自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
yxFwq
2024-07-20 e95cc36944a886ccf63f90ccdf883aaf6ab81f90 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -116,8 +116,8 @@


                        command2.setDestinationPosZ((short)0);     // 目标库位层


                        write5(command2);


                        break;


                    // 复位


                    case 7:


                    // 双工位同时作业


                    case 9:


                        write9((CrnCommandParam) task.getData());


                        break;


                    default:


@@ -607,16 +607,15 @@


    }




    /**


     * 写入数据  工位2


     * 写入数据  双工位


     */


    private boolean write9(CrnCommandParam command) throws InterruptedException {


        if (null == command) {


            log.error("堆垛机写入命令为空");


            return false;


        }


//        convertRow(command);


        command.setCrnNo(slave.getId());


        short[] array = new short[10];


        short[] array = new short[22];


        array[0] = command.getAckFinish();


        array[1] = command.getTaskNo();


        array[2] = command.getTaskMode();


@@ -626,11 +625,23 @@


        array[6] = command.getDestinationPosX();


        array[7] = command.getDestinationPosY();


        array[8] = command.getDestinationPosZ();


//        array[9] = command.getSourceStaNo();


//        array[10] = command.getDestinationStaNo();


        array[9] = command.getCommand();


        OperateResult result18 = siemensNet.Write("DB100.38", (short)0);


        OperateResult result = siemensNet.Write("DB100.20", array);


        array[10] = command.getAckFinish2();


        array[11] = command.getTaskNo2();


        array[12] = command.getTaskMode2();


        array[13] = command.getSourcePosX2();


        array[14] = command.getSourcePosY2();


        array[15] = command.getSourcePosZ2();


        array[16] = command.getDestinationPosX2();


        array[17] = command.getDestinationPosY2();


        array[18] = command.getDestinationPosZ2();


        array[19] = command.getCommand();


        array[20] = (short)1;


        array[21] = (short)1;


        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);


        OperateResult result38 = siemensNet.Write("DB100.38", (short)0);


        OperateResult result = siemensNet.Write("DB100.0", array);


//        OperateResult result = siemensNet.Write("DB100.20", array);


        log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);




        //堆垛机任务写入后，回读一次，看是否成功


@@ -640,14 +651,14 @@


            try{


                if(!result.IsSuccess){


                    log.error("写入堆垛机plc数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount);


                    result = siemensNet.Write("DB100.20", array);


                    result = siemensNet.Write("DB100.0", array);


                    Thread.sleep(100);


                    writeCount++;


                    continue;


                }


                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 24);


                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 40);


                if (resultRead.IsSuccess) {


                    CrnCommand one = new CrnCommand();


                    CrnCommandParam one = new CrnCommandParam();


                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));


                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));


                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));


@@ -656,10 +667,23 @@


                    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.setTaskNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));


                    one.setTaskMode2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));


                    one.setSourcePosX2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));


                    one.setSourcePosY2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28));


                    one.setSourcePosZ2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));


                    one.setDestinationPosX2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 32));


                    one.setDestinationPosY2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 34));


                    one.setDestinationPosZ2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));


                    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.getTaskNo2().equals(one.getTaskNo2()) || !command.getTaskMode2().equals(one.getTaskMode2())


                            || !command.getSourcePosX2().equals(one.getSourcePosX2()) || !command.getSourcePosY2().equals(one.getSourcePosY2())


                            || !command.getSourcePosZ2().equals(one.getSourcePosZ2()) || !command.getDestinationPosX2().equals(one.getDestinationPosX2())


                            || !command.getDestinationPosY2().equals(one.getDestinationPosY2()) || !command.getDestinationPosZ2().equals(one.getDestinationPosZ2())


                    ){


                        try{


                            log.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


@@ -676,7 +700,7 @@




                        }


                        log.error("写入堆垛机plc数据失败，重新下发任务  回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount);


                        result = siemensNet.Write("DB100.20", array);


                        result = siemensNet.Write("DB100.0", array);


                        writeCount++;


                        continue;


                    } else {


@@ -693,19 +717,23 @@


        if (command.getAckFinish() == 0) {


            short commandFinish = 1;


            Thread.sleep(100L);


            result = siemensNet.Write("DB100.38", commandFinish);


            result18 = siemensNet.Write("DB100.18", commandFinish);


            result38 = siemensNet.Write("DB100.38", commandFinish);


            int signFinish = 1;


            while (signFinish<5){


                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.38", (short) 2);


                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);


                if (transInt16 != commandFinish){


                    log.info("下发DB100.38  回读失败" + "commandFinish:"+commandFinish);


                    log.info("下发DB100.38  回读失败" + "array:"+ JSON.toJSONString(array));


                    result = siemensNet.Write("DB100.38", commandFinish);


                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);


                OperateResultExOne<byte[]> result10038 = siemensNet.Read("DB100.38", (short) 2);


                short transInt1618 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);


                short transInt1638 = siemensNet.getByteTransform().TransInt16(result10038.Content, 0);


                if (transInt1618 != commandFinish || transInt1638 != commandFinish){


                    log.info("下发DB100.18/DB100.38  回读失败" + "commandFinish:"+commandFinish);


                    log.info("下发DB100.18/DB100.38  回读失败" + "array:"+ JSON.toJSONString(array));


                    result18 = siemensNet.Write("DB100.18", commandFinish);


                    result38 = siemensNet.Write("DB100.38", commandFinish);


                    signFinish++;


                }else {


                    log.info("下发DB100.38" + "commandFinish:"+commandFinish);


                    log.info("下发DB100.38" + "array:"+ JSON.toJSONString(array));


                    log.info("下发DB100.18/DB100.38" + "commandFinish:"+commandFinish);


                    log.info("下发DB100.18/DB100.38" + "array:"+ JSON.toJSONString(array));


                    break;


                }


            }