联调

dubin

6 天以前 ffc3b1151655f258fb1db0b24c3434bd294b0598

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

@@ -74,7 +74,12 @@
                        break;
                    // 写入数据 1号工位
                    case 2:
                        write((CrnCommand) task.getData());
                        CrnCommand data = (CrnCommand) task.getData();
                        if (data.getPltType() == null || data.getPltType() == 1) {
                            write(data);
                        } else if (data.getPltType() == 2) {
                            write2(data);
                        }
                        break;
                    // 复位 1号工位
                    case 3:
@@ -93,10 +98,6 @@
                        command.setDestinationPosY((short) 0);     // 目标库位列
                        command.setDestinationPosZ((short) 0);     // 目标库位层
                        write(command);
                        break;
                    // 写入数据 2号工位
                    case 4:
                        write2((CrnCommand) task.getData());
                        break;
                    // 复位 2号工位
                    case 6:
@@ -146,13 +147,13 @@
        crnProtocol.setWalkPos((short) 0);
        crnProtocol.setLoaded((short) 0);
        crnProtocol.setAlarm((short) 0);
        crnProtocol.setxSpeed((short) 0);
        crnProtocol.setySpeed((short) 0);
        crnProtocol.setzSpeed((short) 0);
        crnProtocol.setxDistance((short) 0);
        crnProtocol.setyDistance((short) 0);
        crnProtocol.setxDuration((short) 0);
        crnProtocol.setyDuration((short) 0);
        crnProtocol.setxSpeed((float) 0);
        crnProtocol.setySpeed((float) 0);
        crnProtocol.setzSpeed((float) 0);
        crnProtocol.setxDistance((float) 0);
        crnProtocol.setyDistance((float) 0);
        crnProtocol.setxDuration((float) 0);
        crnProtocol.setyDuration((float) 0);
    }

    @Override
@@ -180,7 +181,7 @@
     */
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -192,34 +193,40 @@
                crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setWalkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 30));

                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));


                //crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                //crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                //crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                //crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setzSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 50) / 10000);
                crnProtocol.setyDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 54) / 10000);
                crnProtocol.setxDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 58) / 10000);
                crnProtocol.setyDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 62) / 10000);

                //2工位
                crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 56));
                crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 58));
                crnProtocol.setLiftPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 60));
                crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 64));
                crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setStatusTwo(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setBayTwo(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setLevelTwo(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 24));


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

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台1信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物");
                    if (resetFlag) {
                        if (crnProtocol.getTaskNo() == 9999) {
@@ -230,7 +237,7 @@
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 工位1复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
@@ -238,7 +245,7 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台2信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物");
                    if (resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
@@ -249,7 +256,7 @@
                        crnCommand.setAckFinish((short) 1);
                        if (write2(crnCommand)) {
                            resetFlagTwo = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 工位2复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
@@ -326,7 +333,7 @@
//        convertRow(command);
        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        short[] array = new short[10];
        short[] array = new short[9];
        array[0] = command.getAckFinish(); // 任务完成确认位
        array[1] = command.getTaskNo();  // 任务号
        array[2] = command.getTaskMode();  // 模式
@@ -336,7 +343,6 @@
        array[6] = command.getDestinationPosX();  // 目标位置排号
        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


@@ -353,6 +359,7 @@
//                    if (!resetFlag){
                    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);
                    result = siemensNet.Write("DB100.0", array);

//                    }
                    Thread.sleep(100);
                    writeCount1++;
@@ -489,8 +496,8 @@
            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) 18);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 20);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -505,13 +512,13 @@
                        || !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));
                }
            }
        }catch (Exception e){
        } catch (Exception e) {
            News.error("堆垛机命令地址写入后回读出错");
        }
//        convertRow(command);
@@ -531,7 +538,7 @@
//        array[10] = 0;   //备用1

        short[] array2 = new short[1];
        array2[0] =  command.getAckFinish();
        array2[0] = command.getAckFinish();
        OperateResult result = siemensNet.Write("DB100.20", array);
        OperateResult result2 = siemensNet.Write("DB100.0", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
@@ -539,7 +546,7 @@
        int writeCount1 = 1;
        do {
            try {
                if (!result.IsSuccess||!result2.IsSuccess) {
                if (!result.IsSuccess || !result2.IsSuccess) {
//                    if (!resetFlag){
                    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);
                    result = siemensNet.Write("DB100.0", array);
@@ -548,7 +555,7 @@
                    writeCount1++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
@@ -593,7 +600,7 @@
                    }
                }
            } catch (Exception e) {
                News.error("堆垛机命令地址写入后回读出错,异常：" + e);
                News.error("堆垛机命令地址写入后回读出错2,异常：" + e);
            }
            writeCount1++;
        } while (writeCount1 < 6);
@@ -609,26 +616,26 @@
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.38", commandFinish);
                    if(result.IsSuccess){
                    if (result.IsSuccess) {
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                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{
                            commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1) {
                                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");
                                break;
                            }
                        }else {
                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        } else {
                            News.error("堆垛机任务确认位" + commandFinish + "回读失败！" + "循环执行次数:" + writeCount2 + "次");
                        }
                    } else {
                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                        News.error("堆垛机任务确认位" + commandFinish + "写入失败！" + "循环执行次数:" + writeCount2 + "次");
                    }
                }while (writeCount2<5);
                } while (writeCount2 < 5);
            }
        }

@@ -654,7 +661,8 @@
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
@@ -668,6 +676,7 @@
            return false;
        }
    }

    public void requestStop() {
        isRunning = false;
    }