自动化立体仓库 - WCS系统
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#
yxFwq
2024-07-20 e95cc36944a886ccf63f90ccdf883aaf6ab81f90 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -19,6 +19,7 @@


import com.zy.core.model.CrnSlave;


import com.zy.core.model.Task;


import com.zy.core.model.command.CrnCommand;


import com.zy.core.model.cpmmandParam.CrnCommandParam;


import com.zy.core.model.protocol.CrnProtocol;


import lombok.Data;


import lombok.extern.slf4j.Slf4j;


@@ -48,6 +49,7 @@


     * 堆垛机是否在回原点运动中标记


     */


    private boolean backHpFlag = false;


    private boolean backHpFlagTwo = false;




    public SiemensCrnThread(CrnSlave slave) {


        this.slave = slave;


@@ -57,6 +59,7 @@


    @SuppressWarnings("InfiniteLoopStatement")


    public void run() {


        this.connect();


        sign = System.currentTimeMillis();


        while (isRunning) {


            try {


                int step = 1;


@@ -112,6 +115,10 @@


                        command2.setDestinationPosY((short)0);     // 目标库位列


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


                        write5(command2);


                        break;


                    // 双工位同时作业


                    case 9:


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


                        break;


                    default:


                        break;


@@ -252,8 +259,8 @@




                // 复位信号


                if (!Cools.isEmpty(crnProtocol.getStatusType()) && (crnProtocol.getStatusType().equals(CrnStatusType.WAITING) || crnProtocol.getStatusType().equals(CrnStatusType.SEPARATE_WAITING))) {


                    log.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为10，等待确认！！",


                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");


                    log.error("-------------------------工位1-------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为{}，等待确认！！",


                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物",crnProtocol.getStatusType());


                    if (resetFlag) {


                        if(crnProtocol.getTaskNo()==9999){


                            backHpFlag = false;


@@ -264,14 +271,20 @@


                            resetFlag = false;


                        }


                    }


                }




                // 复位信号


                if (!Cools.isEmpty(crnProtocol.getStatusTypeTwo()) && (crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING) || crnProtocol.getStatusTypeTwo().equals(CrnStatusType.SEPARATE_WAITING))) {


                    log.error("-------------------------工位2-------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为{}，等待确认！！",


                            slave.getId(),crnProtocol.getTaskNoTwo(), crnProtocol.getLoadedTwo()==1 ? "有物" : "无物",crnProtocol.getStatusTypeTwo());


                    if (resetFlagTwo) {


                        if(crnProtocol.getTaskNo()==9999){


                            backHpFlag = false;


                        if(crnProtocol.getTaskNoTwo()==9999){


                            backHpFlagTwo = false;


                        }


                        CrnCommand crnCommand = new CrnCommand();


                        crnCommand.setAckFinish((short)1);


                        if (write5(crnCommand)) {


                            resetFlag = false;


                            resetFlagTwo = false;


                        }


                    }


                }


@@ -344,7 +357,7 @@


        do {


            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);


                    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.toJSONString(command),writeCount);


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


                    Thread.sleep(100);


                    writeCount++;


@@ -367,12 +380,12 @@


                            || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())


                    ){


                        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));


                            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.toJSONString(command),JSON.toJSONString(one));


                        }catch (Exception e){


                            try{


                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));


                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(resultRead));


                            }catch (Exception e1){


                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));


                            }


                        }


                        try{


@@ -380,12 +393,12 @@


                        }catch (Exception e){




                        }


                        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);


                        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.toJSONString(command),writeCount);


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


                        writeCount++;


                        continue;


                    } else {


                        log.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));


                        log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));


                        break;


                    }


                }


@@ -442,8 +455,8 @@


        if (result != null && result.IsSuccess) {


            Thread.sleep(200);


            this.readStatus();


            log.info("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)));


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


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(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()));


@@ -485,7 +498,7 @@


        do {


            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);


                    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.toJSONString(command),writeCount);


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


                    Thread.sleep(100);


                    writeCount++;


@@ -508,12 +521,12 @@


                            || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())


                    ){


                        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));


                            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.toJSONString(command),JSON.toJSONString(one));


                        }catch (Exception e){


                            try{


                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));


                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(resultRead));


                            }catch (Exception e1){


                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));


                            }


                        }


                        try{


@@ -521,12 +534,12 @@


                        }catch (Exception e){




                        }


                        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);


                        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.toJSONString(command),writeCount);


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


                        writeCount++;


                        continue;


                    } else {


                        log.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));


                        log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command),JSON.toJSONString(one));


                        break;


                    }


                }


@@ -583,6 +596,175 @@


        if (result != null && result.IsSuccess) {


            Thread.sleep(200);


            this.readStatus();


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


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSONString(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()));


            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            return false;


        }


    }




    /**


     * 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;


        }


        command.setCrnNo(slave.getId());


        short[] array = new short[22];


        array[0] = command.getAckFinish();


        array[1] = command.getTaskNo();


        array[2] = command.getTaskMode();


        array[3] = command.getSourcePosX();


        array[4] = command.getSourcePosY();


        array[5] = command.getSourcePosZ();


        array[6] = command.getDestinationPosX();


        array[7] = command.getDestinationPosY();


        array[8] = command.getDestinationPosZ();


        array[9] = command.getCommand();


        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


        Thread.sleep(200);


        int writeCount = 1;


        do {


            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("DB100.0", array);


                    Thread.sleep(100);


                    writeCount++;


                    continue;


                }


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


                if (resultRead.IsSuccess) {


                    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));


                    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.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));


                        }catch (Exception e){


                            try{


                                log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));


                            }catch (Exception e1){


                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


                            }


                        }


                        try{


                            Thread.sleep(100);


                        }catch (Exception e){




                        }


                        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("DB100.0", array);


                        writeCount++;


                        continue;


                    } else {


                        log.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));


                        break;


                    }


                }


            }catch (Exception e){


                log.error("堆垛机命令地址写入后回读出错,异常："+e);


            }


            writeCount++;


        } while (writeCount<6);




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


            short commandFinish = 1;


            Thread.sleep(100L);


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


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


            int signFinish = 1;


            while (signFinish<5){


                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DB100.18/DB100.38" + "commandFinish:"+commandFinish);


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


                    break;


                }


            }


        }




        try {


            // 日志记录


            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);


            BasCrnOpt basCrnOpt = new BasCrnOpt(


                    command.getTaskNo().intValue(),    // 任务号


                    command.getCrnNo(),    // 堆垛机[非空]


                    new Date(),    // 下发时间


                    command.getTaskModeType().toString(),    // 模式


                    command.getSourcePosX().intValue(),    // 源排


                    command.getSourcePosY().intValue(),    // 源列


                    command.getSourcePosZ().intValue(),    // 源层


                    null,    // 源站


                    command.getDestinationPosX().intValue(),    // 目标排


                    command.getDestinationPosY().intValue(),    // 目标列


                    command.getDestinationPosZ().intValue(),    // 目标层


                    null,    // 目标站


                    null,    // 响应结果


                    null,    // 修改时间


                    null    // 修改人员


            );


            bean.insert(basCrnOpt);


        } catch (Exception ignore) {}




        if (result != null && result.IsSuccess) {


            Thread.sleep(200);


            this.readStatus();


            log.info("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;