From b74b172daac9b2b21af1149bfcfb935bc879e5ef Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期四, 25 十二月 2025 15:28:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java | 45 ++++++++++++++++++++++++++++++++++++++-------
1 files changed, 38 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
index 2df5438..3e354a4 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
@@ -14,7 +14,7 @@
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.CrnTaskModeType;
+import com.zy.core.enums.DualCrnTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CommandResponse;
@@ -129,6 +129,7 @@
crnProtocol.setForkPos(-1);
crnProtocol.setLoaded(0);
crnProtocol.setWalkPos(0);
+ crnProtocol.setLiftPos(0);
//宸ヤ綅2
crnProtocol.setTaskNoTwo(0);
@@ -138,6 +139,7 @@
crnProtocol.setForkPosTwo(-1);
crnProtocol.setLoadedTwo(0);
crnProtocol.setWalkPosTwo(0);
+ crnProtocol.setLiftPosTwo(0);
crnProtocol.setAlarm(0);
crnProtocol.setXSpeed(0);
@@ -166,7 +168,6 @@
OutputQueue.DUAL_CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧弻宸ヤ綅鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
return;
}
-
crnProtocol.setMode(crnStatus.getMode());
//宸ヤ綅1
@@ -177,6 +178,8 @@
crnProtocol.setForkPos(crnStatus.getForkPos());
crnProtocol.setLoaded(crnStatus.getLoaded());
crnProtocol.setWalkPos(crnStatus.getWalkPos());
+ crnProtocol.setLiftPos(crnStatus.getLiftPos());
+ crnProtocol.setTaskReceive(crnStatus.getTaskReceive());
//宸ヤ綅2
crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
@@ -186,6 +189,8 @@
crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
crnProtocol.setWalkPosTwo(crnStatus.getWalkPosTwo());
+ crnProtocol.setLiftPosTwo(crnStatus.getLiftPosTwo());
+ crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());
crnProtocol.setAlarm(crnStatus.getAlarm());
crnProtocol.setTemp1(crnStatus.getTemp1());
@@ -272,10 +277,38 @@
DualCrnCommand crnCommand = new DualCrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setTaskMode(DualCrnTaskModeType.TRANSFER.id.shortValue()); // 浠诲姟妯″紡: 鍙栨斁璐�
crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo)); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo)); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo)); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
+ crnCommand.setStation(station.shortValue());//宸ヤ綅
+ crnCommand.setCommand((short) 1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public DualCrnCommand getPickCommand(String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
+ DualCrnCommand crnCommand = new DualCrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setTaskMode(DualCrnTaskModeType.PICK.id.shortValue()); // 浠诲姟妯″紡: 鍙栬揣
+ crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
+ crnCommand.setStation(station.shortValue());//宸ヤ綅
+ crnCommand.setCommand((short) 1); // 浠诲姟纭
+ return crnCommand;
+ }
+
+ @Override
+ public DualCrnCommand getPutCommand(String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
+ DualCrnCommand crnCommand = new DualCrnCommand();
+ crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setTaskMode(DualCrnTaskModeType.PUT.id.shortValue()); // 浠诲姟妯″紡: 鏀捐揣
crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
@@ -289,8 +322,7 @@
DualCrnCommand crnCommand = new DualCrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+ crnCommand.setTaskMode(DualCrnTaskModeType.MOVE.id.shortValue()); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
@@ -303,8 +335,7 @@
DualCrnCommand crnCommand = new DualCrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo((short) 0); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 浠诲姟妯″紡
+ crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id.shortValue()); // 浠诲姟妯″紡: 纭
crnCommand.setSourcePosX((short)0); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY((short)0); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
--
Gitblit v1.9.1