#

lsh

2024-06-07 4f1089d00806fe23628c6e0ed1482ae616443f93

#

 src/main/java/com/zy/core/model/protocol/CrnProtocol.java

@@ -67,11 +67,13 @@
     * 堆垛机当前列号
     */
    public Short bay;
    public Short bayTwo;

    /**
     * 堆垛机当前层号
     */
    public Short level;
    public Short levelTwo;

    /**
     * 当前货叉位置

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

@@ -176,7 +176,12 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = new OperateResultExOne<byte[]>();
            if (slave.getId()>2 && slave.getId()<6){
                result = siemensNet.Read("DB101.0", (short) 62);
            } else {
                result = siemensNet.Read("DB101.0", (short) 52);
            }
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -188,6 +193,8 @@
                crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));

                if (slave.getId()>2 && slave.getId()<6){
                crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
@@ -203,15 +210,29 @@
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                } else {
                    crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 12));

                    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));

                    crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                    crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                    crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));
//                    crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));

                    crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 50));
                    crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 54));
                    crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 58));
                    crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 62));
                }
                //工位2数据  无则无需理会
                try{
                    crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 56));
                    crnProtocol.setStatusTwo(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));

                }catch (Exception e){

                }
@@ -430,26 +451,99 @@
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
//        array[0] = command.getAckFinish();
        array[0] = command.getTaskNo();
        array[1] = command.getTaskMode();
        array[2] = command.getSourcePosX();
        array[3] = command.getSourcePosY();
        array[4] = command.getSourcePosZ();
        array[5] = command.getDestinationPosX();
        array[6] = command.getDestinationPosY();
        array[7] = command.getDestinationPosZ();
        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.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", command.getAckFinish());
        OperateResult result2 = siemensNet.Write("DB100.20", array);
        OperateResult result18 = siemensNet.Write("DB100.38", (short)0);
        OperateResult result = siemensNet.Write("DB100.20", array);
        log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);

        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        int writeCount = 1;
        do {
            try{
                if(!result.IsSuccess){
                    log.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),writeCount);
                    result = siemensNet.Write("DB100.20", array);
                    Thread.sleep(100);
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 24);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                    one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                    one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                    one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                    one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                    if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                            || !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())
                    ){
                        try{
                            log.error("堆垛机命令地址写入后回读失败==>不一致[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));
                            }
                        }
                        try{
                            Thread.sleep(100);
                        }catch (Exception e){

                        }
                        log.error("写入堆垛机plc数据失败，重新下发任务  回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount);
                        result = siemensNet.Write("DB100.20", array);
                        writeCount++;
                        continue;
                    } else {
                        log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                        break;
                    }
                }
            }catch (Exception e){
                log.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
            writeCount++;
        } while (writeCount<6);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.38", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.38", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.38  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.38  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.38", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.38" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.38" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }
        }

        try {