From 13b93182b70c276996b2d00de9497eb6843b072e Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 19 七月 2023 08:37:37 +0800
Subject: [PATCH] command write
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 32 ++++++++++++++++++++++++++------
1 files changed, 26 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 7b303b0..dc028d7 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -292,15 +292,34 @@
}
command.setShuttleNo(slave.getId().shortValue());
short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
- OperateResult result = modbusTcpNet.Write("0", array);;
+ OperateResult result = modbusTcpNet.Write("0", array);
if (result != null && result.IsSuccess) {
+ News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+
try {
- Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�1s
+ Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
- News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+
+ for (int i = 0; i < 5; i++) {
+ readStatus();//閲嶆柊璇诲彇鐘舵��
+ if (shuttleProtocol.getBusyStatusType().equals(ShuttleStatusType.BUSY)) {
+ break;
+ }
+
+ //鍒ゆ柇鏄惁杩愯涓紝濡備笉杩愯锛岄噸鏂颁笅鍙戝懡浠�
+ result = modbusTcpNet.Write("0", array);
+ News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {},娆℃暟锛歿}", slave.getId(), JSON.toJSON(command), i);
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2},娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
+ try {
+ Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ }
+
return true;
} else {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ洓鍚戠┛姊溅plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -389,6 +408,7 @@
* 鍒濆鍖栧洓鍚戠┛姊溅
*/
private void initShuttle() {
+ this.connect();
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
}
@@ -537,7 +557,7 @@
Short liftArrival = liftProtocol.getPositionArrivalFeedback();//鎻愬崌鏈轰綅缃弽棣�
String liftSiteLocNo = Utils.liftArrivalToOutInStaLocNo(liftArrival);
LocMast locMast1 = locMastService.selectById(liftSiteLocNo);
- ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1400, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
+ ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1600, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
commands.add(moveCommand);
//璧峰浣嶇疆淇敼涓烘彁鍗囨満鍙ｇ珯鐐逛綅缃�
@@ -617,7 +637,7 @@
}
//澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, runSpeed);
+ ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, runSpeed);
commands.add(moveCommand);
break;
default:
--
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