对照协议调整

zhangchao

2024-08-30 0df958a7911eca72bf4d822b30fc1eb7c10d8e4c

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

@@ -242,10 +242,11 @@
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }
        System.out.println("------------------");
        System.out.println(command);
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[17];
        short[] array = new short[16];
        array[0] = command.getTaskNo();
        array[1] = command.getTaskMode();
        array[2] = command.getSourcePosX();
@@ -260,7 +261,8 @@
        array[11] = command.getDestinationPosXTwo();
        array[12] = command.getDestinationPosYTwo();
        array[13] = command.getDestinationPosZTwo();
        array[14] = command.getCommand();
        //array[14] = command.getCommand();
        array[14] = 1;
        array[15] = command.getAckFinish();

//        array[9] = command.getSourceStaNo();
@@ -270,8 +272,6 @@


        log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);



        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
@@ -285,7 +285,7 @@
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 32);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -333,19 +333,19 @@
        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            result = siemensNet.Write("DB100.30", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.30", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    log.info("下发DB100.30  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.30  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    log.info("下发DB100.30" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.30" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }