#

Junjie

2025-05-23 a37eb3393b65933105a6f23a1713a2b14b835d16

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

@@ -87,7 +87,7 @@
                }

                read();
                Thread.sleep(200);
                Thread.sleep(300);
                execute();
            } catch (Exception e) {
                e.printStackTrace();
@@ -131,19 +131,7 @@
    private void readStatus() {
        try {
            //获取提升机数据
            HashMap<String, Object> resultData = this.masterThread.read(this.slave.getId(), "status");
            if (resultData == null) {
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                return;
            }
            if (Integer.parseInt(resultData.get("slaveId").toString()) != this.slave.getId()) {
                return;
            }
            if (!resultData.get("dbTag").toString().equals("status")) {
                return;
            }

            OperateResultExOne<byte[]> result1 = (OperateResultExOne<byte[]>) resultData.get("data");
            OperateResultExOne<byte[]> result1 = this.masterThread.read(this.slave.getId(), "status");
            SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
            if (result1.IsSuccess) {
                if (null == forkLiftProtocol) {
@@ -171,6 +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();
@@ -180,18 +170,7 @@
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
            }

            //获取提升机数据
            HashMap<String, Object> resultData2 = this.masterThread.read(this.slave.getId(), "staStatus");
            if (resultData2 == null) {
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
            }
            if (Integer.parseInt(resultData2.get("slaveId").toString()) != this.slave.getId()) {
                return;
            }
            if (!resultData2.get("dbTag").toString().equals("staStatus")) {
                return;
            }
            OperateResultExOne<byte[]> result2 = (OperateResultExOne<byte[]>) resultData2.get("data");
            OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatusTray");
            if (result2.IsSuccess) {
                for (int i = 0; i < this.slave.getSta().size(); i++) {
                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
@@ -199,16 +178,23 @@
                        continue;
                    }

                    short val = siemensS7Net.getByteTransform().TransInt16(result2.Content, i * 2);
                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2);
                    forkLiftStaProtocol.setHasTray(status1[0]);
                    forkLiftStaProtocol.setHasCar(status1[1]);
                    forkLiftStaProtocol.setHasTray(val == 1);
                }
            }

                    if (sta.getStaNo() == 1001) {
                        if (forkLiftStaProtocol.getHasTray() == false) {
                            continue;
                        }
            OperateResultExOne<byte[]> result3 = this.masterThread.read(this.slave.getId(), "staStatusCar");
            if (result3.IsSuccess) {
                for (int i = 0; i < this.slave.getSta().size(); i++) {
                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
                    if (forkLiftStaProtocols.isEmpty()) {
                        continue;
                    }

                    short val = siemensS7Net.getByteTransform().TransInt16(result3.Content, i * 2);
                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
                    forkLiftStaProtocol.setHasCar(val == 1);
                }
            }

@@ -309,6 +295,24 @@
        array[1] = command.getMode();//任务模式
        array[2] = command.getPick();//取货数据
        array[3] = 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 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());
@@ -440,6 +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
     */