*

lsh

2024-10-20 030bbab9669c582af6c613dabfbebea4f83f57c9

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

@@ -11,6 +11,7 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.utils.NumUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -71,6 +72,20 @@
                    //工位1写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        write(command);
                        break;
                    default:
                        break;
@@ -145,20 +160,8 @@
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                rgvProtocol.setRgvPos(slave.getId().longValue()*100000);
//                rgvProtocol.setRgvPos((long)NumUtils.GetRandomIntInRange(1737000));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
@@ -196,23 +199,24 @@
            return false;
        }

//        siemensNet.Write("DB100.20", command.getCommand());
        siemensNet.Write("DB24.10.0", false);
        siemensNet.Write("DB24.10.1", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();//任务模式
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
//        siemensNet.Write("DB100.20", 0);
        array[0] = command.getRgvNo().shortValue();
        array[1] = command.getSourceStaNo1();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getTaskMode1();//任务模式
        array[4] = command.getTaskNo1();

        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result = siemensNet.Write("DB24.0", array);

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
        }

        try {