堆垛机任务下发优化

zwl

2 天以前 cd87c057ec64e917105bd85e4f562b54f7b165d7

堆垛机任务下发优化

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -1131,7 +1131,7 @@
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setCommand((short) 1);
                crnCommand.setCommand((short) 0);
                log.info("堆垛机入库任务下发={}", crnCommand);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
@@ -1242,7 +1242,7 @@
                        command.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                        command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        command.setCommand((short) 1);
                        command.setCommand((short) 0);

                        if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));

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

@@ -183,13 +183,20 @@
//            crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//            crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
            if(slave.getId()==3){
                crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 30));
//                crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
//                crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 36));
//                crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
//                crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
                crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
                crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
                crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
                crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
                crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));

            }else{
                crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
@@ -407,7 +414,8 @@
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
        Thread.sleep(100L);
        OperateResult result = siemensNet.Write("DB100.0", array);

        Thread.sleep(100L);
        OperateResult result1 = siemensNet.Write("DB100.10", 1);
        int i=0;
        do{
            //堆垛机任务写入后，回读一次，看是否成功

 src/main/resources/license.lic

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