*

lsh

2024-10-19 8ec08fe20c2cea6e4801b14ce59b144df03a277d

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

@@ -72,6 +72,20 @@
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        write(command);
                        break;
                    default:
                        break;
                }
@@ -131,34 +145,22 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 18);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 20);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 14));
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransUInt32(result.Content, 16));
                rgvProtocol.setRgvPos(slave.getId().longValue()*100000);
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
@@ -196,23 +198,23 @@
            return false;
        }

//        siemensNet.Write("DB100.20", command.getCommand());
        siemensNet.Write("DB24.10.0", false);
        siemensNet.Write("DB24.10.1", false);

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        short[] array = new short[4];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getDestinationStaNo1();
        array[2] = command.getTaskMode1();//任务模式
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
//        siemensNet.Write("DB100.20", 0);
        array[3] = command.getTaskNo1();

        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result = siemensNet.Write("DB24.2", array);

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
        if (command.getAckFinish1().equals((short)0)) {
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
            result = siemensNet.Write("DB24.10.0", true);
        } else {
            siemensNet.Write("DB24.10.1", true);
        }

        try {