#

Junjie

6 天以前 f6046d2fc1503dc76fc06c51604b480664f532a3

 src/main/java/com/zy/core/network/real/ZyDualCrnRealConnect.java

@@ -8,8 +8,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.BasDualCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.service.BasDualCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
@@ -64,34 +67,37 @@
                //工位1
                crnStatus.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnStatus.setStatus((int) siemensNet.getByteTransform().TransInt16(result.Content, 4));
                crnStatus.setBay((int) siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnStatus.setLevel((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnStatus.setForkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 10));
                crnStatus.setLoaded((int) siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnStatus.setWalkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnStatus.setForkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnStatus.setLoaded((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnStatus.setTaskReceive((int) siemensNet.getByteTransform().TransInt16(result.Content, 10));

                //工位2
                crnStatus.setTaskNoTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnStatus.setStatusTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnStatus.setBayTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnStatus.setLevelTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnStatus.setForkPosTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnStatus.setLoadedTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnStatus.setWalkPosTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnStatus.setTaskNoTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnStatus.setStatusTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnStatus.setForkPosTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnStatus.setLoadedTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnStatus.setTaskReceiveTwo((int) siemensNet.getByteTransform().TransInt16(result.Content, 20));

                crnStatus.setAlarm((int) siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnStatus.setTemp1((int) siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnStatus.setTemp2((int) siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnStatus.setTemp3((int) siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnStatus.setTemp4((int) siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnStatus.setXSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnStatus.setYSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnStatus.setZSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnStatus.setXDistance((int) siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnStatus.setYDistance((int) siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnStatus.setXDuration((int) siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnStatus.setYDuration((int) siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnStatus.setBay((int) siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnStatus.setLevel((int) siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnStatus.setLiftPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnStatus.setWalkPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnStatus.setAlarm((int) siemensNet.getByteTransform().TransInt16(result.Content, 30));
                crnStatus.setTemp1((int) siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnStatus.setTemp2((int) siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnStatus.setTemp3((int) siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnStatus.setTemp4((int) siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnStatus.setXSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnStatus.setYSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnStatus.setZSpeed((int) siemensNet.getByteTransform().TransInt16(result.Content, 46));
                crnStatus.setXDistance((int) siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnStatus.setYDistance((int) siemensNet.getByteTransform().TransInt16(result.Content, 50));
                crnStatus.setXDuration((int) siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnStatus.setYDuration((int) siemensNet.getByteTransform().TransInt16(result.Content, 54));
                crnStatus.setGoodsType((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));

                String barcode = siemensNet.getByteTransform().TransString(result.Content, 58, 8, "UTF-8");
                crnStatus.setBarcode(barcode);
                return crnStatus;
            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
@@ -108,145 +114,116 @@
    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            if (null == command) {
                News.error("双工位堆垛机写入命令为空");
                response.setMessage("双工位堆垛机写入命令为空");
                return response;
            }
         try {
             if (null == command) {
                 News.error("双工位堆垛机写入命令为空");
                 response.setMessage("双工位堆垛机写入命令为空");
                 return response;
             }

            String address = "DB100.0";
            if (command.getStation() == 1) {
                //工位1
                address = "DB100.0";
            }else {
                //工位2
                address = "DB100.20";
            }
             String address = "DB100.0";
             if (command.getStation() == 1) {
                 //工位1
                 address = "DB100.0";
             }else {
                 //工位2
                 address = "DB100.18";
             }

            int writeAck = 0;
            boolean ackResult = false;
            do {
                OperateResult resultAck = siemensNet.Write(address, (short) 0);
                if (resultAck.IsSuccess) {
                    Thread.sleep(200);
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 2);
                    short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    if (ack != 0) {
                        writeAck++;
             String confirmAddress = "DB100.16";
             if (command.getStation() == 1) {
                 //工位1
                 confirmAddress = "DB100.16";
             }else {
                 //工位2
                 confirmAddress = "DB100.34";
             }

             short[] array = new short[9];
             array[0] = command.getTaskNo().shortValue();
             array[1] = command.getTaskMode().shortValue();
             array[2] = command.getSourcePosX().shortValue();
             array[3] = command.getSourcePosY().shortValue();
             array[4] = command.getSourcePosZ().shortValue();
             array[5] = command.getDestinationPosX().shortValue();
             array[6] = command.getDestinationPosY().shortValue();
             array[7] = command.getDestinationPosZ().shortValue();
             array[8] = (short) 0;

