#

zjj

2024-03-15 dbae31a7a7cd59048ada9b51fe8faff545324c59

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

@@ -327,9 +327,11 @@
                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 (!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("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));
@@ -468,17 +470,17 @@
        //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) 24);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
            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));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                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())
@@ -496,7 +498,7 @@
                        }
                    }
                    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));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;