#

Junjie

2025-06-19 f1f42f11fae5df52905f80b856f047e93b57f6e3

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

@@ -92,6 +92,9 @@
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    case 4://堆垛机移动
                        writeMove((CrnCommand) task.getData());
                        break;
                    default:
                        break;
                }
@@ -154,7 +157,11 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            short len = 56;
            if (slave.getId() == 1) {
                len = 58;
            }
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", len);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -181,6 +188,9 @@
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                if (slave.getId() == 1) {
                    crnProtocol.setCrnLane((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));
                }

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

@@ -239,6 +249,23 @@
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }

        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;
                }
            }
        }while (writeAck <5);

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
@@ -254,14 +281,155 @@
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

        OperateResult result = null;
        int idx = 0;
        do {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
            if (resultRead.IsSuccess) {
                if (command.getAckFinish() == 0) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    if(taskNo == 0) {
                        result = siemensNet.Write("DB100.0", array);
                    }else {
                        break;
                    }
                }else {
                    short ackFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    if(ackFinish != command.getAckFinish()) {
                        result = siemensNet.Write("DB100.0", array);
                    }else {
                        break;
                    }
                }
            }
            idx++;
            Thread.sleep(500L);
        } while (idx < 5);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            int i = 0;
            do {
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
                OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read("DB100.18", (short) 2);
                if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0);
                    if(taskNo != 0 && confirm == 0) {
                        result = siemensNet.Write("DB100.18", commandFinish);
                    }
                }
                i++;
                Thread.sleep(500L);
            } while (i < 5);
        }

        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        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();
            News.info("SiemensCrn"+" - 7"+" - 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 {
            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()));
            News.error("SiemensCrn"+" - 8"+" - 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
     */
    private boolean writeMove(CrnCommand command) throws InterruptedException {
        if (null == command) {
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }

//        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;
//                }
//            }
//        }while (writeAck <5);

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        array[0] = command.getSourcePosX();
        array[1] = command.getSourcePosY();
        array[2] = command.getSourcePosZ();
        array[3] = command.getTaskMode();

        OperateResult result = null;
        int idx = 0;
        do {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.26", (short) 2);
            if (resultRead.IsSuccess) {
                short posY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if(posY == 0) {
                    result = siemensNet.Write("DB100.0", array);
                }else {
                    break;
                }
            }
            idx++;
            Thread.sleep(500L);
        } while (idx < 5);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            int i = 0;
            do {
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.26", (short) 2);
                OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read("DB100.22", (short) 2);
                if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) {
                    short posY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0);
                    if(posY != 0 && confirm == 0) {
                        result = siemensNet.Write("DB100.22", commandFinish);
                    }
                }
                i++;
                Thread.sleep(500L);
            } while (i < 5);
        }

        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);