*

lsh

3 天以前 830f5f93c11b16a1014e2bf815c43af9c16eb52b

*

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

@@ -941,41 +941,6 @@

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
                    if (taskWrkNow3.getWrkSts() == 3){
                        try{
                            // 命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                            crnCommand.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRowShort(taskWrkNow3.getTargetPoint()));     // 目标库位列
                            int bay1 = Utils.getBayShort(taskWrkNow3.getTargetPoint()) + 1;
                            crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                            crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrkNow3.getTargetPoint()));     // 目标库位排
//                crnCommand.setCommand((short) 1);
                            try{
                                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+crnCommand.getLaneNo()+";堆垛机命令地址补丁重新写入:"+JSON.toJSONString(crnCommand.getNowTask()));
                            } catch (Exception e2){
                            }
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                                devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

                                throw new CoolException("堆垛机命令生成失败");
                            }
                        } catch (Exception eNow3){

                        }
                    }

                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
@@ -1024,22 +989,22 @@
//                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                CrnCommand crnCommand1 = new CrnCommand();
                crnCommand1.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand1.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand1.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand1.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                crnCommand1.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
                crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand1.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

@@ -1153,39 +1118,6 @@

                        // 已经存在吊车执行任务时，则过滤
                        if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {

                            TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
                            if (taskWrkNow3.getWrkSts() == 12){
                                try{
                                    CrnCommand command = new CrnCommand();
                                    command.setCrnNo(slave.getId()); // 堆垛机编号
                                    command.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机编号
                                    command.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 工作号
                                    command.setAckFinish((short) 0);  // 任务完成确认位
                                    command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
                                    command.setSourcePosX(Utils.getRowShort(taskWrkNow3.getStartPoint()));     // 源库位排
                                    int bayS = Utils.getBayShort(taskWrkNow3.getStartPoint()) + 1;
                                    command.setSourcePosY((short)bayS);     // 源库位列
                                    command.setSourcePosZ(Utils.getLevShort(taskWrkNow3.getStartPoint()));     // 源库位层
                                    command.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                                    command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                                    command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
//                        command.setCommand((short) 1);
                                    try{
                                        DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                        deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机命令地址补丁重新写入:"+JSON.toJSONString(command.getNowTask()));
                                    } catch (Exception e2){
                                    }
                                    if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
                                        log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                                        devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                                        CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
                                        throw new CoolException("堆垛机命令生成失败");
                                    }
                                } catch (Exception eNow3){

                                }
                            }
                            devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机存在吊车任务");
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                            break;
@@ -1312,6 +1244,7 @@

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
                }


 src/main/java/com/zy/core/MainProcess.java

@@ -32,7 +32,7 @@
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    // 间隔
                    Thread.sleep(400);
                    Thread.sleep(500);
                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;
@@ -58,7 +58,7 @@
            while (!Thread.currentThread().isInterrupted()) {
                try {
                    // 间隔
                    Thread.sleep(200);
                    Thread.sleep(400);
                    // 系统运行状态判断
                    if (!SystemProperties.WCS_RUNNING_STATUS.get()) {
                        continue;

 src/main/java/com/zy/core/cache/CrnErrCache.java

@@ -2,12 +2,14 @@

import com.zy.core.model.protocol.CrnErrProtocol;
import com.zy.core.model.protocol.RgvErrProtocol;
import lombok.extern.slf4j.Slf4j;

import java.util.concurrent.ConcurrentHashMap;

/**
 * Created by IX on 2025/02/21
 */
@Slf4j
public class CrnErrCache {
    // 本地缓存，键为 currentPosition，值为 DeviceStatus
    private static final ConcurrentHashMap<Integer, CrnErrProtocol> cache = new ConcurrentHashMap<>();
@@ -37,6 +39,8 @@
                crnErrProtocol.setError(error);
                cache.put(crnErrProtocol.getCrnNo(), crnErrProtocol);
            }
        } catch (Exception e){
            log.error("更新堆垛机设备状态："+e.getMessage());
        } finally {
        }
    }

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

@@ -282,52 +282,18 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        CrnErrCache.updateCrnErr(slave.getId(), "-");
//        try{
//            BasErrLogService basErrLogService = SpringUtils.getBean(BasErrLogService.class);
//            BasErrLog basErrLog = new BasErrLog(command,"","任务下发记录");
//            if (!basErrLogService.insert(basErrLog)) {
//                log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), "任务下发记录失败");
//            }
//        } catch (Exception e3){
//        }
//        convertRow(command);
        if (command.getAckFinish() == 0){
            try{
                Thread.sleep(100L);
                OperateResultExOne<byte[]> resultReadNOW = siemensNet.Read("DB100.0", (short) 20);
                if (resultReadNOW.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 2));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 4));
                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 6));
                    one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 8));
                    one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 10));
                    one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 12));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 14));
                    one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultReadNOW.Content, 16));
                    if (one.getTaskNo()>0
                            || one.getTaskMode()>0
                            || one.getSourcePosX()!=0
                            || one.getSourcePosY()!=0
                            || one.getSourcePosZ()!=0
                            || one.getDestinationPosX()!=0
                            || one.getDestinationPosY()!=0
                            || one.getDestinationPosZ()!=0
                    ){
                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("CrnErr", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机命令地址补丁重新写入取消，wcs下发地址存在数据:"+JSON.toJSONString(command.getNowTask()));
                        } catch (Exception e2){
                        }
                        return true;
                    }
                }
            } catch (Exception eNow){

            }
            deviceErrorService.addDeviceError("crnWriteIng", slave.getId(), "巷道号"+command.getLaneNo()+";堆垛机待下发指令:"+JSON.toJSONString(command.getNowTask()));
        } catch (Exception e){
        }

        try{
            CrnErrCache.updateCrnErr(slave.getId(), "-");
        } catch (Exception e){
            log.error(JSON.toJSONString(e));
            log.error("堆垛机任务写异常：异常定位值：crnWrite-294行");
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[10];