#

lty

2025-09-23 0ae7648dae40c6b7efa15e276099da7a9213ad37

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

@@ -100,7 +100,7 @@
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1(0); // 工作号
                        command.setAckFinish1(true);  // 任务完成确认位
                        command.setAckFinish1(false);  // 任务完成确认位
                        command.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command.setTargetPosition1( 0);     // 源站
                        command.setEndStaNo1(0);     // 目标站
@@ -116,9 +116,9 @@
                        }
                        command2.setRgvNo(slave.getId()); // RGV编号
                        command2.setTaskNo2(0); // 工作号
                        command2.setAckFinish2(true);  // 任务完成确认位
                        command2.setAckFinish2(false);  // 任务完成确认位
                        command2.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command2.setTargetPosition2( 0);     // 源站
                        command2.setTargetPosition2(0);     // 源站
                        command2.setEndStaNo2(0);     // 目标站
                        command2.setWrkTaskPri((short)0);
                        command2.setWrkTaskMove2((short)0);
@@ -131,11 +131,13 @@
                            command3 = new RgvCommand();
                        }
                        command3.setRgvNo(slave.getId()); // RGV编号
                        command3.setAckFinish1(true);  // 任务完成确认位
                        command3.setAckFinish1(false);  // 任务完成确认位
                        command3.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command3.setTargetPosition1( 0);     // 源站
                        command3.setWrkTaskMove1(task.getMoveSta() !=null ? task.getMoveSta() : 0);
                        command3.setCommand(false);
                        command3.setWrkTaskPri((short)0);
                        command3.setTaskNo1(Math.toIntExact(task.getWorkNo()));
                        write1(command3);
                        break;
                    case 8 :
@@ -144,11 +146,13 @@
                            command4 = new RgvCommand();
                        }
                        command4.setRgvNo(slave.getId()); // RGV编号
                        command4.setAckFinish2(true);  // 任务完成确认位
                        command4.setAckFinish2(false);  // 任务完成确认位
                        command4.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command4.setTargetPosition2( 0);     // 小车目标站清零
                        command4.setTargetPosition2(0);     // 小车目标站清零
                        command4.setWrkTaskMove2(task.getMoveSta() !=null ? task.getMoveSta() : 0);
                        command4.setCommand(false);
                        command4.setWrkTaskPri((short)0);
                        command4.setTaskNo2(Math.toIntExact(task.getWorkNo()));
                        write2(command4);
                        break;
                    // 回原点  避让
@@ -539,7 +543,7 @@
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
//        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
@@ -549,13 +553,6 @@
            one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
            one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
            one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(result1.Content, 36));
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
//            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
//            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
//            one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
//            one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
//            one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));

            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }

@@ -564,7 +561,7 @@
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为false");
        }
        byte[] writeBytes = new byte[34];
        byte[] writeBytes = new byte[40];
        command.setRgvNo(slave.getId());

        writeInt32(writeBytes, 0, command.getTargetPosition1());
@@ -573,7 +570,7 @@
        writeInt32(writeBytes, 10, command.getTaskNo1());
        writeInt16(writeBytes, 14, (short)command.getDirection1());
        writeBool(writeBytes, 32, 0, command.getAckFinish1());
        writeInt16(writeBytes, 36, (short)command.getWrkTaskMove1());
        writeInt16(writeBytes, 38, (short)command.getWrkTaskMove1());

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

@@ -589,10 +586,10 @@
        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 39);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
                one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
@@ -628,7 +625,7 @@
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1()) {
        if (!command.getAckFinish1()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
@@ -636,7 +633,10 @@

                do {
                    writeCount2++;
                    boolean commandFinish = false;
                    boolean commandFinish = true;
                    if(command.getCommand()){
                        commandFinish = false;
                    }
                    result = siemensNet.Write("DB100.32.0", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
@@ -708,10 +708,10 @@
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 40);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
            one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
            one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
            one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
            one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
@@ -727,10 +727,10 @@
        }


        byte[] writeBytes = new byte[34];
        byte[] writeBytes = new byte[42];
        command.setRgvNo(slave.getId());

        writeInt32(writeBytes, 16, command.getTargetPosition1());
        writeInt32(writeBytes, 0, command.getTargetPosition1());
        writeInt32(writeBytes, 20, command.getEndStaNo2());
        writeInt16(writeBytes, 24, (short)command.getTaskStatus2());
        writeInt32(writeBytes, 26, command.getTaskNo2());
@@ -754,7 +754,7 @@
        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 42);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
@@ -762,13 +762,13 @@
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
                if (
                        !command.getDirection2().equals(one.getDirection2()) ||
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||
                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
                                !command.getTargetPosition2().equals(one.getTargetPosition2()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
                                !command.getWrkTaskMove2().equals(one.getWrkTaskMove2())
                ) {
                    try{
@@ -793,7 +793,7 @@
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1()) {
        if (!command.getAckFinish2()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
@@ -801,7 +801,10 @@

                do {
                    writeCount2++;
                    boolean commandFinish = false;
                    boolean commandFinish = true;
                    if(command.getCommand()){
                        commandFinish = false;
                    }
                    result = siemensNet.Write("DB100.32.1", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功