#

zjj

2024-03-16 fcfe4fd1e882debbb12e2182bb6760d6da2c8172

#

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

@@ -161,7 +161,7 @@
    /**
     * 读取状态
     */
    private void readStatus(){
    private void readStatus() throws InterruptedException {

        OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
        if (result.IsSuccess) {
@@ -233,7 +233,7 @@
    /**
     * 写入数据
     */
    private boolean write(CrnCommand command){
    private boolean write(CrnCommand command) throws InterruptedException {
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
@@ -272,7 +272,7 @@
        array[6] = command.getDestinationPosZ();
        array[7] = command.getDestinationPosX();
        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();
//        array[9] = command.getCommand();

        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
@@ -347,6 +347,41 @@
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
        }

        if (command.getAckFinish() == 0) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.18", commandFinish);
                    if(result.IsSuccess){
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                log.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                log.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            log.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        log.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }


        return true;
    }