#

LSH

2023-11-21 d430625175baab1a00b5d6361a5c5d8722979aa4

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

@@ -67,9 +67,17 @@
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    // 工位1、2写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -90,6 +98,26 @@
                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        break;
                    default:
                        break;
@@ -150,7 +178,7 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB1.0", (short) 34);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
@@ -180,7 +208,8 @@
                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)) {
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
@@ -191,7 +220,8 @@
                }

                // 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)) {
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2((short)1);
@@ -306,6 +336,7 @@
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        siemensNet.Write("DB100.20", command.getCommand());

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

@@ -357,15 +388,14 @@
            return false;
        }

        siemensNet.Write("DB100.20", command.getCommand());

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        short[] array = new short[6];
        array[0] = command.getAckFinish2();
        array[1] = command.getTaskNo2();
        array[2] = command.getTaskMode2();
        array[3] = command.getSourceStaNo2();
        array[4] = command.getDestinationStaNo2();
        array[5] = command.getCommand();

        OperateResult result = siemensNet.Write("DB100.10", array);