From 83f222c9eebcee8db94d41a081596506f60f9775 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期二, 05 八月 2025 16:59:45 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 51 ++++++++++++++++++++++++++++++++++-----------------
1 files changed, 34 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 72b72ea..127f483 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -82,9 +82,9 @@
write1((RgvCommand) task.getData());
break;
// //宸ヤ綅2鍐欏叆鏁版嵁
-// case 5:
-// write2((RgvCommand) task.getData());
-// break;
+ case 5:
+ write2((RgvCommand) task.getData());
+ break;
// 澶嶄綅
case 3:
RgvCommand command = (RgvCommand) task.getData();
@@ -99,6 +99,20 @@
command.setDestinationStaNo1((short)0); // 鐩爣绔�
command.setCommand((short)0);
write1(command);
+ break;
+ case 6:
+ RgvCommand command2 = (RgvCommand) task.getData();
+ if (null == command2) {
+ command2 = new RgvCommand();
+ }
+ command2.setRgvNo(slave.getId()); // RGV缂栧彿
+ command2.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+ command2.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command2.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ command2.setSourceStaNo2((short)0); // 婧愮珯
+ command2.setDestinationStaNo2((short)0); // 鐩爣绔�
+ command2.setCommand((short)0);
+ write2(command2);
break;
// 鍥炲師鐐� 閬胯
case 9:
@@ -145,9 +159,10 @@
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
rgvProtocol.setRgvPos((short)0);
-// rgvProtocol.setTaskNo2((short)0);
-// rgvProtocol.setStatus2((short)-1);
-// rgvProtocol.setLoaded2((short)0);
+ //宸ヤ綅2鐘舵��
+ rgvProtocol.setTaskNo2((short)0);
+ rgvProtocol.setStatus2((short)-1);
+ rgvProtocol.setLoaded2((short)0);
rgvProtocol.setAlarm((short)0);
rgvProtocol.setxSpeed((short) 0);
rgvProtocol.setxDistance((short) 0);
@@ -193,6 +208,8 @@
rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+// rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+// rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
// rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
@@ -220,17 +237,17 @@
}
}
- // 宸ヤ綅2澶嶄綅淇″彿
-// if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
-// || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
-// if (resetFlag2) {
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setAckFinish2((short)1);
-// if (write(rgvCommand)) {
-// resetFlag2 = false;
-// }
-// }
-// }
+// 宸ヤ綅2澶嶄綅淇″彿
+ if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
+ || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
+ if (resetFlag2) {
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setAckFinish2((short)1);
+ if (write(rgvCommand)) {
+ resetFlag2 = false;
+ }
+ }
+ }
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
--
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