agv 开关门优化

pang.jiabao

2024-11-29 628ff0ef181b27116d5dab7d973d926b4b80714b

agv 开关门优化

 src/main/java/com/zy/controller/OpenController.java

@@ -64,7 +64,11 @@
                        staProtocol305.setOpenAskDoor(false);
                        wrkMast.setWhsType(4);
                        wrkMastService.updateById(wrkMast);
                    } else {
                        return R.ok("已经请求过关门：" + staProtocol305.getIfCloseDoor());
                    }
                } else {
                    return R.parse("请求关门异常,当前状态为：" + wrkMast.getWhsType());
                }
            } else {
                return R.parse("无任务");

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

@@ -26,10 +26,7 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;

/**
@@ -133,6 +130,7 @@
                booleans[1] = true; // 关门信号
                booleans[0] = false;
                siemensS7Net.Write("DB100.826",booleans);
                log.info("下发关门信号成功：" + Arrays.toString(booleans));
            }
        } else if(flag == 1) {
            OperateResultExOne<byte[]> readOpenResult = siemensS7Net.Read("DB100.826", (short) 1);
@@ -141,6 +139,7 @@
                booleans[0] = true; // 开门信号
                booleans[1] = false;
                siemensS7Net.Write("DB100.826",booleans);
                log.info("下发开门信号成功：" + Arrays.toString(booleans));
            }
        }
        Thread.sleep(500);
@@ -157,6 +156,7 @@
            staProtocol.setCloseAskDoor(booleans[1]);
            staProtocol.setIfOpenDoor(booleans[2]);
            staProtocol.setIfCloseDoor(booleans[3]);
            log.info("下发开关门后回读：" + Arrays.toString(booleans));
        }
    }