#

whycq

2023-05-18 076cb3aa8987b0bb096ddaa50d8b4746af699be9

#

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -421,16 +421,26 @@
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                    ledThread.errorReset();
                    if (wrkMast == null) {
                        wrkMast = wrkMastMapper.selectPickStep(barcode);
                    }
                    if (wrkMast == null) {
                        // 无拣料数据

                        Integer led = pickSta.getLed();
                        if (ledThread != null) {
                            String errorMsg = "暂无拣料信息！！！";
                            String errorMsg = "暂无拣料/盘点信息！！！";
                            MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
                        }
//                        // 更新站点信息 且 下发plc命令
//                        devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING;
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                        }
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
@@ -1341,7 +1351,6 @@
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990
                        && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);


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

@@ -251,11 +251,6 @@
                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                ){
                    log.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.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));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                } else {
                    log.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
@@ -292,7 +287,7 @@
        //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);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -308,7 +303,15 @@
                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                ){
                    log.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));
                    try{
                        log.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{
                            log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    log.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));
                    Thread.sleep(100);
@@ -322,14 +325,48 @@
            log.error("堆垛机命令地址写入后回读出错");
        }


        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(200L);
            result = siemensNet.Write("DB100.18", commandFinish);
            log.info("堆垛机commandFinish下发[id:{}] >>>>> {}", slave.getId(), commandFinish);
//            result = siemensNet.Write("DB100.22", commandFinish);
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.18", commandFinish);
                    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("DB100.18", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                log.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
                                log.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            log.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        log.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);
            }
        }

//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            Thread.sleep(200L);
//            result = siemensNet.Write("DB100.18", commandFinish);
//            log.info("堆垛机commandFinish下发[id:{}] >>>>> {}", slave.getId(), commandFinish);
////            result = siemensNet.Write("DB100.22", commandFinish);
//        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);

 src/main/resources/application.yml

@@ -101,7 +101,7 @@
      staNo: 104
      barcode: ${wcs-slave.barcode[1].id}
      backSta: 103
      led: ${wcs-slave.led[0].id}
      led: ${wcs-slave.led[1].id}
    # 空板入库口1
    emptyInSta[0]:
      staNo: 101
@@ -125,7 +125,7 @@
      staNo: 104
      barcode: ${wcs-slave.barcode[1].id}
      backSta: 103
      led: ${wcs-slave.led[0].id}
      led: ${wcs-slave.led[1].id}
  # 条码扫描仪1 左下 1楼开始,111
  barcode[0]:
    id: 1
@@ -139,14 +139,14 @@
  # LED1
  led[0]:
    id: 1
    ip: 10.10.10.220
    ip: 10.10.10.205
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 100
  # LED2
  led[1]:
    id: 2
    ip: 10.10.10.221
    ip: 10.10.10.206
    port: 5005
    devpPlcId: ${wcs-slave.devp[0].id}
    staArr: 103

 src/main/webapp/static/js/console.map.js

@@ -33,7 +33,7 @@
            "type": "rackDescs",
            "id": "lb_desc1",
            "text": "#1",
            "top": 324,
            "top": 388,
            "left": 1812,
            "width": 30,
            "height": 23
@@ -42,7 +42,7 @@
            "type": "rackDescs",
            "id": "lb_desc2",
            "text": "#2",
            "top": 388,
            "top": 324,
            "left": 1812,
            "width": 30,
            "height": 23