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 | 150 +++++++++++++++++++++++++++++++-------------------
1 files changed, 93 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 4817eb5..4cfa9fa 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -100,10 +100,11 @@
}
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�
+ command.setWrkTaskMove1((short) 0);
command.setWrkTaskPri((short)0);
command.setCommand(false);
write1(command);
@@ -115,11 +116,12 @@
}
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);
command2.setCommand(false);
write2(command2);
break;
@@ -129,11 +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 :
@@ -142,11 +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
@@ -204,10 +210,12 @@
rgvProtocol.setTaskNo1(0);
rgvProtocol.setStatus1((short)-1);
rgvProtocol.setLoaded1(false);
+ rgvProtocol.setWrkTaskMove1((short)0);
//宸ヤ綅2鐘舵��
rgvProtocol.setTaskNo2(0);
rgvProtocol.setStatus2((short)-1);
rgvProtocol.setLoaded2(false);
+ rgvProtocol.setWrkTaskMove2((short)0);
// rgvProtocol.setAlarm((short)0);
// rgvProtocol.setxSpeed((short) 0);
// rgvProtocol.setxDistance((short) 0);
@@ -273,14 +281,14 @@
rgvProtocol.setErr5(status2[4]);
rgvProtocol.setErr6(status2[5]);
rgvProtocol.setErr7(status2[6]);
- boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
- rgvProtocol.setErr1(status3[0]);
- rgvProtocol.setErr2(status3[1]);
- rgvProtocol.setErr3(status3[2]);
- rgvProtocol.setErr4(status3[3]);
- rgvProtocol.setErr5(status3[4]);
- rgvProtocol.setErr6(status3[5]);
- rgvProtocol.setErr7(status3[6]);
+// boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
+// rgvProtocol.setErr1(status3[0]);
+// rgvProtocol.setErr2(status3[1]);
+// rgvProtocol.setErr3(status3[2]);
+// rgvProtocol.setErr4(status3[3]);
+// rgvProtocol.setErr5(status3[4]);
+// rgvProtocol.setErr6(status3[5]);
+// rgvProtocol.setErr7(status3[6]);
// rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
@@ -535,7 +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();
@@ -544,13 +552,7 @@
one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
-// 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));
-
+ one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(result1.Content, 36));
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));
}
@@ -559,25 +561,19 @@
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());
- siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
- siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
- siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
- siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
- setBool(writeBytes, 32, 0, command.getAckFinish1());
-// command.setRgvNo(slave.getId());
-// short[] array = new short[5];
-// array[0] = command.getAckFinish1();
-// array[1] = command.getTaskNo1();
-// array[2] = command.getTaskMode1();
-// array[3] = command.getSourceStaNo1();
-// array[4] = command.getDestinationStaNo1();
-// siemensNet.Write("DB100.10", command.getCommand());
+ writeInt32(writeBytes, 0, command.getTargetPosition1());
+ writeInt32(writeBytes, 4, command.getEndStaNo1());
+ writeInt16(writeBytes, 8, (short)command.getTaskStatus1());
+ writeInt32(writeBytes, 10, command.getTaskNo1());
+ writeInt16(writeBytes, 14, (short)command.getDirection1());
+ writeBool(writeBytes, 32, 0, command.getAckFinish1());
+ writeInt16(writeBytes, 38, (short)command.getWrkTaskMove1());
OperateResult result = siemensNet.Write("DB100.0", writeBytes);
+
if (!result.IsSuccess){
News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
@@ -590,9 +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, 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));
@@ -603,7 +600,8 @@
!command.getTaskNo1().equals(one.getTaskNo1()) ||
!command.getTaskStatus1().equals(one.getTaskStatus1()) ||
!command.getEndStaNo1().equals(one.getEndStaNo1()) ||
- !command.getTargetPosition1().equals(one.getTargetPosition1())
+ !command.getTargetPosition1().equals(one.getTargetPosition1()) ||
+ !command.getWrkTaskMove1().equals(one.getWrkTaskMove1())
) {
try{
News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
@@ -627,7 +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
@@ -635,7 +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�
@@ -643,7 +644,7 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
if (resultRead.IsSuccess) {
commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
- if (!commandFinish){
+ if (commandFinish){
News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}else{
//浠诲姟鍛戒护鍐欏叆鎴愬姛
@@ -707,14 +708,15 @@
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));
one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
+ one.setWrkTaskMove2(siemensNet.getByteTransform().TransInt16(result1.Content, 38));
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));
}
@@ -723,16 +725,23 @@
if (result2.IsSuccess){
News.error("涓嬪彂鍓嶆妸杞﹀瓙纭浣嶇疆涓�0");
}
- byte[] writeBytes = new byte[34];
+
+
+ byte[] writeBytes = new byte[42];
command.setRgvNo(slave.getId());
- siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
- siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
- siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
- siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
- setBool(writeBytes, 32, 1, command.getAckFinish2());
+
+ writeInt32(writeBytes, 0, command.getTargetPosition1());
+ writeInt32(writeBytes, 20, command.getEndStaNo2());
+ writeInt16(writeBytes, 24, (short)command.getTaskStatus2());
+ writeInt32(writeBytes, 26, command.getTaskNo2());
+ writeInt16(writeBytes, 30, (short)command.getDirection2());
+ writeBool(writeBytes, 32, 0, command.getAckFinish2());
+ writeInt16(writeBytes, 38, (short)command.getWrkTaskMove2());
+
OperateResult result = siemensNet.Write("DB100.0", writeBytes);
+
+
if (!result.IsSuccess){
News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
@@ -745,20 +754,22 @@
//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));
one.setDirection2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
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{
News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
@@ -782,7 +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
@@ -790,7 +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�
@@ -798,7 +812,7 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
if (resultRead.IsSuccess) {
commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
- if (!commandFinish){
+ if (commandFinish){
News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}else{
//浠诲姟鍛戒护鍐欏叆鎴愬姛
@@ -844,6 +858,28 @@
return false;
}
}
+ public static void writeInt32(byte[] buffer, int index, int value) {
+ buffer[index] = (byte)((value >> 24) & 0xFF);
+ buffer[index + 1] = (byte)((value >> 16) & 0xFF);
+ buffer[index + 2] = (byte)((value >> 8) & 0xFF);
+ buffer[index + 3] = (byte)(value & 0xFF);
+ }
+
+
+ public static void writeInt16(byte[] buffer, int index, short value) {
+ buffer[index] = (byte)((value >> 8) & 0xFF); // 楂樺瓧鑺�
+ buffer[index + 1] = (byte)(value & 0xFF); // 浣庡瓧鑺�
+ }
+
+ public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
+ if (value) {
+ buffer[byteIndex] |= (1 << bitIndex);
+ } else {
+ buffer[byteIndex] &= ~(1 << bitIndex);
+ }
+ }
+
+
@Override
public void close() {
--
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