From 3cf23392ce90c0a99835afe2db3a81206e093819 Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期四, 25 九月 2025 10:02:20 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/jshdwcs' into jshdwcs
---
src/main/java/com/zy/core/thread/RgvThread.java | 61 ++++++++++++++++--------------
1 files changed, 32 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 1235f3e..4cfa9fa 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -100,7 +100,7 @@
}
command.setRgvNo(slave.getId()); // RGV缂栧彿
command.setTaskNo1(0); // 宸ヤ綔鍙�
- command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
+ command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
command.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
command.setTargetPosition1( 0); // 婧愮珯
command.setEndStaNo1(0); // 鐩爣绔�
@@ -116,9 +116,9 @@
}
command2.setRgvNo(slave.getId()); // RGV缂栧彿
command2.setTaskNo2(0); // 宸ヤ綔鍙�
- command2.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
+ command2.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
command2.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command2.setTargetPosition2( 0); // 婧愮珯
+ command2.setTargetPosition2(0); // 婧愮珯
command2.setEndStaNo2(0); // 鐩爣绔�
command2.setWrkTaskPri((short)0);
command2.setWrkTaskMove2((short)0);
@@ -131,11 +131,13 @@
command3 = new RgvCommand();
}
command3.setRgvNo(slave.getId()); // RGV缂栧彿
- command3.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
+ command3.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
command3.setTaskStatus1(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
command3.setTargetPosition1( 0); // 婧愮珯
+ command3.setWrkTaskMove1(task.getMoveSta() !=null ? task.getMoveSta() : 0);
command3.setCommand(false);
command3.setWrkTaskPri((short)0);
+ command3.setTaskNo1(Math.toIntExact(task.getWorkNo()));
write1(command3);
break;
case 8 :
@@ -144,11 +146,13 @@
command4 = new RgvCommand();
}
command4.setRgvNo(slave.getId()); // RGV缂栧彿
- command4.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
+ command4.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
command4.setTaskStatus2(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
- command4.setTargetPosition2( 0); // 灏忚溅鐩爣绔欐竻闆�
+ command4.setTargetPosition2(0); // 灏忚溅鐩爣绔欐竻闆�
+ command4.setWrkTaskMove2(task.getMoveSta() !=null ? task.getMoveSta() : 0);
command4.setCommand(false);
command4.setWrkTaskPri((short)0);
+ command4.setTaskNo2(Math.toIntExact(task.getWorkNo()));
write2(command4);
break;
// 鍥炲師鐐� 閬胯
@@ -539,7 +543,7 @@
return false;
}
- OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
// OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
if (result1.IsSuccess){
RgvCommand one = new RgvCommand();
@@ -549,13 +553,6 @@
one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(result1.Content, 36));
-// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
-// one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
-// one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
-// one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
-// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
-// one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));
-
News.error("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
}
@@ -564,7 +561,7 @@
if (result2.IsSuccess){
News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓篺alse");
}
- byte[] writeBytes = new byte[34];
+ byte[] writeBytes = new byte[40];
command.setRgvNo(slave.getId());
writeInt32(writeBytes, 0, command.getTargetPosition1());
@@ -573,7 +570,7 @@
writeInt32(writeBytes, 10, command.getTaskNo1());
writeInt16(writeBytes, 14, (short)command.getDirection1());
writeBool(writeBytes, 32, 0, command.getAckFinish1());
- writeInt16(writeBytes, 36, (short)command.getWrkTaskMove1());
+ writeInt16(writeBytes, 38, (short)command.getWrkTaskMove1());
OperateResult result = siemensNet.Write("DB100.0", writeBytes);
@@ -589,10 +586,10 @@
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(400);
try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 39);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
- one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
+ one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
@@ -628,7 +625,7 @@
News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (command.getAckFinish1()) {
+ if (!command.getAckFinish1()) {
if (result.IsSuccess) {
Thread.sleep(300);
//浠诲姟涓嬪彂娆℃暟
@@ -636,7 +633,10 @@
do {
writeCount2++;
- boolean commandFinish = false;
+ boolean commandFinish = true;
+ if(command.getCommand()){
+ commandFinish = false;
+ }
result = siemensNet.Write("DB100.32.0", commandFinish);
if(result.IsSuccess){
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
@@ -708,10 +708,10 @@
return false;
}
- OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 40);
if (result1.IsSuccess){
RgvCommand one = new RgvCommand();
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
@@ -727,10 +727,10 @@
}
- byte[] writeBytes = new byte[34];
+ byte[] writeBytes = new byte[42];
command.setRgvNo(slave.getId());
- writeInt32(writeBytes, 16, command.getTargetPosition1());
+ writeInt32(writeBytes, 0, command.getTargetPosition1());
writeInt32(writeBytes, 20, command.getEndStaNo2());
writeInt16(writeBytes, 24, (short)command.getTaskStatus2());
writeInt32(writeBytes, 26, command.getTaskNo2());
@@ -754,7 +754,7 @@
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(400);
try {
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 42);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 38));
@@ -762,13 +762,13 @@
one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
- one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
+ one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
if (
!command.getDirection2().equals(one.getDirection2()) ||
!command.getTaskNo2().equals(one.getTaskNo2()) ||
!command.getTaskStatus2().equals(one.getTaskStatus2()) ||
!command.getEndStaNo2().equals(one.getEndStaNo2()) ||
- !command.getTargetPosition2().equals(one.getTargetPosition2()) ||
+ !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
!command.getWrkTaskMove2().equals(one.getWrkTaskMove2())
) {
try{
@@ -793,7 +793,7 @@
News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (command.getAckFinish1()) {
+ if (!command.getAckFinish2()) {
if (result.IsSuccess) {
Thread.sleep(300);
//浠诲姟涓嬪彂娆℃暟
@@ -801,7 +801,10 @@
do {
writeCount2++;
- boolean commandFinish = false;
+ boolean commandFinish = true;
+ if(command.getCommand()){
+ commandFinish = false;
+ }
result = siemensNet.Write("DB100.32.1", commandFinish);
if(result.IsSuccess){
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
--
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