemensCrnThread crnThread = new SiemensCrnThread(slave);
@@ -472,15 +467,15 @@
//        // 3.库位移转   源和目标都发 pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setTaskNo((short) 2); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)2);     // 源库位排
//        command.setSourcePosY((short)2);     // 源库位列
//        command.setSourcePosZ((short)3);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)4);     // 目标库位列
//        command.setDestinationPosZ((short)4);     // 目标库位层
//        command.setSourcePosY((short)1);     // 源库位列
//        command.setSourcePosZ((short)1);     // 源库位层
//        command.setDestinationPosX((short)3);     // 目标库位排
//        command.setDestinationPosY((short)1);     // 目标库位列
//        command.setDestinationPosZ((short)1);     // 目标库位层
//        crnThread.write(command);

        // 4.站位移转   源和目标都发