#

luxiaotao1123

2020-08-15 334caa4ba8b118453a0227374d2feca7d850d44d

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

@@ -4,6 +4,7 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.enums.CrnTaskModeType;
@@ -29,12 +30,12 @@

    public CrnThread(CrnSlave slave) {
        this.slave = slave;
        this.connect();
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
@@ -54,6 +55,9 @@
                    // 复位
                    case 3:
                        CrnCommand command = (CrnCommand) task.getData();
                        if (null == command) {
                            command = new CrnCommand();
                        }
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
@@ -69,7 +73,7 @@
                    default:
                        break;
                }
                Thread.sleep(3000);
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
@@ -166,4 +170,33 @@
        }
        return this.crnProtocol;
    }


    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) {
        CrnSlave slave = new CrnSlave();
        slave.setIp("192.168.2.9");
        slave.setRack(1);
        slave.setSlot(0);
        CrnThread crnThread = new CrnThread(slave);
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));
//        // 写
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 1);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式:  库位移转
//        command.setSourcePosX((short)0);     // 源库位排
//        command.setSourcePosY((short)0);     // 源库位列
//        command.setSourcePosZ((short)0);     // 源库位层
//        command.setDestinationPosX((short)0);     // 目标库位排
//        command.setDestinationPosY((short)0);     // 目标库位列
//        command.setDestinationPosZ((short)0);     // 目标库位层
//        crnThread.write(command);

    }

}