From 9784ec36b190d0f0103b42059585d04ea0b10745 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期一, 22 九月 2025 13:33:17 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/RgvThread.java | 97 ++++++++++++++++++++++++++++++++----------------
1 files changed, 65 insertions(+), 32 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..1235f3e 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -104,6 +104,7 @@
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);
@@ -120,6 +121,7 @@
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;
@@ -204,10 +206,12 @@
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 +277,14 @@
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));
@@ -544,6 +548,7 @@
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.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));
@@ -561,23 +566,17 @@
}
byte[] writeBytes = new byte[34];
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, 36, (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));
@@ -593,6 +592,7 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
+ one.setWrkTaskMove1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 36));
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 +603,8 @@
!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));
@@ -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
@@ -715,6 +716,7 @@
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];
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, 16, 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));
@@ -748,6 +757,7 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
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));
@@ -758,7 +768,8 @@
!command.getTaskNo2().equals(one.getTaskNo2()) ||
!command.getTaskStatus2().equals(one.getTaskStatus2()) ||
!command.getEndStaNo2().equals(one.getEndStaNo2()) ||
- !command.getTargetPosition2().equals(one.getTargetPosition2())
+ !command.getTargetPosition2().equals(one.getTargetPosition2()) ||
+ !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));
@@ -798,7 +809,7 @@
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 +855,28 @@
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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