#

Junjie

2025-05-23 a37eb3393b65933105a6f23a1713a2b14b835d16

 src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java

@@ -87,7 +87,7 @@
                }

                read();
                Thread.sleep(1000);
                Thread.sleep(300);
                execute();
            } catch (Exception e) {
                e.printStackTrace();
@@ -159,6 +159,8 @@
                forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
                //故障码
                forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
                //当前层
                forkLiftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));

                //************补充扩展字段*************
                InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
@@ -304,6 +306,24 @@
    }

    @Override
    public CommandResponse move(ForkLiftCommand command) {
        CommandResponse response = new CommandResponse(false);

        short[] array = new short[4];
        array[0] = command.getTaskNo();//任务号
        array[1] = command.getMode();//任务模式
        array[2] = command.getPut();//放货数据
        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
        if (result.IsSuccess) {
            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse reset() {
        CommandResponse response = new CommandResponse(false);
        OperateResult result = this.masterThread.write(this.slave.getId(), "confirm", (short) 1);
@@ -424,6 +444,24 @@
        return commands;
    }

    @Override
    public List<ForkLiftCommand> getMoveCommand(Integer taskNo, Integer pick, Integer put) {
        Integer realPick = pick % 1000;
        Integer realPut = put % 1000;

        List<ForkLiftCommand> commands = new ArrayList<>();
        ForkLiftCommand command = new ForkLiftCommand();
        command.setLiftNo(slave.getId());
        command.setTaskNo(taskNo.shortValue());
        command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);
        return commands;
    }

    /**
     * 扩展字段
     */