From b7e0039880d9f6e71230dbf9c13538de4f8135b8 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:23:26 +0800
Subject: [PATCH] 输送线条码读取bug、出入库模式信号、链条控制信号
---
src/main/java/com/zy/core/thread/LiftThread.java | 388 +++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 333 insertions(+), 55 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index f67aa95..0b39f99 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -5,22 +5,36 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
+import com.core.common.Cools;
import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasLift;
+import com.zy.asrs.entity.BasLiftOpt;
+import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.service.BasLiftOptService;
+import com.zy.asrs.service.BasLiftService;
+import com.zy.asrs.service.BasShuttleOptService;
+import com.zy.asrs.service.BasShuttleService;
+import com.zy.common.utils.CommonUtils;
+import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.LiftCommand;
+import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
+import java.util.ArrayList;
import java.util.Date;
+import java.util.List;
/**
* 鎻愬崌鏈虹嚎绋�
@@ -32,9 +46,11 @@
private ModbusTcpNet modbusTcpNet;
private LiftSlave slave;
private LiftProtocol liftProtocol;
+ private RedisUtil redisUtil;
- public LiftThread(LiftSlave slave) {
+ public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
this.slave = slave;
+ this.redisUtil = redisUtil;
}
@Override
@@ -56,6 +72,10 @@
case 2:
write((LiftCommand) task.getData());
break;
+ //鍒嗛厤浠诲姟
+ case 3:
+ assignWork((LiftAssignCommand) task.getData());
+ break;
default:
break;
}
@@ -70,7 +90,7 @@
public boolean connect() {
boolean result = false;
//-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
+ modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x02);
// 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
modbusTcpNet.setDataFormat(DataFormat.ABCD);
OperateResult connect = modbusTcpNet.ConnectServer();
@@ -94,7 +114,7 @@
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 17);
+ OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 50);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -105,55 +125,105 @@
//鑾峰彇鏁版嵁
byte[] content = result.Content;
//鎻愬崌鏈洪攣瀹�
- liftProtocol.setLiftLock(modbusTcpNet.getByteTransform().TransInt16(content,0));
+ liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
//浣嶇疆鍒拌揪鍙嶉
liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
//鍑嗗灏辩华
- liftProtocol.setReady(modbusTcpNet.getByteTransform().TransBool(content,3));
+ liftProtocol.setReady(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,4)));
//杩愯涓�
- liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4));
+ liftProtocol.setRunning(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,6)));
//鑱旀満/鍗曟満
- liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5));
+ liftProtocol.setMode(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content,8)));
+
+ //浠ヤ笅鍙傛暟骞舵湭杩涜璋冩暣(闇�瑕佸悗缁拡瀵瑰疄鏈鸿繘琛岃幏鍙栧拰璋冭瘯)
//杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6));
+ liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
//杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7));
+ liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,12));
//杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8));
+ liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,14));
//杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9));
+ liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,16));
//杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
+ liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,18));
//杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11));
+ liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,20));
//鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12));
+ liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,22));
//骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13));
+ liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,24));
//骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14));
+ liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,26));
//骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15));
+ liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,28));
//鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16));
+ liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,30));
//浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17));
+ liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,32));
//浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18));
+ liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,34));
//浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19));
+ liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,36));
//浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20));
+ liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,38));
//鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,21));
+ liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,40));
///璇诲彇鎻愬崌鏈虹姸鎬�-end
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
- log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+ //灏忚溅澶勪簬杩愯鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
+ if (liftProtocol.getRunning()) {
+ liftProtocol.setPakMk(true);
+ }
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- //.....
