#

lsh

2024-07-15 8c47919d892aaeb00cdef1b408c88a09113a6213

#

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

@@ -4483,6 +4483,84 @@
        }
    }

    /*
     * 堆垛机取货至工位任务
     * */
    public synchronized boolean crnExecuteTakeFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            // 1.堆垛机开始移动
            CrnCommandParam crnCommandParam = new CrnCommandParam();
            crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
            crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
            crnCommandParam.setSourcePosX(wrkMastSplitTwinOne.getStartRow().shortValue());     // 源库位排
            crnCommandParam.setSourcePosY(wrkMastSplitTwinOne.getStartBay().shortValue());     // 源库位列
            crnCommandParam.setSourcePosZ(wrkMastSplitTwinOne.getStartLev().shortValue());     // 源库位层
            crnCommandParam.setDestinationPosX((short)0);     // 目标库位排
            crnCommandParam.setDestinationPosY((short)0);     // 目标库位列
            crnCommandParam.setDestinationPosZ((short)0);     // 目标库位层

            crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish2((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
            crnCommandParam.setSourcePosX2(wrkMastSplitTwinTwo.getStartRow().shortValue());     // 源库位排
            crnCommandParam.setSourcePosY2(wrkMastSplitTwinTwo.getStartBay().shortValue());     // 源库位列
            crnCommandParam.setSourcePosZ2(wrkMastSplitTwinTwo.getStartLev().shortValue());     // 源库位层
            crnCommandParam.setDestinationPosX2((short)0);     // 目标库位排
            crnCommandParam.setDestinationPosY2((short)0);     // 目标库位列
            crnCommandParam.setDestinationPosZ2((short)0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 堆垛机放货货至出库站点任务
     * */
    public synchronized boolean crnExecutePutFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            // 1.堆垛机开始移动
            CrnCommandParam crnCommandParam = new CrnCommandParam();
            crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
            crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式:  单放货
            crnCommandParam.setSourcePosX((short)0);     // 源库位排
            crnCommandParam.setSourcePosY((short)0);     // 源库位列
            crnCommandParam.setSourcePosZ((short)0);     // 源库位层
            crnCommandParam.setDestinationPosX(wrkMastSplitTwinOne.getEndRow().shortValue());     // 目标库位排
            crnCommandParam.setDestinationPosY(wrkMastSplitTwinOne.getEndBay().shortValue());     // 目标库位列
            crnCommandParam.setDestinationPosZ(wrkMastSplitTwinOne.getEndLev().shortValue());     // 目标库位层

            crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish2((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_PUT); // 任务模式:  单放货
            crnCommandParam.setSourcePosX2((short)0);     // 源库位排
            crnCommandParam.setSourcePosY2((short)0);     // 源库位列
            crnCommandParam.setSourcePosZ2((short)0);     // 源库位层
            crnCommandParam.setDestinationPosX2(wrkMastSplitTwinTwo.getEndRow().shortValue());     // 目标库位排
            crnCommandParam.setDestinationPosY2(wrkMastSplitTwinTwo.getEndBay().shortValue());     // 目标库位列
            crnCommandParam.setDestinationPosZ2(wrkMastSplitTwinTwo.getEndLev().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /**
     *  Jar任务创建  初始  //完成
     */

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

@@ -116,7 +116,7 @@
                        command2.setDestinationPosZ((short)0);     // 目标库位层
                        write5(command2);
                        break;
                    // 复位
                    // 双工位同时作业
                    case 7:
                        write9((CrnCommandParam) task.getData());
                        break;
@@ -607,16 +607,15 @@
    }

    /**
     * 写入数据  工位2
     * 写入数据  双工位
     */
    private boolean write9(CrnCommandParam command) throws InterruptedException {
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        short[] array = new short[20];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
@@ -626,11 +625,21 @@
        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 result18 = siemensNet.Write("DB100.38", (short)0);
        OperateResult result = siemensNet.Write("DB100.20", array);
        array[10] = command.getAckFinish2();
        array[11] = command.getTaskNo2();
        array[12] = command.getTaskMode2();
        array[13] = command.getSourcePosX2();
        array[14] = command.getSourcePosY2();
        array[15] = command.getSourcePosZ2();
        array[16] = command.getDestinationPosX2();
        array[17] = command.getDestinationPosY2();
        array[18] = command.getDestinationPosZ2();
        array[19] = command.getCommand();
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
        OperateResult result38 = siemensNet.Write("DB100.38", (short)0);
        OperateResult result = siemensNet.Write("DB100.0", array);
//        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
@@ -640,14 +649,14 @@
            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);
                    result = siemensNet.Write("DB100.0", array);
                    Thread.sleep(100);
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 24);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 40);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    CrnCommandParam one = new CrnCommandParam();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
@@ -656,10 +665,23 @@
                    one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                    one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                    one.setTaskNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));
                    one.setTaskMode2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                    one.setSourcePosX2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));
                    one.setSourcePosY2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28));
                    one.setSourcePosZ2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                    one.setDestinationPosX2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 32));
                    one.setDestinationPosY2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 34));
                    one.setDestinationPosZ2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
                    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())
                            ||
                            !command.getTaskNo2().equals(one.getTaskNo2()) || !command.getTaskMode2().equals(one.getTaskMode2())
                            || !command.getSourcePosX2().equals(one.getSourcePosX2()) || !command.getSourcePosY2().equals(one.getSourcePosY2())
                            || !command.getSourcePosZ2().equals(one.getSourcePosZ2()) || !command.getDestinationPosX2().equals(one.getDestinationPosX2())
                            || !command.getDestinationPosY2().equals(one.getDestinationPosY2()) || !command.getDestinationPosZ2().equals(one.getDestinationPosZ2())
                    ){
                        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));
@@ -676,7 +698,7 @@

                        }
                        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);
                        result = siemensNet.Write("DB100.0", array);
                        writeCount++;
                        continue;
                    } else {
@@ -693,19 +715,23 @@
        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.38", commandFinish);
            result18 = siemensNet.Write("DB100.18", commandFinish);
            result38 = 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);
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                OperateResultExOne<byte[]> result10038 = siemensNet.Read("DB100.38", (short) 2);
                short transInt1618 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                short transInt1638 = siemensNet.getByteTransform().TransInt16(result10038.Content, 0);
                if (transInt1618 != commandFinish || transInt1638 != commandFinish){
                    log.info("下发DB100.18/DB100.38  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18/DB100.38  回读失败" + "array:"+ JSON.toJSONString(array));
                    result18 = siemensNet.Write("DB100.18", commandFinish);
                    result38 = 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));
                    log.info("下发DB100.18/DB100.38" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18/DB100.38" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }