#

whycq

2023-06-28 cf2e4086d44e51bcd7407133d460dda498b45eff

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

@@ -228,6 +228,22 @@
            return false;
        }

        //下发前克隆一份
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(command.getCrnNo());
        crnCommand.setAckFinish(command.getAckFinish());
        crnCommand.setTaskNo(command.getTaskNo());
        crnCommand.setTaskMode(command.getTaskMode());
        crnCommand.setSourcePosX(command.getSourcePosX());
        crnCommand.setSourcePosY(command.getSourcePosY());
        crnCommand.setSourcePosZ(command.getSourcePosZ());
        crnCommand.setDestinationPosX(command.getDestinationPosX());
        crnCommand.setDestinationPosY(command.getDestinationPosY());
        crnCommand.setDestinationPosZ(command.getDestinationPosZ());
        crnCommand.setSourceStaNo(command.getSourceStaNo());
        crnCommand.setDestinationStaNo(command.getDestinationStaNo());
        crnCommand.setCommand(command.getCommand());

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -243,6 +259,14 @@
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", 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(crnCommand));
            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand));
            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);
        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
@@ -256,12 +280,19 @@
            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()!=one.getTaskNo() || command.getTaskMode()!=one.getTaskMode()
            if (!command.getTaskNo().equals(one.getTaskNo()) || command.getTaskMode()!=one.getTaskMode()
                || command.getSourcePosX()!=one.getSourcePosX() ||  command.getSourcePosY()!=one.getSourcePosY()
                || command.getSourcePosZ()!=one.getSourcePosZ() || command.getDestinationPosX()!=one.getDestinationPosX()
                || command.getDestinationPosY()!=one.getDestinationPosY() || command.getDestinationPosZ()!=one.getDestinationPosZ()
            ){
                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));
                News.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));
                MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand));
                Thread.sleep(100);
                readStatus();
                return false;
            }else{
                News.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));
            }
        }

@@ -270,7 +301,19 @@
                short commandFinish = 1;
                Thread.sleep(300);
                News.info("堆垛机命令地址写入成功，开始写确认位[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
                result = siemensNet.Write("DB100.18", commandFinish);
                Integer counts = 0;
                while(true) {
                    result = siemensNet.Write("DB100.18", commandFinish);
                    if(result.IsSuccess){
                        break;
                    } else {
                        counts++;
                        if(counts>5){
                            break;
                        }
                    }
                    Thread.sleep(300);
                }
            }
        }