#

lsh

2024-04-25 ca96d16cd7f9ea52c4bb1c893066cf244cda09ca

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

@@ -41,6 +41,15 @@
    private boolean resetFlag = false;

    /**
     * 20230711 Add，判断是否允许下发堆垛机任务的命令标记，默认为true
     * 为了防止时间差导致的WCS连续下发多笔任务，WCS下发任务后，主线程轮询时还未读到堆垛机非空闲、有任务状态时，可能会重复下发
     * 主线程下发堆垛机任务的同时，cmdFlag置为false，当堆垛机处于等待确认状态并且resetFlag为true时，才复位cmdFlag为true
     * 所有堆垛机任务下发前，先判断cmdFlag为true后才能下发
     * 改动前，是通过判断工作档是否存在堆垛机执行中工作状态判断的，如果不生成工作档，或者是有充电、移车等任务漏判断了也会存在问题
     */
    private boolean cmdFlag = true;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;
@@ -149,7 +158,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB91.0", (short) 52);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -165,17 +174,29 @@
                crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));

//                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));

//                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
//                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 46));


//                crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));



                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

@@ -249,12 +270,12 @@
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result = siemensNet.Write("DB90.0", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            result = siemensNet.Write("DB90.18", commandFinish);
        }

        try {