#

lsh

2024-06-08 0613172a33ffc4eb4f21c36bd05a39b176999bbd

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

@@ -48,6 +48,7 @@
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;
    private boolean backHpFlagTwo = false;

    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -252,8 +253,8 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && (crnProtocol.getStatusType().equals(CrnStatusType.WAITING) || crnProtocol.getStatusType().equals(CrnStatusType.SEPARATE_WAITING))) {
                    log.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为10，等待确认！！",
                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");
                    log.error("-------------------------工位1-------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为{}，等待确认！！",
                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物",crnProtocol.getStatusType());
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
@@ -264,14 +265,20 @@
                            resetFlag = false;
                        }
                    }
                }

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusTypeTwo()) && (crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING) || crnProtocol.getStatusTypeTwo().equals(CrnStatusType.SEPARATE_WAITING))) {
                    log.error("-------------------------工位2-------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台:{}]==>> 状态为{}，等待确认！！",
                            slave.getId(),crnProtocol.getTaskNoTwo(), crnProtocol.getLoadedTwo()==1 ? "有物" : "无物",crnProtocol.getStatusTypeTwo());
                    if (resetFlagTwo) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        if(crnProtocol.getTaskNoTwo()==9999){
                            backHpFlagTwo = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write5(crnCommand)) {
                            resetFlag = false;
                            resetFlagTwo = false;
                        }
                    }
                }