From ae0f47d70a1a4d539bf7cb0d69e0375d91ef3f7c Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 06 六月 2024 13:18:56 +0800
Subject: [PATCH] #入库任务BUG修复
---
src/main/java/com/zy/core/thread/RgvThread.java | 42 ++++++++++++++++++++++++++++++++----------
1 files changed, 32 insertions(+), 10 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index db8bd9c..b3d3f21 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -11,6 +11,7 @@
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
+import com.zy.asrs.utils.RouteUtils;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -99,6 +100,26 @@
command.setCommand((short)0);
write(command);
break;
+ // 鍥炲師鐐� 閬胯
+ case 9:
+ RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
+ if (null == commandAvoidanceXY) {
+ commandAvoidanceXY = new RgvCommand();
+ }
+ commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
+ commandAvoidanceXY.setTaskNo1((short) 32222); // 宸ヤ綔鍙�
+ commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ commandAvoidanceXY.setTaskMode1(RgvTaskModeType.X_MOVE); // 浠诲姟妯″紡
+ commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
+ commandAvoidanceXY.setDestinationStaNo1(slave.getId()==1? (short) 101:(short)116); // 鐩爣绔�
+ commandAvoidanceXY.setTaskNo2((short) 0); // 宸ヤ綔鍙�
+ commandAvoidanceXY.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
+ commandAvoidanceXY.setTaskMode2(RgvTaskModeType.X_MOVE); // 浠诲姟妯″紡
+ commandAvoidanceXY.setSourceStaNo2((short)0); // 婧愮珯
+ commandAvoidanceXY.setDestinationStaNo2(slave.getId()==1? (short) 101:(short)117); // 鐩爣绔�
+ commandAvoidanceXY.setCommand((short)0);
+ write(commandAvoidanceXY);
+ break;
default:
break;
}
@@ -169,7 +190,7 @@
rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ rgvProtocol.setRgvPos(RouteUtils.RgvPosSta(slave.getId(),siemensNet.getByteTransform().TransInt16(result.Content, 10)));
rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
@@ -217,6 +238,7 @@
BasRgv basRgv = new BasRgv();
basRgv.setRgvNo(slave.getId());
basRgv.setRgvSts((int)rgvProtocol.getMode());
+ basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
log.error("RGV plc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());
}
@@ -307,16 +329,16 @@
return false;
}
- siemensNet.Write("DB100.20", command.getCommand());
+// siemensNet.Write("DB100.20", command.getCommand());
command.setRgvNo(slave.getId());
short[] array = new short[5];
array[0] = command.getAckFinish1();
array[1] = command.getTaskNo1();
- array[2] = command.getTaskMode1();
+ array[2] = command.getTaskMode1();//浠诲姟妯″紡
array[3] = command.getSourceStaNo1();
array[4] = command.getDestinationStaNo1();
- siemensNet.Write("DB100.20", command.getCommand());
+// siemensNet.Write("DB100.20", 0);
OperateResult result = siemensNet.Write("DB100.0", array);
@@ -370,12 +392,12 @@
command.setRgvNo(slave.getId());
short[] array = new short[6];
- array[0] = command.getAckFinish2();
- array[1] = command.getTaskNo2();
- array[2] = command.getTaskMode2();
- array[3] = command.getSourceStaNo2();
- array[4] = command.getDestinationStaNo2();
- array[5] = command.getCommand();
+ array[0] = command.getAckFinish2();//浠诲姟瀹屾垚纭浣�
+ array[1] = command.getTaskNo2();//浠诲姟鍙�
+ array[2] = command.getTaskMode2();//浠诲姟妯″紡
+ array[3] = command.getSourceStaNo2();//婧愮珯
+ array[4] = command.getDestinationStaNo2();//鐩爣绔�
+ array[5] = command.getCommand();//浠诲姟涓嬪彂纭
OperateResult result = siemensNet.Write("DB100.10", array);
--
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