From 05f1c60ff38516bae256e0a02d9678aee0c71724 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期六, 20 一月 2024 19:28:17 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 116 +++++++++++++++++++++++++++++----------------------------
1 files changed, 59 insertions(+), 57 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 27b3fda..be94698 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -67,18 +67,18 @@
case 1:
readStatus();
break;
- // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
- case 2:
- write((RgvCommand) task.getData());
- break;
+// // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
+// case 2:
+// write((RgvCommand) task.getData());
+// break;
//宸ヤ綅1鍐欏叆鏁版嵁
case 4:
write1((RgvCommand) task.getData());
break;
- //宸ヤ綅2鍐欏叆鏁版嵁
- case 5:
- write2((RgvCommand) task.getData());
- break;
+// //宸ヤ綅2鍐欏叆鏁版嵁
+// case 5:
+// write2((RgvCommand) task.getData());
+// break;
// 澶嶄綅
case 3:
RgvCommand command = (RgvCommand) task.getData();
@@ -91,13 +91,8 @@
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short)0); // 婧愮珯
command.setDestinationStaNo1((short)0); // 鐩爣绔�
- command.setTaskNo2((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo2((short)0); // 婧愮珯
- command.setDestinationStaNo2((short)0); // 鐩爣绔�
command.setCommand((short)0);
- write(command);
+ write1(command);
break;
// 鍥炲師鐐� 閬胯
case 9:
@@ -111,11 +106,11 @@
commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
- commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
- commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
- commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
- commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
+// commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+// commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+// commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+// commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
+// commandAvoidanceXY.setDestinationStaNo2((short)0); // 鐩爣绔�
commandAvoidanceXY.setCommand((short)0);
write(commandAvoidanceXY);
break;
@@ -144,9 +139,9 @@
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
rgvProtocol.setRgvPos((short)0);
- rgvProtocol.setTaskNo2((short)0);
- rgvProtocol.setStatus2((short)-1);
- rgvProtocol.setLoaded2((short)0);
+// rgvProtocol.setTaskNo2((short)0);
+// rgvProtocol.setStatus2((short)-1);
+// rgvProtocol.setLoaded2((short)0);
rgvProtocol.setAlarm((short)0);
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
@@ -178,7 +173,7 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB1.0", (short) 34);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
@@ -191,16 +186,16 @@
rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
-// rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
-// rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
- rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
+ rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+ rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+// rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
- rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
- rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
- rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
+// rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
+// rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
+// rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
// rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
// rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
// rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
@@ -220,16 +215,16 @@
}
// 宸ヤ綅2澶嶄綅淇″彿
- if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
- || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
- if (resetFlag2) {
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setAckFinish2((short)1);
- if (write(rgvCommand)) {
- resetFlag2 = false;
- }
- }
- }
+// if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
+// || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
+// if (resetFlag2) {
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setAckFinish2((short)1);
+// if (write(rgvCommand)) {
+// resetFlag2 = false;
+// }
+// }
+// }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
@@ -273,19 +268,24 @@
array[2] = command.getTaskMode1();
array[3] = command.getSourceStaNo1();
array[4] = command.getDestinationStaNo1();
- array[5] = command.getAckFinish2();
- array[6] = command.getTaskNo2();
- array[7] = command.getTaskMode2();
- array[8] = command.getSourceStaNo2();
- array[9] = command.getDestinationStaNo2();
- array[10] = command.getCommand();
+// array[0] = command.getAckFinish1();
+// array[1] = command.getTaskNo1();
+// array[2] = command.getTaskMode1();
+// array[3] = command.getSourceStaNo1();
+// array[4] = command.getDestinationStaNo1();
+// array[5] = command.getAckFinish2();
+// array[6] = command.getTaskNo2();
+// array[7] = command.getTaskMode2();
+// array[8] = command.getSourceStaNo2();
+// array[9] = command.getDestinationStaNo2();
+// array[10] = command.getCommand();
OperateResult result = siemensNet.Write("DB100.0", array);
- if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
- short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
- Thread.sleep(100L);
- result = siemensNet.Write("DB100.20", commandFinish);
- }
+// if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
+// short commandFinish = 3; //宸ヤ綅1銆�2浠诲姟鍚屾椂鍐欏叆
+// Thread.sleep(100L);
+// result = siemensNet.Write("DB100.20", commandFinish);
+// }
try {
// 鏃ュ織璁板綍
@@ -329,7 +329,7 @@
return false;
}
- siemensNet.Write("DB100.20", command.getCommand());
+// siemensNet.Write("DB100.20", command.getCommand());
command.setRgvNo(slave.getId());
short[] array = new short[5];
@@ -338,14 +338,14 @@
array[2] = command.getTaskMode1();
array[3] = command.getSourceStaNo1();
array[4] = command.getDestinationStaNo1();
- siemensNet.Write("DB100.20", command.getCommand());
+ siemensNet.Write("DB100.10", command.getCommand());
OperateResult result = siemensNet.Write("DB100.0", array);
if (command.getAckFinish1() == 0) {
short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
- Thread.sleep(100L);
- result = siemensNet.Write("DB100.20", commandFinish);
+ Thread.sleep(200);
+ result = siemensNet.Write("DB100.10", commandFinish);
}
try {
@@ -366,7 +366,9 @@
null
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
--
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