From 5b4049cd9043539161ebb145458571f1f27bbe6b Mon Sep 17 00:00:00 2001
From: whycq <whycq>
Date: 星期四, 26 五月 2022 09:57:34 +0800
Subject: [PATCH] # ycq
---
src/main/java/com/zy/core/thread/MelsecCrnThread.java | 345 +++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 227 insertions(+), 118 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/MelsecCrnThread.java b/src/main/java/com/zy/core/thread/MelsecCrnThread.java
index f7544ad..3df19a6 100644
--- a/src/main/java/com/zy/core/thread/MelsecCrnThread.java
+++ b/src/main/java/com/zy/core/thread/MelsecCrnThread.java
@@ -4,12 +4,15 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
-import com.core.common.Arith;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
+import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.core.CrnThread;
+import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
@@ -21,6 +24,7 @@
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import java.text.MessageFormat;
import java.util.Date;
@@ -31,14 +35,13 @@
*/
@Data
@Slf4j
-public class MelsecCrnThread implements Runnable, CrnThread {
+public class MelsecCrnThread implements Runnable, ThreadHandler, CrnThread {
private MelsecMcNet melsecMcNet;
private CrnSlave slave;
private CrnProtocol crnProtocol;
- private boolean resetFlag = false;
private short heartBeatVal = 1;
- private int heartTimes = 0;
+ private boolean resetFlag = false;
public MelsecCrnThread(CrnSlave slave) {
this.slave = slave;
@@ -48,6 +51,11 @@
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
this.connect();
+// try {
+// Thread.sleep(2000);
+// } catch (InterruptedException e) {
+// e.printStackTrace();
+// }
while (true) {
try {
int step = 1;
@@ -85,18 +93,40 @@
default:
break;
}
- // 蹇冭烦 2s涓�娆�
- heartTimes++;
- if (Arith.remainder(heartTimes, 4) == 0) {
- heartbeat();
- heartTimes = 0;
- }
+ // 蹇冭烦
+ heartbeat();
Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
}
}
+ }
+
+ /**
+ * 鍒濆鍖栧爢鍨涙満鐘舵��
+ */
+ private void initCrn() {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ }
+ crnProtocol.setMode((short) -1);
+// crnProtocol.setTaskNo((short)0);
+ crnProtocol.setStatus((short)-1);
+ crnProtocol.setBay((short)0);
+ crnProtocol.setLevel((short)0);
+ crnProtocol.setForkPos((short) -1);
+ crnProtocol.setLiftPos((short) -1);
+ crnProtocol.setWalkPos((short)0);
+ crnProtocol.setLoaded((short)0);
+ crnProtocol.setAlarm((short)0);
+ crnProtocol.setXSpeed(0F);
+ crnProtocol.setYSpeed(0F);
+ crnProtocol.setZSpeed(0F);
+ crnProtocol.setXDistance(0F);
+ crnProtocol.setYDistance(0F);
+ crnProtocol.setXDuration(0F);
+ crnProtocol.setYDuration(0F);
}
@Override
@@ -106,13 +136,14 @@
OperateResult connect = melsecMcNet.ConnectServer();
if(connect.IsSuccess){
result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
- log.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
} else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
- log.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ initCrn();
}
- melsecMcNet.ConnectClose();
+// melsecMcNet.ConnectClose();
return result;
}
@@ -120,60 +151,75 @@
* 璇诲彇鐘舵��
*/
private void readStatus(){
- OperateResultExOne<byte[]> result = melsecMcNet.Read("D1119", (short) 58);
- if (result.IsSuccess) {
- if (null == crnProtocol) {
- crnProtocol = new CrnProtocol();
- }
- crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
- crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
- crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
- crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
- crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
- crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
- crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
- crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
- crnProtocol.setFingerPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
- crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
- crnProtocol.setAlarm1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
- crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
- crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
- crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
- crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
- crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 30));
- crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
- crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
- crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
- crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
- crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
- crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
-
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
-
- // 澶嶄綅淇″彿
- if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
- if (resetFlag) {
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setAckFinish((short)1);
- if (write(crnCommand)) {
- resetFlag = false;
- }
-
+ try {
+// if (this.slave.getId() == 1 && flag1.equals(0)) {
+// Thread.sleep(3000);
+// flag1=1;
+// System.out.println("===");
+// }
+ OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
+ if (result.IsSuccess) {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ crnProtocol.setCrnNo(slave.getId());
}
- }
+ crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
+ crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
+ crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
+ crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
+ crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 28));
+ crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 32));
+ crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 36));
+ crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 40));
+ crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 44));
+ crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 48));
+ crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 52));
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
- BasCrnp basCrnp = new BasCrnp();
- basCrnp.setCrnNo(slave.getId());
- if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
- log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
- }
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
- } else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
- log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ // 澶嶄綅淇″彿
+ if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
+ log.error("-------------------------------------------绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}][宸ヤ綔鍙凤細{}]==>> 鐘舵�佷负90锛岀瓑寰呯‘璁わ紒锛�",slave.getId(),crnProtocol.getTaskNo());
+ if (resetFlag) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setAckFinish((short)1);
+ if (write(crnCommand)) {
+ resetFlag = false;
+ }
+ }
+ }
+
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ BasCrnp basCrnp = new BasCrnp();
+ basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
+ basCrnp.setCrnNo(slave.getId());
+ basCrnp.setCrnSts((int)crnProtocol.getMode());
+ if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
+ log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆憑1}鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐�",DateUtils.convert(new Date()), slave.getId()));
+ throw new CoolException(MessageFormat.format( "鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ initCrn();
}
+
}
/**
@@ -184,48 +230,105 @@
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
}
- if (command.getAckFinish() == 1) {
- command.setTaskSend((short) 0);
- } else if (command.getAckFinish() == 0) {
- command.setTaskSend((short) 1);
- }
+
+// OperateResult result = null;
+// try{
+// Integer exeCount=0;
+// do{
+// command.setCrnNo(slave.getId());
+// short[] array = new short[10];
+// array[0] = command.getAckFinish();
+// array[1] = command.getTaskNo();
+// array[2] = command.getTaskMode();
+// array[3] = command.getSourcePosX();
+// array[4] = command.getSourcePosY();
+// array[5] = command.getSourcePosZ();
+// array[6] = command.getDestinationPosX();
+// array[7] = command.getDestinationPosY();
+// array[8] = command.getDestinationPosZ();
+// array[9] = command.getCommand();
+// result = melsecMcNet.Write("D0", array);
+// if(result.IsSuccess) {
+// if (command.getAckFinish() == 0) {
+// short commandFinish = 1;
+// result = melsecMcNet.Write("D9", commandFinish);
+// if(result.IsSuccess){
+// //鍐欎换鍔＄‘璁よ繑鍥炴垚鍔熷悗锛屾煡璇㈢‘璁や竴娆�
+// Thread.sleep(200);
+// OperateResultExOne<byte[]> result1 = melsecMcNet.Read("D9", (short)2);
+// if(result1.IsSuccess){
