#改造

cpT

2025-06-27 e36c42fa6e1d5c6ee8f1ac15b1be4a825a257807

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

@@ -12,6 +12,7 @@
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.DeviceErrorService;
import com.zy.core.CrnThread;
import com.zy.core.cache.CrnErrCache;
import com.zy.core.cache.MessageQueue;
@@ -50,6 +51,7 @@
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;
    public Long currentTimeMilliConnectCrn= 0L;

    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -92,6 +94,25 @@
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    // 复位
                    case 4:
                        CrnCommand command4 = (CrnCommand) task.getData();
                        if (null == command4) {
                            command4 = new CrnCommand();
                        }
                        command4.setCrnNo(slave.getId()); // 堆垛机编号
                        command4.setTaskNo((short) 9999); // 工作号
                        command4.setAckFinish((short) 0);  // 任务完成确认位
                        command4.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
                        command4.setSourcePosX((short)0);     // 源库位排
                        command4.setSourcePosY((short)0);     // 源库位列
                        command4.setSourcePosZ((short)0);     // 源库位层
                        int row = slave.getId() * 2;
                        command4.setDestinationPosX((short)row);     // 目标库位排
                        command4.setDestinationPosY((short)1);     // 目标库位列
                        command4.setDestinationPosZ((short)1);     // 目标库位层
                        write(command4);
                        break;
                    default:
                        break;
@@ -218,6 +239,21 @@
                initCrn();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                if (System.currentTimeMillis()-currentTimeMilliConnectCrn>1000*60*10){
                    try{
                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                        deviceErrorService.addDeviceError("Crn", slave.getId(), "读取堆垛机plc状态信息失败");
                    } catch (Exception e2){
                        Thread.sleep(1000);
//                log.error("e2:"+e2.getMessage());
                    }
                    if (currentTimeMilliConnectCrn == 0){
                        currentTimeMilliConnectCrn = System.currentTimeMillis()-1000*60*10-1;
                    } else {
                        currentTimeMilliConnectCrn = System.currentTimeMillis();

                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -478,4 +514,12 @@
        isRunning = false;
    }


    /**
     * 清除作业启动中
     */
    @Override
    public void setWrkSign() {
    }

}