#

luxiaotao1123

2020-08-15 8a60b08df02d739ff9feb392730572002aa2e9f8

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

@@ -30,12 +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;
@@ -115,7 +115,7 @@
            crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
            crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22));
@@ -177,22 +177,25 @@
    /*****************************************************************************************/
    public static void main(String[] args) {
        CrnSlave slave = new CrnSlave();
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        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);
//        // 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);

    }