From 63d118bf0572bd4fea3f8afe1e8746556d17a53f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期六, 16 一月 2021 10:26:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 23 +++++++++++++++--------
1 files changed, 15 insertions(+), 8 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 5bfc407..c490a4b 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -168,7 +168,7 @@
crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26
crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28
// 绱閲岀▼銆佹椂闀�
- crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90
+ crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90
crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94
crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98
crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102
@@ -243,15 +243,15 @@
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
}
- if (command.getTaskNo() == 0) {
+ if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
command.setTaskNo((short) 9999);
}
command.setCrnNo(slave.getId());
short[] array = new short[9];
- if (!command.getTaskModeType().equals(CrnTaskModeType.CLEAR)) {
+ if (command.getAckFinish() == 0) {
array[0] = 5;
} else {
- array[0] = 7;
+ array[0] = 0;
}
array[1] = command.getSourcePosZ();
array[2] = command.getSourcePosY();
@@ -263,10 +263,17 @@
array[8] = command.getDestinationStaNo();
// 浣滀笟淇℃伅
OperateResult result = siemensNet.Write("DB1000.0", array);
- // 浠诲姟鍙�
- OperateResult result1 = siemensNet.Write("DB1000.24", command.getTaskNo());
+ // 浠诲姟鍙� + 瀹屾垚浣�
+ short[] array2 = new short[2];
+ array2[0] = command.getTaskNo();
+ array2[1] = command.getAckFinish();
+ OperateResult result1 = siemensNet.Write("DB1000.24", array2);
+
// 缁撴潫浣�
- OperateResult result2 = siemensNet.Write("DB1000.28.1", true);
+ if (command.getAckFinish() == 0) {
+ OperateResult result2 = siemensNet.Write("DB1000.28.1", true);
+ }
+
// 鏃ュ織璁板綍
try {
if (command.getAckFinish() != 1) {
@@ -292,7 +299,7 @@
}
} catch (Exception ignore) {}
- if (result.IsSuccess && result1.IsSuccess && result2.IsSuccess) {
+ if (result.IsSuccess && result1.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)));
--
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