From ac0906df88505ec24ee910899a036676823f9d63 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 21 十一月 2023 08:56:47 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/ghtzwcsOld' into ghtzwcsOld
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 616 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 616 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
new file mode 100644
index 0000000..b403e3e
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -0,0 +1,616 @@
+package com.zy.core.thread;
+
+import HslCommunication.Core.Types.OperateResult;
+import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Siemens.SiemensPLCS;
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import com.alibaba.fastjson.JSON;
+import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.*;
+import com.zy.asrs.service.*;
+import com.zy.core.CrnThread;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.*;
+import com.zy.core.model.CrnSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CommandPackage;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 鍫嗗灈鏈虹嚎绋�
+ * Created by vincent on 2020/8/4
+ */
+@Data
+@Slf4j
+public class SiemensCrnThread implements Runnable, CrnThread {
+
+ private SiemensS7Net siemensNet;
+ private CrnSlave slave;
+ private CrnProtocol crnProtocol;
+ private boolean resetFlag = false;
+
+ public SiemensCrnThread(CrnSlave slave) {
+ this.slave = slave;
+ }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+ initCrnProtocol();
+ this.connect();
+ while (true) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
+ if (task != null) {
+ step = task.getStep();
+ }
+ switch (step) {
+ // 璇绘暟鎹�
+ case 1:
+ readStatus();
+ break;
+ // 鍐欏叆鏁版嵁
+ case 2:
+ write((CrnCommand) task.getData());
+ break;
+ // 澶嶄綅
+ case 3:
+ CrnCommand command = (CrnCommand) task.getData();
+ if (null == command) {
+ command = new CrnCommand();
+ }
+ command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+ command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
+ write(command);
+ break;
+ default:
+ break;
+ }
+ Thread.sleep(500);
+ } catch (Exception e) {
+// e.printStackTrace();
+ }
+
+ }
+ }
+
+ /**
+ * 鍒濆鍖栧爢鍨涙満
+ */
+ private void initCrnProtocol(){
+ crnProtocol = new CrnProtocol();
+ crnProtocol.setMode((short) 0);
+ crnProtocol.setStatus((short) 0);
+ crnProtocol.setTaskNo((short) 0);
+ crnProtocol.setTaskFinish((short) 0);
+ crnProtocol.setValid((short) 0);
+ crnProtocol.setBay((short) 0);
+ crnProtocol.setLevel((short) 0);
+ crnProtocol.setRow((short) 0);
+ crnProtocol.setLane((short) 0);
+ }
+
+ @Override
+ public boolean connect() {
+ boolean result = false;
+ siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
+ siemensNet.setRack(slave.getRack().byteValue());
+ siemensNet.setSlot(slave.getSlot().byteValue());
+ OperateResult connect = siemensNet.ConnectServer();
+ if(connect.IsSuccess){
+ result = true;
+ OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ log.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ log.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+// deviceErrorService.addDeviceError("crn", slave.getId(), "鍫嗗灈鏈簆lc杩炴帴澶辫触");
+ initCrnProtocol();
+ }
+ siemensNet.ConnectClose();
+ return result;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB11.2", (short) 104);
+ if (result.IsSuccess) {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ }
+ crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); // 2
+ crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); // 4
+ crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 4)); // 6
+ crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 6)); // 8
+ crnProtocol.setValid(siemensNet.getByteTransform().TransInt16(result.Content, 8)); // 10
+
+ crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // 16
+ crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 16)); // 18
+ crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18)); // 20
+ crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20)); // 22
+
+ // 寮傚父
+ crnProtocol.setAlarm1(0);
+ crnProtocol.setAlarm2(0);
+ crnProtocol.setAlarm3(0);
+ crnProtocol.setAlarm4(0);
+ boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1); // 30
+ if (err1[0]) { crnProtocol.setAlarm1(1); }
+ if (err1[1]) { crnProtocol.setAlarm1(2); }
+ if (err1[2]) { crnProtocol.setAlarm1(3); }
+ boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1); // 31
+ if (err2[0]) { crnProtocol.setAlarm1(4); }
+ if (err2[1]) { crnProtocol.setAlarm1(5); }
+ if (err2[2]) { crnProtocol.setAlarm1(6); }
+ boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1); // 32
+ if (err3[6]) { crnProtocol.setAlarm1(7); }
+ if (err3[7]) { crnProtocol.setAlarm1(8); }
+ boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1); // 33
+ if (err4[1]) { crnProtocol.setAlarm1(9); }
+ if (err4[5]) { crnProtocol.setAlarm1(10); }
+ if (err4[6]) { crnProtocol.setAlarm1(11); }
+ if (err4[7]) { crnProtocol.setAlarm1(12); }
+ boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1); // 34
+ if (err5[0]) { crnProtocol.setAlarm2(13); }
+ if (err5[2]) { crnProtocol.setAlarm2(14); }
+ if (err5[3]) { crnProtocol.setAlarm2(15); }
+ if (err5[5]) { crnProtocol.setAlarm2(16); }
+ if (err5[6]) { crnProtocol.setAlarm2(17); }
+ if (err5[7]) { crnProtocol.setAlarm2(18); }
+ boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1); // 35
+ if (err6[1]) { crnProtocol.setAlarm2(19); }
+ if (err6[2]) { crnProtocol.setAlarm2(20); }
+ if (err6[3]) { crnProtocol.setAlarm2(21); }
+ if (err6[4]) { crnProtocol.setAlarm2(22); }
+ boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1); // 36
+ if (err7[4]) { crnProtocol.setAlarm2(23); }
+ if (err7[5]) { crnProtocol.setAlarm2(24); }
+ if (err7[6]) { crnProtocol.setAlarm2(25); }
+ boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1); // 38
+ if (err8[0]) { crnProtocol.setAlarm3(26); }
+ if (err8[1]) { crnProtocol.setAlarm3(27); }
+ if (err8[2]) { crnProtocol.setAlarm3(28); }
+ if (err8[3]) { crnProtocol.setAlarm3(29); }
+ if (err8[4]) { crnProtocol.setAlarm3(30); }
+ if (err8[5]) { crnProtocol.setAlarm3(31); }
+ if (err8[6]) { crnProtocol.setAlarm3(32); }
+ if (err8[7]) { crnProtocol.setAlarm3(33); }
+ boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1); // 39
+ if (err9[0]) { crnProtocol.setAlarm3(34); }
+ if (err9[1]) { crnProtocol.setAlarm3(35); }
+ if (err9[2]) { crnProtocol.setAlarm3(36); }
+ if (err9[3]) { crnProtocol.setAlarm3(37); }
+ if (err9[4]) { crnProtocol.setAlarm3(38); }
+ if (err9[5]) { crnProtocol.setAlarm3(39); }
+ if (err9[6]) { crnProtocol.setAlarm3(40); }
+ if (err9[7]) { crnProtocol.setAlarm3(41); }
+ boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1); // 40
+ if (err10[0]) { crnProtocol.setAlarm3(42); }
+ if (err10[1]) { crnProtocol.setAlarm3(43); }
+ if (err10[2]) { crnProtocol.setAlarm3(44); }
+ if (err10[3]) { crnProtocol.setAlarm3(45); }
+ if (err10[4]) { crnProtocol.setAlarm3(46); }
+ boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1); // 41
+ if (err11[0]) { crnProtocol.setAlarm3(47); }
+ if (err11[1]) { crnProtocol.setAlarm3(48); }
+ if (err11[2]) { crnProtocol.setAlarm3(49); }
+ boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1); // 42
+ if (err12[0]) { crnProtocol.setAlarm4(50); }
+ if (err12[1]) { crnProtocol.setAlarm4(51); }
+ if (err12[2]) { crnProtocol.setAlarm4(52); }
+ if (err12[3]) { crnProtocol.setAlarm4(53); }
+ if (err12[4]) { crnProtocol.setAlarm4(54); }
+ if (err12[5]) { crnProtocol.setAlarm4(55); }
+ boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1); // 43
+ if (err13[0]) { crnProtocol.setAlarm4(56); }
+ if (err13[1]) { crnProtocol.setAlarm4(57); }
+ if (err13[2]) { crnProtocol.setAlarm4(58); }
+ if (err13[3]) { crnProtocol.setAlarm4(59); }
+ boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1); // 44
+ if (err14[0]) { crnProtocol.setAlarm4(60); }
+ if (err14[1]) { crnProtocol.setAlarm4(61); }
+ if (err14[2]) { crnProtocol.setAlarm4(62); }
+ if (err14[3]) { crnProtocol.setAlarm4(63); }
+ if (err14[4]) { crnProtocol.setAlarm4(64); }
+ if (err14[5]) { crnProtocol.setAlarm4(65); }
+ if (err14[6]) { crnProtocol.setAlarm4(66); }
+ if (err14[7]) { crnProtocol.setAlarm4(67); }
+ boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1); // 45
+ if (err15[1]) { crnProtocol.setAlarm4(68); }
+ if (err15[2]) { crnProtocol.setAlarm4(69); }
+ if (err15[3]) { crnProtocol.setAlarm4(70); }
+ if (err15[4]) { crnProtocol.setAlarm4(71); }
+ if (err15[5]) { crnProtocol.setAlarm4(72); }
+ if (err15[6]) { crnProtocol.setAlarm4(73); }
+
+ boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1); // 62
+ crnProtocol.setConnStatus(bool1[0]);
+ crnProtocol.setCorrection(bool1[3]);
+ crnProtocol.setTuError(bool1[4]);
+ crnProtocol.setNoneError(bool1[5]);
+ crnProtocol.setStockError(bool1[6]);
+ crnProtocol.setJobInvalid(bool1[7]);
+ boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1); // 63
+ crnProtocol.setIdle(bool2[0]);
+ crnProtocol.setControl(bool2[1]);
+ crnProtocol.setStopQuasi(bool2[2]);
+ crnProtocol.setRunning(bool2[3]);
+ crnProtocol.setFault(bool2[4]);
+ crnProtocol.setForkHome(bool2[5]);
+ crnProtocol.setForkSingleLeft(bool2[6]);
+ crnProtocol.setForkSingleRight(bool2[7]);
+ boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1); // 64
+ crnProtocol.setForkDoubleLeft(bool3[0]);
+ crnProtocol.setForkDoubleRight(bool3[1]);
+ crnProtocol.setSingleHigh(bool3[2]);
+ crnProtocol.setSingleLow(bool3[3]);
+ crnProtocol.setDoubleHigh(bool3[4]);
+ crnProtocol.setDoubleLow(bool3[5]);
+ crnProtocol.setPlatformHigh(bool3[6]);
+ crnProtocol.setPlatformLow(bool3[7]);
+ boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1); // 66
+ crnProtocol.setLoaded((short) (bool4[4]?1:0)); // 鏈夌墿
+
+ // 閫熷害
+ crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22)); // 24
+ crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26
+ crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28
+ // 绱閲岀▼銆佹椂闀�
+ crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90
+ crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94
+ crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98
+ crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102
+
+ // 澧炲己
+ if (crnProtocol.getForkHome()) {
+ crnProtocol.setForkPos(CrnForkPosType.HOME);
+ }
+ if (crnProtocol.getForkSingleLeft()) {
+ crnProtocol.setForkPos(CrnForkPosType.LEFT);
+ }
+ if (crnProtocol.getForkSingleRight()) {
+ crnProtocol.setForkPos(CrnForkPosType.RIGHT);
+ }
+ if (crnProtocol.getForkDoubleLeft()) {
+ crnProtocol.setForkPos(CrnForkPosType._LEFT);
+ }
+ if (crnProtocol.getForkDoubleRight()) {
+ crnProtocol.setForkPos(CrnForkPosType._RIGHT);
+ }
+ if (crnProtocol.getSingleHigh()) {
+ crnProtocol.setLiftPos(CrnLiftPosType.UP);
+ }
+ if (crnProtocol.getSingleLow()) {
+ crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
+ }
+ if (crnProtocol.getDoubleHigh()) {
+ crnProtocol.setLiftPos(CrnLiftPosType._UP);
+ }
+ if (crnProtocol.getDoubleLow()) {
+ crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
+ }
+ if (crnProtocol.getIdle()) {
+ crnProtocol.setStatus(CrnStatusType.IDLE);
+ }
+
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+
+ // 澶嶄綅淇″彿
+ if (crnProtocol.getTaskFinish() == 1) {
+ if (resetFlag) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setAckFinish((short)1);
+ if (write(crnCommand)) {
+ resetFlag = false;
+ }
+
+ }
+ }
+
+ try {
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ BasCrnp basCrnp = new BasCrnp();
+ basCrnp.setCrnNo(slave.getId());
+ basCrnp.setCrnSts((int)crnProtocol.getMode());
+ if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
+ log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ }
+ } catch (Exception ignore){}
+
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.deleteDeviceError("crn", slave.getId());
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("crn", slave.getId(), "璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐�");
+ }
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private boolean write(CrnCommand command){
+ if (null == command) {
+ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+ if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
+ command.setTaskNo((short) 9999);
+ }
+
+ command.setCrnNo(slave.getId());
+ short[] array = new short[9];
+ if (command.getAckFinish() == 0) {
+ array[0] = 5;
+ } else {
+ array[0] = 0;
+ }
+
+ if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)1){
+ array[1] = (short)0;
+ array[2] = (short)0;
+ }else if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)41){
+ array[1] = (short)0;
+ array[2] = (short)42;
+ }else {
+ array[1] = command.getSourcePosZ();
+ array[2] = command.getSourcePosY();
+ }
+
+ if (command.getSourcePosX()==(short)3){
+ array[3] = (short)1;
+ }else if (command.getSourcePosX()==(short)4){
+ array[3] = (short)2;
+ }else {
+ array[3] = command.getSourcePosX();
+ }
+
+ if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)1){
+ array[4] = (short)0;
+ array[5] = (short)0;
+ }else if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)41){
