配置文件更新

chen.llin

2026-01-01 f1de37fb6557882a22892b79cdccabad99581bfb

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

@@ -109,16 +109,17 @@
        if (null == crnProtocol) {
            crnProtocol = new CrnProtocol();
        }
        crnProtocol.setCrnNo(slave.getId());
        crnProtocol.setMode((short) -1);
//        crnProtocol.setTaskNo((short)0);
        crnProtocol.setStatus((short)-1);
        crnProtocol.setBay((short)0);
        crnProtocol.setLevel((short)0);
        crnProtocol.setStatus((short) -1);
        crnProtocol.setBay((short) 0);
        crnProtocol.setLevel((short) 0);
        crnProtocol.setForkPos((short) -1);
        crnProtocol.setLiftPos((short) -1);
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setWalkPos((short) 0);
        crnProtocol.setLoaded((short) 0);
        crnProtocol.setAlarm((short) 0);
        crnProtocol.setxSpeed((short) 0);
        crnProtocol.setySpeed((short) 0);
        crnProtocol.setzSpeed((short) 0);
@@ -126,6 +127,19 @@
        crnProtocol.setyDistance((short) 0);
        crnProtocol.setxDuration((short) 0);
        crnProtocol.setyDuration((short) 0);
        try {
            // 根据实时信息更新数据库
            BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
            BasCrnp basCrnp = new BasCrnp();
            basCrnp.setCrnErr(crnProtocol.getAlarm() == null ? 0 : crnProtocol.getAlarm().longValue());
            basCrnp.setCrnNo(slave.getId());
            basCrnp.setCrnSts((int) crnProtocol.getMode());
            if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) {
                News.error("MelsecCrn" + " - 4" + " - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            }
        } catch (Exception e) {

        }
    }

    @Override
@@ -157,8 +171,8 @@
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setCrnNo(slave.getId());
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
@@ -185,6 +199,7 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    News.info("{}号堆垛机，收到任务{}完成信号",crnProtocol.getCrnNo(),crnProtocol.getTaskNo());
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
@@ -221,15 +236,6 @@
        }
    }

    private void convertRow(CrnCommand crnCommand) {
        if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) {
            crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4)));
        }
        if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) {
            crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4)));
        }
    }

    /**
     * 写入数据
     */
@@ -238,33 +244,23 @@
            News.error("堆垛机写入命令为空");
            return false;
        }
        // 向堆垛机发任务前的堆垛机状态
        try{
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            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));
                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())
                ){
                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                } else {
                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        int writeAck = 0;
        do {
            OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
            if (resultAck.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (ack != 0) {
                    writeAck++;
                }else {
                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成");
                    break;
                }
            }
        }catch (Exception e){
            News.error("堆垛机命令地址写入后回读出错");
        }
//        convertRow(command);
        }while (writeAck <5);


        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        short[] array = new short[10];
@@ -278,65 +274,71 @@
        array[7] = command.getDestinationPosY(); // 目标位置列号
        array[8] = command.getDestinationPosZ(); // 目标位置层号
        array[9] = command.getCommand();
//        array[10] = 0;   //备用1

//        boolean[] array2 = new boolean[1];
//        array2[0] = command.isTraySize();


        OperateResult result = siemensNet.Write("DB100.0", array);
//        OperateResult result2 = siemensNet.Write("DB100.22", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);

//        if(!result.IsSuccess || !result2.IsSuccess){
            if(!result.IsSuccess){
            News.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(command));
            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
            Thread.sleep(100);
            readStatus();
            return false;
        }
        News.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);
        try{
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            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.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())
                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
        int writeCount1 = 1;

                ){
                    try{
                        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));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    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(command));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
        do {
            try{
                if(!result.IsSuccess ){
                    News.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),writeCount1);
//                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                    result = siemensNet.Write("DB100.0", array);
                    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));
                    writeCount1++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                    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.setCommand(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
                    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.getCommand().equals(one.getCommand())
                            || !command.getAckFinish().equals(one.getAckFinish())
                    ){
                        try{
                            News.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{
                                News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                            }catch (Exception e1){
                                News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                            }
                        }
                        News.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),writeCount1);
                        result = siemensNet.Write("DB100.0", array);
                        writeCount1++;
                        continue;

                    } 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));
                        break;
                    }
                }
            }catch (Exception e){
                News.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
        }catch (Exception e){
            News.error("堆垛机命令地址写入后回读出错");
        }
            writeCount1++;
        } while (writeCount1<6);


        if (command.getAckFinish() == 0) {
@@ -352,6 +354,7 @@
                    if(result.IsSuccess){
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        log.info("堆垛机任务完成复位，此时堆垛机状态:"+crnProtocol.getStatusType()+",堆垛机id:"+crnProtocol.getCrnNo());
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
@@ -359,7 +362,7 @@
                                News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
//                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
@@ -371,6 +374,7 @@
                }while (writeCount2<5);
            }
        }


        try {
            // 日志记录
@@ -396,8 +400,9 @@
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            News.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;
        } else {
@@ -406,11 +411,6 @@
            return false;
        }
    }

    public void requestStop() {
        isRunning = false;
    }


    @Override
    public void close() {