#

lsh

2024-06-06 f9095a69927575866c113a8db51f77a85f098c83

#

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

@@ -2906,9 +2906,9 @@
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                crnCommand.setDestinationPosX((short)0);     // 目标库位排
                crnCommand.setDestinationPosY((short)0);     // 目标库位列
                crnCommand.setDestinationPosZ((short)0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {

 src/main/java/com/zy/core/enums/CrnStatusType.java

@@ -15,8 +15,10 @@
    MOVING(9, "走行中"),
    WAITING(10, "任务完成等待WCS确认"),
    PAUSE(11, "任务暂停"),
    SEPARATE_IDLE(20, "有物待作业"),
    SEPARATE_WAITING(21, "取货完成等待确认"),
    SOS(99, "报警"),
    UNKNOW(100, "其他"),
    UNKNOW(100, "其他100"),
    ;

    public Integer id;

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

@@ -308,15 +308,14 @@

        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        int writeCount1 = 1;
        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),writeCount1);
//                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                    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("DB100.0", array);
                    Thread.sleep(100);
                    writeCount1++;
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
@@ -344,20 +343,15 @@
                                log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                            }
                        }

                        try{
                            Thread.sleep(100);
                        }catch (Exception e){

                        }

//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                        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),writeCount1);
                        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("DB100.0", array);
                        writeCount1++;
                        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;
@@ -366,8 +360,8 @@
            }catch (Exception e){
                log.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
            writeCount1++;
        } while (writeCount1<6);
            writeCount++;
        } while (writeCount<6);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
@@ -387,7 +381,6 @@
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    break;
                }

            }
        }