             OperateResult result = siemensNet.Write(address, array);
             if (!result.IsSuccess) {
                 News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                 response.setMessage("双工位堆垛机写入堆垛机plc数据失败");
                 return response;
             }

             int idx = 0;
             do {
                 OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 18);
                 if (resultRead.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
                    if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
                        result = siemensNet.Write(address, array);
                    } else {
                        News.info("双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), "ack复位完成");
                        ackResult = true;
                        break;
                    }
                }
            } while (writeAck < 5);
                 }
                 idx++;
                 Thread.sleep(500);
             } while (idx < 5);

            if (!ackResult) {
                response.setMessage("双工位堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "ack复位失败");
                return response;
            }
             OperateResult confirmResult = siemensNet.Write(confirmAddress, (short) 1);
             if (!confirmResult.IsSuccess) {
                 News.error("双工位堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
                 response.setMessage("双工位堆垛机写入确认数据失败");
                 return response;
             }

            short[] array = new short[10];
            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();
             if (result != null && result.IsSuccess) {
                 News.info("双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
                 response.setResult(true);
                 response.setMessage("命令下发成功");
             } else {
                 News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
                 response.setResult(false);
                 response.setMessage("命令下发失败");
             }

            OperateResult result = null;
            int idx = 0;
            do {
                OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 20);
                if (resultRead.IsSuccess) {
                    if (command.getAckFinish() == 0) {
                        short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                        short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
                        short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
                        short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
                        short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
                        short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                        short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                        short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
                        if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
                            result = siemensNet.Write(address, array);
                        } else {
                            break;
                        }
                    } else {
                        short ackFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                        if (ackFinish != command.getAckFinish()) {
                            result = siemensNet.Write(address, array);
                        } else {
                            break;
                        }
                    }
                }
                idx++;
                Thread.sleep(500);
            } while (idx < 5);
             return response;
         } catch (Exception e) {
             e.printStackTrace();
         }finally {
             String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
             String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());

            if (command.getAckFinish() == 0) {
                short commandFinish = 1;
                int i = 0;
                do {
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 4);
                    OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read(address + 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(address + 18, commandFinish);
                        }
                    }
                    i++;
                    Thread.sleep(500);
                } while (i < 5);
            }

            if (result != null && result.IsSuccess) {
                News.info("SiemensDualCrn 双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
                response.setResult(true);
                response.setMessage("命令下发成功");
            } else {
                News.error("SiemensDualCrn 双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
                response.setResult(false);
                response.setMessage("命令下发失败");
            }

            return response;
        } catch (Exception e) {
            e.printStackTrace();
        }finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());

            // 日志记录
            BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
            BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    String.valueOf(command.getTaskMode()),    // 模式
                    sourceLocNo, //源库位
                    targetLocNo, //目标库位
                    null,    // 修改时间
                    null,    // 修改人员
                    null,    // 备注
                    JSON.toJSONString(command),    // 指令
                    JSON.toJSONString(getStatus()),    // 系统状态
                    1,    // 下发状态{0:未下发,1:已下发}
                    JSON.toJSONString(response)    // 响应
            );
            bean.insert(basCrnpOpt);
        }
             // 日志记录
             BasDualCrnpOptService bean = SpringUtils.getBean(BasDualCrnpOptService.class);
             BasDualCrnpOpt basDualCrnp = new BasDualCrnpOpt(
                     command.getTaskNo(),    // 任务号
                     command.getCrnNo(),    // 堆垛机[非空]
                     new Date(),    // 下发时间
                     String.valueOf(command.getTaskMode()),    // 模式
                     sourceLocNo, //源库位
                     targetLocNo, //目标库位
                     null,    // 修改时间
                     null,    // 修改人员
                     null,    // 备注
                     JSON.toJSONString(command),    // 指令
                     JSON.toJSONString(getStatus()),    // 系统状态
                     1,    // 下发状态{0:未下发,1:已下发}
                     JSON.toJSONString(response)    // 响应
             );
             bean.insert(basDualCrnp);
         }
        return response;
    }
}