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Junjie

5 天以前 e70fab8263d894ad35408ae84f599fe4c9d37482

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 src/main/java/com/zy/core/network/real/ZyDualCrnRealConnect.java

@@ -8,8 +8,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnpOpt;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.BasDualCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.service.BasDualCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
@@ -111,144 +114,116 @@
    @Override
    public CommandResponse sendCommand(DualCrnCommand command) {
        CommandResponse response = new CommandResponse(false);
        // try {
        //     if (null == command) {
        //         News.error("双工位堆垛机写入命令为空");
        //         response.setMessage("双工位堆垛机写入命令为空");
        //         return response;
        //     }
         try {
             if (null == command) {
                 News.error("双工位堆垛机写入命令为空");
                 response.setMessage("双工位堆垛机写入命令为空");
                 return response;
             }

        //     String address = "DB100.0";
        //     if (command.getStation() == 1) {
        //         //工位1
        //         address = "DB100.0";
        //     }else {
        //         //工位2
        //         address = "DB100.20";
        //     }
             String address = "DB100.0";
             if (command.getStation() == 1) {
                 //工位1
                 address = "DB100.0";
             }else {
                 //工位2
                 address = "DB100.18";
             }

        //     int writeAck = 0;
        //     boolean ackResult = false;
        //     do {
        //         OperateResult resultAck = siemensNet.Write(address, (short) 0);
        //         if (resultAck.IsSuccess) {
        //             Thread.sleep(200);
        //             OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 2);
        //             short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
        //             if (ack != 0) {
        //                 writeAck++;
        //             } else {
        //                 News.info("双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), "ack复位完成");
        //                 ackResult = true;
        //                 break;
        //             }
        //         }
        //     } while (writeAck < 5);
             String confirmAddress = "DB100.16";
             if (command.getStation() == 1) {
                 //工位1
                 confirmAddress = "DB100.16";
             }else {
                 //工位2
                 confirmAddress = "DB100.34";
             }

        //     if (!ackResult) {
        //         response.setMessage("双工位堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "ack复位失败");
        //         return response;
        //     }
             short[] array = new short[9];
             array[0] = command.getTaskNo().shortValue();
             array[1] = command.getTaskMode().shortValue();
             array[2] = command.getSourcePosX().shortValue();
             array[3] = command.getSourcePosY().shortValue();
             array[4] = command.getSourcePosZ().shortValue();
             array[5] = command.getDestinationPosX().shortValue();
             array[6] = command.getDestinationPosY().shortValue();
             array[7] = command.getDestinationPosZ().shortValue();
             array[8] = (short) 0;

        //     short[] array = new short[10];
        //     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.getCommand();
             OperateResult result = siemensNet.Write(address, array);
             if (!result.IsSuccess) {
                 News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                 response.setMessage("双工位堆垛机写入堆垛机plc数据失败");
                 return response;
             }

        //     OperateResult result = null;
        //     int idx = 0;
        //     do {
        //         OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 20);
        //         if (resultRead.IsSuccess) {
        //             if (command.getAckFinish() == 0) {
        //                 short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
        //                 short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
        //                 short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
        //                 short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
        //                 short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
        //                 short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
        //                 short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
        //                 short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
        //                 if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
        //                     result = siemensNet.Write(address, array);
        //                 } else {
        //                     break;
        //                 }
        //             } else {
        //                 short ackFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
        //                 if (ackFinish != command.getAckFinish()) {
        //                     result = siemensNet.Write(address, array);
        //                 } else {
        //                     break;
        //                 }
        //             }
        //         }
        //         idx++;
        //         Thread.sleep(500);
        //     } while (idx < 5);
             int idx = 0;
             do {
                 OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 18);
                 if (resultRead.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
                    short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
                    short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
                    short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                    short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
                    if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
                        result = siemensNet.Write(address, array);
                    } else {
                        break;
                    }
                 }
                 idx++;
                 Thread.sleep(500);
             } while (idx < 5);

        //     if (command.getAckFinish() == 0) {
        //         short commandFinish = 1;
        //         int i = 0;
        //         do {
        //             OperateResultExOne<byte[]> resultRead = siemensNet.Read(address, (short) 4);
        //             OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read(address + 18, (short) 2);
        //             if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) {
        //                 short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
        //                 short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0);
        //                 if (taskNo != 0 && confirm == 0) {
        //                     result = siemensNet.Write(address + 18, commandFinish);
        //                 }
        //             }
        //             i++;
        //             Thread.sleep(500);
        //         } while (i < 5);
        //     }
             OperateResult confirmResult = siemensNet.Write(confirmAddress, (short) 1);
             if (!confirmResult.IsSuccess) {
                 News.error("双工位堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
                 response.setMessage("双工位堆垛机写入确认数据失败");
                 return response;
             }

        //     if (result != null && result.IsSuccess) {
        //         News.info("SiemensDualCrn 双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
        //         OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
        //         response.setResult(true);
        //         response.setMessage("命令下发成功");
        //     } else {
        //         News.error("SiemensDualCrn 双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
        //         OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
        //         response.setResult(false);
        //         response.setMessage("命令下发失败");
        //     }
             if (result != null && result.IsSuccess) {
                 News.info("双工位堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));
                 response.setResult(true);
                 response.setMessage("命令下发成功");
             } else {
                 News.error("双工位堆垛机写入堆垛机plc数据失败 ===>> [id:{}]", command.getCrnNo());
                 OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}]", DateUtils.convert(new Date()), command.getCrnNo()));
                 response.setResult(false);
                 response.setMessage("命令下发失败");
             }

        //     return response;
        // } catch (Exception e) {
        //     e.printStackTrace();
        // }finally {
        //     String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
        //     String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
             return response;
         } catch (Exception e) {
             e.printStackTrace();
         }finally {
             String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
             String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());

        //     // 日志记录
        //     BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
        //     BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
        //             command.getTaskNo().intValue(),    // 任务号
        //             command.getCrnNo(),    // 堆垛机[非空]
        //             new Date(),    // 下发时间
        //             String.valueOf(command.getTaskMode()),    // 模式
        //             sourceLocNo, //源库位
        //             targetLocNo, //目标库位
        //             null,    // 修改时间
        //             null,    // 修改人员
        //             null,    // 备注
        //             JSON.toJSONString(command),    // 指令
        //             JSON.toJSONString(getStatus()),    // 系统状态
        //             1,    // 下发状态{0:未下发,1:已下发}
        //             JSON.toJSONString(response)    // 响应
        //     );
        //     bean.insert(basCrnpOpt);
        // }
             // 日志记录
             BasDualCrnpOptService bean = SpringUtils.getBean(BasDualCrnpOptService.class);
             BasDualCrnpOpt basDualCrnp = new BasDualCrnpOpt(
                     command.getTaskNo(),    // 任务号
                     command.getCrnNo(),    // 堆垛机[非空]
                     new Date(),    // 下发时间
                     String.valueOf(command.getTaskMode()),    // 模式
                     sourceLocNo, //源库位
                     targetLocNo, //目标库位
                     null,    // 修改时间
                     null,    // 修改人员
                     null,    // 备注
                     JSON.toJSONString(command),    // 指令
                     JSON.toJSONString(getStatus()),    // 系统状态
                     1,    // 下发状态{0:未下发,1:已下发}
                     JSON.toJSONString(response)    // 响应
             );
             bean.insert(basDualCrnp);
         }
        return response;
    }
}