WCS3.0标准版
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Administrator
2026-04-27 007ee7bc1b63aa381b3a414952bbf41aeebed60e 
 src/main/java/com/zy/core/network/real/ZyDualCrnRealConnect.java


@@ -100,17 +100,20 @@


                crnStatus.setXDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 62));


                crnStatus.setYDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 66));




                OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.0", (short) 18);


                OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.0", (short) 36);


                if (taskResult.IsSuccess) {


                    short taskNo = siemensNet.getByteTransform().TransInt16(taskResult.Content, 0);


                    short taskMode = siemensNet.getByteTransform().TransInt16(taskResult.Content, 2);


                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 4);


                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 6);


                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 8);


                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 10);


                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 12);


                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 14);


                    short confirm = siemensNet.getByteTransform().TransInt16(taskResult.Content, 16);


                    byte[] taskContent = taskResult.Content;




                    // 工位1命令区：DB100.0 ~ DB100.17


                    short taskNo = siemensNet.getByteTransform().TransInt16(taskContent, 0);


                    short taskMode = siemensNet.getByteTransform().TransInt16(taskContent, 2);


                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskContent, 4);


                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskContent, 6);


                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskContent, 8);


                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskContent, 10);


                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskContent, 12);


                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskContent, 14);


                    short confirm = siemensNet.getByteTransform().TransInt16(taskContent, 16);




                    int hasData = 0;


                    if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {


@@ -153,41 +156,39 @@


                                Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());


                                if (lock == null) {


                                    OperateResult taskClearResult = siemensNet.Write("DB100.0", array);


                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 3);


                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 1);


                                    News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 1, JSON.toJSONString(map));


                                }


                            }


                        }


                    }


                    crnStatus.setTaskSend(hasData);


                }




                OperateResultExOne<byte[]> taskResult2 = siemensNet.Read("DB100.18", (short) 18);


                if (taskResult2.IsSuccess) {


                    short taskNo = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 0);


                    short taskMode = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 2);


                    short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 4);


                    short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 6);


                    short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 8);


                    short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 10);


                    short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 12);


                    short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 14);


                    short confirm = siemensNet.getByteTransform().TransInt16(taskResult2.Content, 16);


                    // 工位2命令区：DB100.18 ~ DB100.35


                    short taskNoTwo = siemensNet.getByteTransform().TransInt16(taskContent, 18);


                    short taskModeTwo = siemensNet.getByteTransform().TransInt16(taskContent, 20);


                    short sourcePosXTwo = siemensNet.getByteTransform().TransInt16(taskContent, 22);


                    short sourcePosYTwo = siemensNet.getByteTransform().TransInt16(taskContent, 24);


                    short sourcePosZTwo = siemensNet.getByteTransform().TransInt16(taskContent, 26);


                    short destinationPosXTwo = siemensNet.getByteTransform().TransInt16(taskContent, 28);


                    short destinationPosYTwo = siemensNet.getByteTransform().TransInt16(taskContent, 30);


                    short destinationPosZTwo = siemensNet.getByteTransform().TransInt16(taskContent, 32);


                    short confirmTwo = siemensNet.getByteTransform().TransInt16(taskContent, 34);




                    int hasData = 0;


                    if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) {


                        hasData = 1;


                    int hasDataTwo = 0;


                    if(taskNoTwo != 0 || taskModeTwo != 0 || sourcePosXTwo != 0 || sourcePosYTwo != 0 || sourcePosZTwo != 0 || destinationPosXTwo != 0 || destinationPosYTwo != 0 || destinationPosZTwo != 0 || confirmTwo != 0) {


                        hasDataTwo = 1;


                        if (crnStatus.getTaskReceiveTwo() == 1) {


                            HashMap<String, Object> map = new HashMap<>();


                            map.put("taskNo", taskNo);


                            map.put("taskMode", taskMode);


                            map.put("sourcePosX", sourcePosX);


                            map.put("sourcePosY", sourcePosY);


                            map.put("sourcePosZ", sourcePosZ);


                            map.put("destinationPosX", destinationPosX);


                            map.put("destinationPosY", destinationPosY);


                            map.put("destinationPosZ", destinationPosZ);


                            map.put("confirm", confirm);


                            map.put("taskNo", taskNoTwo);


                            map.put("taskMode", taskModeTwo);


                            map.put("sourcePosX", sourcePosXTwo);


                            map.put("sourcePosY", sourcePosYTwo);


                            map.put("sourcePosZ", sourcePosZTwo);


                            map.put("destinationPosX", destinationPosXTwo);


                            map.put("destinationPosY", destinationPosYTwo);


                            map.put("destinationPosZ", destinationPosZTwo);


                            map.put("confirm", confirmTwo);




                            short[] array = new short[9];


                            array[0] = (short) 0;


@@ -201,7 +202,7 @@


                            array[8] = (short) 0;




                            boolean clear = false;


                            if (taskMode == DualCrnTaskModeType.CONFIRM.id) {


                            if (taskModeTwo == DualCrnTaskModeType.CONFIRM.id) {


//                                if (crnStatus.getStatusTwo() == 0) {


//                                    clear = true;


//                                }


@@ -215,13 +216,13 @@


                                Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_SEND_COMMAND_LOCK.key + deviceConfig.getDeviceNo());


                                if (lock == null) {


                                    OperateResult taskClearResult = siemensNet.Write("DB100.18", array);


                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 3);


                                    redisUtil.set(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + deviceConfig.getDeviceNo(), "lock", 1);


                                    News.info("双工位堆垛机:{}号{}工位命令区域清空，原始数据:{}", deviceConfig.getDeviceNo(), 2, JSON.toJSONString(map));


                                }


                            }


                        }


                    }


                    crnStatus.setTaskSendTwo(hasData);


                    crnStatus.setTaskSendTwo(hasDataTwo);


                }




                return crnStatus;