#

zjj

2024-11-13 ce774b54691a32e93b09468c1c0a34dafd9d58bc

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

@@ -66,7 +66,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write2((CrnCommand) task.getData());
                        write((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -84,7 +84,7 @@
                        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
                        write2(command);
                        write(command);
                        break;
                    default:
                        break;
@@ -154,6 +154,7 @@
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setCrnNo(slave.getId());
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
@@ -233,11 +234,12 @@
            News.error("堆垛机写入命令为空");
            return false;
        }
        //下发前ack置0
        int writeAck = 0;
        do {
            OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
            if (resultAck.IsSuccess){
                Thread.sleep(200);
                Thread.sleep(100);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (ack != 0) {
@@ -248,6 +250,22 @@
                }
            }
        }while (writeAck <5);
        //下发前command置0
        int writeComm = 0;
        do {
            OperateResult resultComm = siemensNet.Write("DB100.18", (short) 0);
            if (resultComm.IsSuccess){
                Thread.sleep(100);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                short comm = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (comm != 0) {
                    writeComm++;
                }else {
                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "comm复位完成");
                    break;
                }
            }
        }while (writeComm <5);


        command.setCrnNo(slave.getId());