联调

dubin

4 天以前 ccc39836716ba323c946cddc78a62049731ebb46

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

@@ -42,6 +42,7 @@
    private CrnProtocol crnProtocol;
    private short heartBeatVal = 1;
    private boolean resetFlag = false;
    private boolean resetFlagTwo = false;

    /**
     * 堆垛机是否在回原点运动中标记
@@ -125,13 +126,13 @@
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setxSpeed((short)0);
        crnProtocol.setySpeed((short)0);
        crnProtocol.setzSpeed((short)0);
        crnProtocol.setxDistance((short)0);
        crnProtocol.setyDistance((short)0);
        crnProtocol.setxDuration((short)0);
        crnProtocol.setyDuration((short)0);
        crnProtocol.setxSpeed((float)0);
        crnProtocol.setySpeed((float)0);
        crnProtocol.setzSpeed((float)0);
        crnProtocol.setxDistance((float)0);
        crnProtocol.setyDistance((float)0);
        crnProtocol.setxDuration((float)0);
        crnProtocol.setyDuration((float)0);
    }

    @Override
@@ -142,10 +143,10 @@
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.info("MelsecCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("MelsecCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
//        melsecMcNet.ConnectClose();
@@ -182,19 +183,19 @@
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 52));
//                crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
//                crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
//                crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
//                crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
//                crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
//                crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
//                crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(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)) {
                    News.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                    News.error("MelsecCrn"+" - 3"+" ---------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
@@ -214,7 +215,7 @@
                basCrnp.setCrnNo(slave.getId());
                basCrnp.setCrnSts((int)crnProtocol.getMode());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    News.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                    News.error("MelsecCrn"+" - 4"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
@@ -224,7 +225,7 @@
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("MelsecCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }

@@ -235,7 +236,7 @@
     */
    private boolean write(CrnCommand command){
        if (null == command) {
            News.error("堆垛机写入命令为空");
            News.error("MelsecCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }

@@ -330,12 +331,12 @@
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            News.info("MelsecCrn"+" - 7"+" - 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)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("MelsecCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
@@ -366,7 +367,7 @@
//        OperateResult write9 = melsecMcNet.Write("D1009", (short) 0);
//        OperateResult write10 = melsecMcNet.Write("D1010", (short) 0);
        if (!write.IsSuccess) {
            News.error("堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("MelsecCrn"+" - 9"+" - 堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }