#

luxiaotao1123

2021-01-16 0d9501a652286d621e81725d15251afc7dba8c6b

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

@@ -243,15 +243,15 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        if (command.getTaskNo() == 0) {
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
            command.setTaskNo((short) 9999);
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        if (!command.getTaskModeType().equals(CrnTaskModeType.CLEAR)) {
        if (command.getAckFinish() == 0) {
            array[0] = 5;
        } else {
            array[0] = 7;
            array[0] = 0;
        }
        array[1] = command.getSourcePosZ();
        array[2] = command.getSourcePosY();
@@ -263,10 +263,17 @@
        array[8] = command.getDestinationStaNo();
        // 作业信息
        OperateResult result = siemensNet.Write("DB1000.0", array);
        // 任务号
        OperateResult result1 = siemensNet.Write("DB1000.24", command.getTaskNo());
        // 任务号 + 完成位
        short[] array2 = new short[2];
        array2[0] = command.getTaskNo();
        array2[1] = command.getAckFinish();
        OperateResult result1 = siemensNet.Write("DB1000.24", array2);

        // 结束位
        OperateResult result2 = siemensNet.Write("DB1000.28.1", true);
        if (command.getAckFinish() == 0) {
            OperateResult result2 = siemensNet.Write("DB1000.28.1", true);
        }

        // 日志记录
        try {
            if (command.getAckFinish() != 1) {
@@ -292,7 +299,7 @@
            }
        } catch (Exception ignore) {}

        if (result.IsSuccess && result1.IsSuccess && result2.IsSuccess) {
        if (result.IsSuccess && result1.IsSuccess) {

            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));