对照协议调整

zhangchao

2024-08-30 7d9b1890d255df2383f85691ac92a4018074cdad

对照协议调整

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

@@ -584,7 +584,6 @@
//            if(crnThread.isBackHpFlag()){
//                continue;
//            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
@@ -710,19 +709,23 @@
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining());
                continue;
            }
            System.out.println("wrkMast:" + slave.getId() + "-" + staProtocol.getWorkNo().intValue() + "-" + crnStn.getStaNo() );
            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            System.out.println("wrkMast:" + wrkMast);
            if (null == wrkMast) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            System.out.println("566");
            // 获取库位信息
            LocMast locMast = locMastService.getById(wrkMast.getLocNo());
            if (locMast == null) {
                News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            System.out.println("334");
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
@@ -733,7 +736,7 @@
//                News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
                continue;
            }

            System.out.println("aas");
            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                continue;
@@ -781,6 +784,7 @@
                    }
                }
            }
            System.out.println("434323");
            News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
@@ -812,7 +816,7 @@
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                System.out.println("ererdfd");
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);

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

@@ -242,10 +242,11 @@
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }
        System.out.println("------------------");
        System.out.println(command);
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[17];
        short[] array = new short[16];
        array[0] = command.getTaskNo();
        array[1] = command.getTaskMode();
        array[2] = command.getSourcePosX();
@@ -270,8 +271,6 @@


        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);
@@ -333,19 +332,19 @@
        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            result = siemensNet.Write("DB100.30", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.30", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    log.info("下发DB100.30  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.30  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    log.info("下发DB100.30" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.30" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }