#

Junjie

21 小时以前 67817d96e3f74fa89383cd9ee9725f7aec4fdcca

 src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java

@@ -166,17 +166,10 @@
                return response;
            }

            Integer commandTaskNo = command.getTaskNo();
            Integer commandTaskMode = command.getTaskMode();
            if (commandTaskMode.equals(CrnTaskModeType.RESET.id)) {
                commandTaskNo = 0;
                commandTaskMode = 0;
            }

            short[] array = new short[9];
            array[0] = command.getAckFinish().shortValue();
            array[1] = commandTaskNo.shortValue();
            array[2] = commandTaskMode.shortValue();
            array[1] = command.getTaskNo().shortValue();
            array[2] = command.getTaskMode().shortValue();
            array[3] = command.getSourcePosX().shortValue();
            array[4] = command.getSourcePosY().shortValue();
            array[5] = command.getSourcePosZ().shortValue();
@@ -199,7 +192,14 @@
                        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) {
                        if (taskNo != command.getTaskNo().shortValue()
                                || taskMode != command.getTaskMode().shortValue()
                                || sourcePosX != command.getSourcePosX().shortValue()
                                || sourcePosY != command.getSourcePosY().shortValue()
                                || sourcePosZ != command.getSourcePosZ().shortValue()
                                || destinationPosX != command.getDestinationPosX().shortValue()
                                || destinationPosY != command.getDestinationPosY().shortValue()
                                || destinationPosZ != command.getDestinationPosZ().shortValue()) {
                            result = siemensNet.Write("DB100.0", array);
                        } else {
                            commandDataResult = true;
@@ -216,27 +216,27 @@
                return response;
            }

            int confirmIdx = 0;
            boolean confirmFlag = false;
            int writeConfirmIdx = 0;
            boolean commandConfirmResult = false;
            do {
                OperateResult confirmResult = siemensNet.Write("DB100.18", (short) 1);
                if (!confirmResult.IsSuccess) {
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                    if (resultRead.IsSuccess) {
                        short confirm = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                        if(confirm == 0) {
                OperateResult result = siemensNet.Write("DB100.18", (short) 1);
                if (result.IsSuccess) {
                    OperateResultExOne<byte[]> commandReadResult = siemensNet.Read("DB100.18", (short) 2);
                    if (commandReadResult.IsSuccess) {
                        short commandRead = siemensNet.getByteTransform().TransInt16(commandReadResult.Content, 0);
                        if (commandRead == 0) {
                            Thread.sleep(500);
                        }else {
                            confirmFlag = true;
                            commandConfirmResult = true;
                            break;
                        }
                    }
                }
                confirmIdx++;
                writeConfirmIdx++;
                Thread.sleep(200);
            } while (confirmIdx < 5);
            } while (writeConfirmIdx < 5);

            if(!confirmFlag) {
            if (!commandConfirmResult) {
                News.error("堆垛机写入确认数据失败 ===>> [id:{}]", command.getCrnNo());
                response.setMessage("堆垛机写入确认数据失败");
                return response;