command write

Junjie

2023-07-19 13b93182b70c276996b2d00de9497eb6843b072e

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

@@ -292,15 +292,34 @@
        }
        command.setShuttleNo(slave.getId().shortValue());
        short[] array = getCommandArr(command);//获取命令报文
        OperateResult result = modbusTcpNet.Write("0", array);;
        OperateResult result = modbusTcpNet.Write("0", array);
        if (result != null && result.IsSuccess) {
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            try {
                Thread.sleep(3000);//命令下发后休眠1s
                Thread.sleep(3000);//命令下发后休眠
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            for (int i = 0; i < 5; i++) {
                readStatus();//重新读取状态
                if (shuttleProtocol.getBusyStatusType().equals(ShuttleStatusType.BUSY)) {
                    break;
                }

                //判断是否运行中，如不运行，重新下发命令
                result = modbusTcpNet.Write("0", array);
                News.info("四向穿梭车命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
                try {
                    Thread.sleep(3000);//命令下发后休眠
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
            }

            return true;
        } else {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -389,6 +408,7 @@
     * 初始化四向穿梭车
     */
    private void initShuttle() {
        this.connect();
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
@@ -537,7 +557,7 @@
                        Short liftArrival = liftProtocol.getPositionArrivalFeedback();//提升机位置反馈
                        String liftSiteLocNo = Utils.liftArrivalToOutInStaLocNo(liftArrival);
                        LocMast locMast1 = locMastService.selectById(liftSiteLocNo);
                        ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1400, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
                        ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1600, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
                        commands.add(moveCommand);

                        //起始位置修改为提升机口站点位置
@@ -617,7 +637,7 @@
                    }

                    //增加移动进提升机命令
                    ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, runSpeed);
                    ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, runSpeed);
                    commands.add(moveCommand);
                    break;
                default: