联调

dubin

6 天以前 ffc3b1151655f258fb1db0b24c3434bd294b0598

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

@@ -147,13 +147,13 @@
        crnProtocol.setWalkPos((short) 0);
        crnProtocol.setLoaded((short) 0);
        crnProtocol.setAlarm((short) 0);
        crnProtocol.setxSpeed((short) 0);
        crnProtocol.setySpeed((short) 0);
        crnProtocol.setzSpeed((short) 0);
        crnProtocol.setxDistance((short) 0);
        crnProtocol.setyDistance((short) 0);
        crnProtocol.setxDuration((short) 0);
        crnProtocol.setyDuration((short) 0);
        crnProtocol.setxSpeed((float) 0);
        crnProtocol.setySpeed((float) 0);
        crnProtocol.setzSpeed((float) 0);
        crnProtocol.setxDistance((float) 0);
        crnProtocol.setyDistance((float) 0);
        crnProtocol.setxDuration((float) 0);
        crnProtocol.setyDuration((float) 0);
    }

    @Override
@@ -181,7 +181,7 @@
     */
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
@@ -201,18 +201,17 @@
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));



                //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, 34));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 46));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 50));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 54));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 58));
                crnProtocol.setxSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setzSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setxDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 50) / 10000);
                crnProtocol.setyDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 54) / 10000);
                crnProtocol.setxDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 58) / 10000);
                crnProtocol.setyDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 62) / 10000);

                //2工位
                crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
@@ -227,7 +226,7 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台1信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物");
                    if (resetFlag) {
                        if (crnProtocol.getTaskNo() == 9999) {
@@ -238,7 +237,7 @@
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 工位1复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
@@ -246,7 +245,7 @@

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台2信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物");
                    if (resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
@@ -257,7 +256,7 @@
                        crnCommand.setAckFinish((short) 1);
                        if (write2(crnCommand)) {
                            resetFlagTwo = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 工位2复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
@@ -498,7 +497,7 @@
        }
        // 向堆垛机发任务前的堆垛机状态
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 18);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 20);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -556,7 +555,7 @@
                    writeCount1++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 18);
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
@@ -601,7 +600,7 @@
                    }
                }
            } catch (Exception e) {
                News.error("堆垛机命令地址写入后回读出错,异常：" + e);
                News.error("堆垛机命令地址写入后回读出错2,异常：" + e);
            }
            writeCount1++;
        } while (writeCount1 < 6);