#

Junjie

2025-06-19 f1f42f11fae5df52905f80b856f047e93b57f6e3

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

@@ -287,11 +287,20 @@
        do {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
            if (resultRead.IsSuccess) {
                short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                if(taskNo == 0) {
                    result = siemensNet.Write("DB100.0", array);
                if (command.getAckFinish() == 0) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    if(taskNo == 0) {
                        result = siemensNet.Write("DB100.0", array);
                    }else {
                        break;
                    }
                }else {
                    break;
                    short ackFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    if(ackFinish != command.getAckFinish()) {
                        result = siemensNet.Write("DB100.0", array);
                    }else {
                        break;
                    }
                }
            }
            idx++;
@@ -362,45 +371,37 @@
            return false;
        }

        int writeAck = 0;
        do {
            OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
            if (resultAck.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
                short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if (ack != 0) {
                    writeAck++;
                }else {
                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成");
                    break;
                }
            }
        }while (writeAck <5);
//        int writeAck = 0;
//        do {
//            OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
//            if (resultAck.IsSuccess){
//                Thread.sleep(200);
//                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
//                short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
//                if (ack != 0) {
//                    writeAck++;
//                }else {
//                    News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成");
//                    break;
//                }
//            }
//        }while (writeAck <5);

//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        array[0] = command.getSourcePosX();
        array[1] = command.getSourcePosY();
        array[2] = command.getSourcePosZ();
        array[3] = command.getTaskMode();

        OperateResult result = null;
        int idx = 0;
        do {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.26", (short) 2);
            if (resultRead.IsSuccess) {
                short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                if(taskNo == 0) {
                short posY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                if(posY == 0) {
                    result = siemensNet.Write("DB100.0", array);
                }else {
                    break;
@@ -414,12 +415,12 @@
            short commandFinish = 1;
            int i = 0;
            do {
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.26", (short) 2);
                OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read("DB100.22", (short) 2);
                if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) {
                    short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                    short posY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                    short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0);
                    if(taskNo != 0 && confirm == 0) {
                    if(posY != 0 && confirm == 0) {
                        result = siemensNet.Write("DB100.22", commandFinish);
                    }
                }