+// short commandVal = melsecMcNet.getByteTransform().TransInt16(result1.Content,2);
+// if(commandVal==1){
+// break;
+// } else {
+// exeCount++;
+// }
+// } else{
+// exeCount++;
+// }
+// }else{
+// exeCount++;
+// }
+// }
+// }else{
+// exeCount++;
+// }
+// Thread.sleep(200);
+// }while(exeCount>3);
+// }catch (Exception e){
+//
+// }
+
command.setCrnNo(slave.getId());
short[] array = new short[10];
- array[0] = command.getTaskMode();
- array[1] = command.getSourcePosY(); // 鍒�
- array[2] = command.getSourcePosZ(); // 灞�
- array[3] = command.getSourcePosX(); // 鎺�
- array[4] = command.getDestinationPosY(); // 鍒�
- array[5] = command.getDestinationPosZ(); // 灞�
- array[6] = command.getDestinationPosX(); // 鎺�
- array[7] = command.getTaskNo();
- array[8] = command.getTaskSend();
- array[9] = command.getAckFinish();
+ array[0] = command.getAckFinish();
+ array[1] = command.getTaskNo();
+ array[2] = command.getTaskMode();
+ array[3] = command.getSourcePosX();
+ array[4] = command.getSourcePosY();
+ array[5] = command.getSourcePosZ();
+ array[6] = command.getDestinationPosX();
+ array[7] = command.getDestinationPosY();
+ array[8] = command.getDestinationPosZ();
+ array[9] = command.getCommand();
+ OperateResult result = melsecMcNet.Write("D0", array);
- OperateResult result = melsecMcNet.Write("D1001", array);
- if (result.IsSuccess) {
+ if (command.getAckFinish() == 0) {
+ short commandFinish = 1;
+ result = melsecMcNet.Write("D9", commandFinish);
+ }
+
+ try {
+ // 鏃ュ織璁板綍
+ BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+ BasCrnOpt basCrnOpt = new BasCrnOpt(
+ command.getTaskNo().intValue(), // 浠诲姟鍙�
+ command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
+ new Date(), // 涓嬪彂鏃堕棿
+ command.getTaskModeType().toString(), // 妯″紡
+ command.getSourcePosX().intValue(), // 婧愭帓
+ command.getSourcePosY().intValue(), // 婧愬垪
+ command.getSourcePosZ().intValue(), // 婧愬眰
+ null, // 婧愮珯
+ command.getDestinationPosX().intValue(), // 鐩爣鎺�
+ command.getDestinationPosY().intValue(), // 鐩爣鍒�
+ command.getDestinationPosZ().intValue(), // 鐩爣灞�
+ null, // 鐩爣绔�
+ null, // 鍝嶅簲缁撴灉
+ null, // 淇敼鏃堕棿
+ null // 淇敼浜哄憳
+ );
+ bean.insert(basCrnOpt);
+ } catch (Exception ignore) {}
+
+ if (result != null && result.IsSuccess) {
log.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.CRN.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)));
return true;
} else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
- log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
- }
- }
-
- /**
- * 蹇冭烦
- */
- private void heartbeat(){
- if (heartBeatVal == 1) {
- heartBeatVal = 0;
- } else {
- heartBeatVal = 1;
- }
- OperateResult write = melsecMcNet.Write("D1000", heartBeatVal);
- if (!write.IsSuccess) {
- log.error("杈撻�佺嚎plc缂栧彿={} 蹇冭烦澶辫触", slave.getId());
}
}
@@ -234,18 +337,36 @@
melsecMcNet.ConnectClose();
}
+ /**
+ * 蹇冭烦
+ */
+ private void heartbeat(){
+ if (heartBeatVal == 1) {
+ heartBeatVal = 2;
+ } else {
+ heartBeatVal = 1;
+ }
+ OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
+ if (!write.IsSuccess) {
+ log.error("杈撻�佺嚎plc缂栧彿={} 蹇冭烦澶辫触", slave.getId());
+ }
+ }
+
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
public static void main(String[] args) throws InterruptedException {
CrnSlave slave = new CrnSlave();
slave.setId(1);
- slave.setIp("192.168.6.9");
- MelsecCrnThread crnThread = new MelsecCrnThread(slave);
- crnThread.connect();
- crnThread.readStatus();
- System.out.println(JSON.toJSONString(crnThread.crnProtocol));
- Thread.sleep(3000L);
+ slave.setIp("192.168.3.39");
+ slave.setPort(5015);
+ slave.setRack(0);
+ slave.setSlot(0);
+ MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
+ melsecCrnThread.connect();
+ melsecCrnThread.readStatus();
+ System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
// 1.鍏ュ簱 婧愬拰鐩爣閮藉彂
// CrnCommand command = new CrnCommand();
@@ -318,19 +439,6 @@
// command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
// crnThread.write(command);
-// // 7.鍧愭爣绉昏 鐩爣鍙� pass
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 浠诲姟妯″紡
-// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
// 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
@@ -346,4 +454,5 @@
// }
}
+
}
--
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