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Junjie

12 小时以前 67817d96e3f74fa89383cd9ee9725f7aec4fdcca

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 src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java

@@ -166,131 +166,80 @@
                return response;
            }

            Integer commandTaskNo = command.getTaskNo();
            if (command.getTaskMode().equals(CrnTaskModeType.RESET.id)) {
                commandTaskNo = 0;
            short[] array = new short[9];
            array[0] = command.getAckFinish().shortValue();
            array[1] = command.getTaskNo().shortValue();
            array[2] = command.getTaskMode().shortValue();
            array[3] = command.getSourcePosX().shortValue();
            array[4] = command.getSourcePosY().shortValue();
            array[5] = command.getSourcePosZ().shortValue();
            array[6] = command.getDestinationPosX().shortValue();
            array[7] = command.getDestinationPosY().shortValue();
            array[8] = command.getDestinationPosZ().shortValue();

            int idx = 0;
            boolean commandDataResult = false;
            do {
                OperateResult result = siemensNet.Write("DB100.0", array);
                if (result.IsSuccess) {
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
                    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 != command.getTaskNo().shortValue()
                                || taskMode != command.getTaskMode().shortValue()
                                || sourcePosX != command.getSourcePosX().shortValue()
                                || sourcePosY != command.getSourcePosY().shortValue()
                                || sourcePosZ != command.getSourcePosZ().shortValue()
                                || destinationPosX != command.getDestinationPosX().shortValue()
                                || destinationPosY != command.getDestinationPosY().shortValue()
                                || destinationPosZ != command.getDestinationPosZ().shortValue()) {
                            result = siemensNet.Write("DB100.0", array);
                        } else {
                            commandDataResult = true;
                            break;
                        }
                    }
                }
                idx++;
                Thread.sleep(200);
            } while (idx < 5);

            if (!commandDataResult) {
                response.setMessage("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "堆垛机写入任务数据失败");
                return response;
            }

            Integer commandTaskMode = command.getTaskMode();
            if (commandTaskMode.equals(CrnTaskModeType.RESET.id)) {
                short[] array = new short[9];
                array[0] = command.getAckFinish().shortValue();
                array[1] = (short) 0;
                array[2] = (short) 0;
                array[3] = (short) 0;
                array[4] = (short) 0;
                array[5] = (short) 0;
                array[6] = (short) 0;
                array[7] = (short) 0;
                array[8] = (short) 0;

                int idx = 0;
                boolean commandDataResult = false;
                do {
                    OperateResult result = siemensNet.Write("DB100.0", array);
                    if (result.IsSuccess) {
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
                        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("DB100.0", array);
                            } else {
                                commandDataResult = true;
                                break;
                            }
            int writeConfirmIdx = 0;
            boolean commandConfirmResult = false;
            do {
                OperateResult result = siemensNet.Write("DB100.18", (short) 1);
                if (result.IsSuccess) {
                    OperateResultExOne<byte[]> commandReadResult = siemensNet.Read("DB100.18", (short) 2);
                    if (commandReadResult.IsSuccess) {
                        short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0);
                        if (commandRead == 0) {
                            Thread.sleep(500);
                        }else {
                            commandConfirmResult = true;
                            break;
                        }
                    }
                    idx++;
                    Thread.sleep(200);
                } while (idx < 5);

                if (!commandDataResult) {
                    response.setMessage("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "堆垛机写入任务数据失败");
                    return response;
                }
            }else {
                short[] array = new short[9];
                array[0] = command.getAckFinish().shortValue();
                array[1] = command.getTaskNo().shortValue();
                array[2] = command.getTaskMode().shortValue();
                array[3] = command.getSourcePosX().shortValue();
                array[4] = command.getSourcePosY().shortValue();
                array[5] = command.getSourcePosZ().shortValue();
                array[6] = command.getDestinationPosX().shortValue();
                array[7] = command.getDestinationPosY().shortValue();
                array[8] = command.getDestinationPosZ().shortValue();
                writeConfirmIdx++;
                Thread.sleep(200);
            } while (writeConfirmIdx < 5);

                int idx = 0;
                boolean commandDataResult = false;
                do {
                    OperateResult result = siemensNet.Write("DB100.0", array);
                    if (result.IsSuccess) {
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
                        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 != command.getTaskNo().shortValue()
                                    || taskMode != command.getTaskMode().shortValue()
                                    || sourcePosX != command.getSourcePosX().shortValue()
                                    || sourcePosY != command.getSourcePosY().shortValue()
                                    || sourcePosZ != command.getSourcePosZ().shortValue()
                                    || destinationPosX != command.getDestinationPosX().shortValue()
                                    || destinationPosY != command.getDestinationPosY().shortValue()
                                    || destinationPosZ != command.getDestinationPosZ().shortValue()) {
                                result = siemensNet.Write("DB100.0", array);
                            } else {
                                commandDataResult = true;
                                break;
                            }
                        }
                    }
                    idx++;
                    Thread.sleep(200);
                } while (idx < 5);

                if (!commandDataResult) {
                    response.setMessage("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "堆垛机写入任务数据失败");
                    return response;
                }

                int writeConfirmIdx = 0;
                boolean commandConfirmResult = false;
                do {
                    OperateResult result = siemensNet.Write("DB100.18", (short) 1);
                    if (result.IsSuccess) {
                        OperateResultExOne<byte[]> commandReadResult = siemensNet.Read("DB100.18", (short) 2);
                        if (commandReadResult.IsSuccess) {
                            short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0);
                            if (commandRead == 0) {
                                Thread.sleep(500);
                            }else {
                                commandConfirmResult = true;
                                break;
                            }
                        }
                    }
                    writeConfirmIdx++;
                    Thread.sleep(200);
                } while (writeConfirmIdx < 5);

                if (!commandConfirmResult) {
                    News.error("堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
                    response.setMessage("堆垛机写入确认数据失败");
                    return response;
                }
            if (!commandConfirmResult) {
                News.error("堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
                response.setMessage("堆垛机写入确认数据失败");
                return response;
            }

            News.info("堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));