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Junjie

11 小时以前 41e68f8b4deaabb52d5fe5f8181e9a8cffeb2456

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 src/main/java/com/zy/core/network/real/ZyCrnRealConnect.java

@@ -128,17 +128,55 @@
                return response;
            }

            Integer commandTaskNo = command.getTaskNo();
            Integer commandTaskMode = command.getTaskMode();
            if (commandTaskMode.equals(CrnTaskModeType.RESET.id)) {
                commandTaskNo = 0;
                commandTaskMode = 0;
            }

            short[] array = new short[9];
            array[0] = command.getAckFinish().shortValue();
            array[1] = commandTaskNo.shortValue();
            array[2] = commandTaskMode.shortValue();
                array[1] = (short) 0;
                array[2] = (short) 0;
                array[3] = (short) 0;
                array[4] = (short) 0;
                array[5] = (short) 0;
                array[6] = (short) 0;
                array[7] = (short) 0;
                array[8] = (short) 0;

                int idx = 0;
                boolean commandDataResult = false;
                do {
                    OperateResult result = siemensNet.Write("DB100.0", array);
                    if (result.IsSuccess) {
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
                        if (resultRead.IsSuccess) {
                            short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
                            short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
                            short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
                            short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
                            short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
                            short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                            short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                            short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
                            if (taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0) {
                                result = siemensNet.Write("DB100.0", array);
                            } else {
                                commandDataResult = true;
                                break;
                            }
                        }
                    }
                    idx++;
                    Thread.sleep(200);
                } while (idx < 5);

                if (!commandDataResult) {
                    response.setMessage("堆垛机命令下发[id:{}] >>>>> {}" + command.getCrnNo() + "堆垛机写入任务数据失败");
                    return response;
                }
            }else {
                short[] array = new short[9];
                array[0] = command.getAckFinish().shortValue();
                array[1] = command.getTaskNo().shortValue();
                array[2] = command.getTaskMode().shortValue();
            array[3] = command.getSourcePosX().shortValue();
            array[4] = command.getSourcePosY().shortValue();
            array[5] = command.getSourcePosZ().shortValue();
@@ -203,6 +241,7 @@
                response.setMessage("堆垛机写入确认数据失败");
                return response;
            }
            }

            News.info("堆垛机命令下发[id:{}] >>>>> {}", command.getCrnNo(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), command.getCrnNo(), JSON.toJSON(command)));

 src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java

@@ -167,16 +167,14 @@
            }

            Integer commandTaskNo = command.getTaskNo();
            Integer commandTaskMode = command.getTaskMode();
            if (commandTaskMode.equals(CrnTaskModeType.RESET.id)) {
            if (command.getTaskMode().equals(CrnTaskModeType.RESET.id)) {
                commandTaskNo = 0;
                commandTaskMode = 0;
            }

            short[] array = new short[9];
            array[0] = command.getAckFinish().shortValue();
            array[1] = commandTaskNo.shortValue();
            array[2] = commandTaskMode.shortValue();
            array[2] = command.getTaskMode().shortValue();
            array[3] = command.getSourcePosX().shortValue();
            array[4] = command.getSourcePosY().shortValue();
            array[5] = command.getSourcePosZ().shortValue();
@@ -199,7 +197,14 @@
                        short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
                        short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
                        short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
                        if (taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
                        if (taskNo != command.getTaskNo().shortValue()
                                || taskMode == command.getTaskMode().shortValue()
                                || sourcePosX == command.getSourcePosX().shortValue()
                                || sourcePosY == command.getSourcePosY().shortValue()
                                || sourcePosZ == command.getSourcePosZ().shortValue()
                                || destinationPosX == command.getDestinationPosX().shortValue()
                                || destinationPosY == command.getDestinationPosY().shortValue()
                                || destinationPosZ == command.getDestinationPosZ().shortValue()) {
                            result = siemensNet.Write("DB100.0", array);
                        } else {
                            commandDataResult = true;