+ array[4] = (short)0;
+ array[5] = (short)42;
+ }else {
+ array[4] = command.getDestinationPosZ();
+ array[5] = command.getDestinationPosY();
+ }
+
+ if (command.getDestinationPosX()==(short)3){
+ array[6] = (short)1;
+ }else if (command.getDestinationPosX()==(short)4){
+ array[6] = (short)2;
+ }else {
+ array[6] = command.getDestinationPosX();
+ }
+ if ((array[1]==(short)0 && array[2] == (short)0) || (array[1]==(short)0 && array[2] == (short)42)){
+ array[7]=(short)1;
+ }else {
+ array[7]=(short)0;
+ }
+// array[7] = command.getSourceStaNo();
+
+ if ((array[4]==(short)0 && array[5] == (short)0) || (array[4]==(short)0 && array[5] == (short)42)){
+ array[8]=(short)1;
+ }else {
+ array[8]=(short)0;
+ }
+// array[8] = command.getDestinationStaNo();
+
+ // 浣滀笟淇℃伅
+ OperateResult result = siemensNet.Write("DB10.0", array);
+ // 浠诲姟鍙� + 瀹屾垚浣�
+ short[] array2 = new short[2];
+ array2[0] = command.getTaskNo();
+ array2[1] = command.getAckFinish();
+ OperateResult result1 = siemensNet.Write("DB10.24", array2);
+
+ // 缁撴潫浣�
+ if (command.getAckFinish() == 0) {
+ OperateResult result2 = siemensNet.Write("DB10.28.1", true);
+ }
+
+ // 鏃ュ織璁板綍
+ try {
+ if (command.getAckFinish() != 1) {
+ BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+ BasCrnOpt basCrnOpt = new BasCrnOpt(
+ command.getTaskNo().intValue(), // 浠诲姟鍙�
+ command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
+ new Date(), // 涓嬪彂鏃堕棿
+ command.getTaskModeType().toString(), // 妯″紡
+ command.getSourcePosX().intValue(), // 婧愭帓
+ command.getSourcePosY().intValue(), // 婧愬垪
+ command.getSourcePosZ().intValue(), // 婧愬眰
+ null, // 婧愮珯
+ command.getDestinationPosX().intValue(), // 鐩爣鎺�
+ command.getDestinationPosY().intValue(), // 鐩爣鍒�
+ command.getDestinationPosZ().intValue(), // 鐩爣灞�
+ null, // 鐩爣绔�
+ null, // 鍝嶅簲缁撴灉
+ null, // 淇敼鏃堕棿
+ null // 淇敼浜哄憳
+ );
+ bean.insert(basCrnOpt);
+ }
+ } catch (Exception ignore) {}
+
+ //鏇存柊鍛戒护鏃ュ織
+ CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
+ CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
+ CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
+ CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
+ commandInfoLog.setId(null);
+
+ if (result.IsSuccess && result1.IsSuccess) {
+ log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+
+ //鏇存柊鎸囦护鏃ュ織
+ commandInfoLog.setDeviceLog("鎸囦护涓嬪彂鎴愬姛");
+ commandInfoLogService.insert(commandInfoLog);
+
+ //鏇存柊浠诲姟姝ュ簭
+ TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
+ if (taskWrk != null) {
+ taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//鏇存柊鎸囦护姝ュ簭
+ taskWrkService.updateById(taskWrk);
+ }
+
+ return true;
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+
+ //鏇存柊鎸囦护鏃ュ織
+ commandInfoLog.setDeviceLog("鎸囦护涓嬪彂澶辫触");
+ commandInfoLogService.insert(commandInfoLog);
+ return false;
+ }
+ }
+
+ @Override
+ public void close() {
+ siemensNet.ConnectClose();
+ }
+
+ /******************************************************************************************/
+ /**************************************** 娴嬭瘯涓撶敤 *****************************************/
+ /*****************************************************************************************/
+ public static void main(String[] args) throws InterruptedException {
+ CrnSlave slave = new CrnSlave();
+ slave.setId(1);
+ slave.setIp("192.168.6.9");
+ slave.setRack(0);
+ slave.setSlot(0);
+ SiemensCrnThread crnThread = new SiemensCrnThread(slave);
+ crnThread.connect();
+ crnThread.readStatus();
+ System.out.println(JSON.toJSONString(crnThread.crnProtocol));
+ Thread.sleep(3000L);
+
+ // 1.鍏ュ簱 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 2.鍑哄簱 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKOUT); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 4); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+
+// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// command.setSourcePosX((short)1); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short)1); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+// // 5.鍥炲師鐐� 涓嶇敤鍙� pass
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+// // 7.鍧愭爣绉昏 鐩爣鍙� pass
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
+// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+// Thread.sleep(3000L);
+// crnThread.write(command);
+// }
+
+ }
+
+}
--
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