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Administrator

2 天以前 ccca62c3c22a67373a6f25b3786973b3fb114d4d

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

@@ -133,11 +133,50 @@
                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] = (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;
                }

                if (!Cools.isEmpty(command.getLocNo())){
                    OperateResult resultAck = siemensNet.Write("DB110." + command.getIndex() * 2, command.getValue());
@@ -154,12 +193,11 @@
                        News.error("库位白色灯命令下发失败[locNo:{}] >>>>> {}", command.getLocNo(), command.getValue());
                    }
                }
            }

            }else {
            short[] array = new short[9];
            array[0] = command.getAckFinish().shortValue();
            array[1] = commandTaskNo.shortValue();
            array[2] = commandTaskMode.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();
@@ -198,6 +236,7 @@
                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;
            }
            }

            int writeConfirmIdx = 0;
            boolean commandConfirmResult = false;