+ //鎻愬崌鏈哄浜庨攣瀹氥�佹湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
+ if (liftProtocol.getLiftLock()
+ && !liftProtocol.getRunning()
+ && liftProtocol.getReady()
+ && liftProtocol.getPakMk()
+ && liftProtocol.getTaskNo() != 0) {
+ //杩樻湁鏈畬鎴愮殑鍛戒护
+ executeWork(liftProtocol.getTaskNo());
+ }
+
+ //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
+ if (basLift == null) {
+ basLift = new BasLift();
+ //鎻愬崌鏈哄彿
+ basLift.setLiftNo(slave.getId());
+ liftService.insert(basLift);
+ }
+ basLift.setStatus(liftProtocol.getProtocolStatus());
+ basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
+ basLift.setUpdateTime(new Date());
+ basLift.setPakMk(liftProtocol.getPakMk());
+ basLift.setLiftLock(liftProtocol.getLiftLock());
+ basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
+ basLift.setReady(liftProtocol.getReady());
+ basLift.setRunning(liftProtocol.getRunning());
+ basLift.setMode(liftProtocol.getMode());
+ basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
+ basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
+ basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
+ basLift.setMotorOverload(liftProtocol.getMotorOverload());
+ basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
+ basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
+ basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
+ basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
+ basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
+ basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
+ basLift.setNotReady(liftProtocol.getNotReady().intValue());
+ basLift.setServoError1(liftProtocol.getServoError1().intValue());
+ basLift.setServoError2(liftProtocol.getServoError2().intValue());
+ basLift.setServoError3(liftProtocol.getServoError3().intValue());
+ basLift.setServoError4(liftProtocol.getServoError4().intValue());
+ basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
+ if (liftService.updateById(basLift)) {
+ OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+// log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+ }
}else {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆憑1}鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
@@ -171,23 +241,35 @@
return false;
}
- command.setLiftNo(slave.getId());
+ command.setLiftNo(slave.getId().shortValue());
// 寮�濮嬩换鍔�
short[] array = new short[30];
//寮�濮嬭繍琛�
array[0] = command.getRun();
- //鐩爣浣嶇疆
- array[1] = command.getDistPosition();
- //杩愯閫熷害
- array[2] = command.getSpeed();
- //浜屽眰楂樺害璁惧畾
- array[3] = command.getHeight2();
- //涓夊眰楂樺害璁惧畾
- array[4] = command.getHeight3();
- //鍥涘眰楂樺害璁惧畾
- array[5] = command.getHeight4();
- //鎻愬崌鏈洪攣瀹�
- array[29] = command.getLiftLock();
+ if (command.getDistPosition() != null) {
+ //鐩爣浣嶇疆
+ array[1] = command.getDistPosition();
+ }
+ if (command.getSpeed() != null) {
+ //杩愯閫熷害
+ array[2] = command.getSpeed();
+ }
+ if (command.getHeight2() != null) {
+ //浜屽眰楂樺害璁惧畾
+ array[3] = command.getHeight2();
+ }
+ if (command.getHeight3() != null) {
+ //涓夊眰楂樺害璁惧畾
+ array[4] = command.getHeight3();
+ }
+ if (command.getHeight4() != null) {
+ //鍥涘眰楂樺害璁惧畾
+ array[5] = command.getHeight4();
+ }
+ if (command.getLiftLockShortValue() != null) {
+ //鎻愬崌鏈洪攣瀹�
+ array[29] = command.getLiftLockShortValue();
+ }
OperateResult result = modbusTcpNet.Write("0", array);;
if (result != null && result.IsSuccess) {
@@ -199,6 +281,202 @@
News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
+ }
+
+ //鍒嗛厤浠诲姟
+ private void assignWork(LiftAssignCommand assignCommand) {
+ //鎵嬪姩妯″紡鎸囦护
+ if (!assignCommand.getAuto()) {
+ LiftCommand command = new LiftCommand();
+ //鎻愬崌鏈哄綋鍓嶆ゼ灞�
+ Short lev = liftProtocol.getLev();
+ List<LiftCommand> commands = assignCommand.getCommands();
+ if (commands == null) {
+ commands = new ArrayList<LiftCommand>();
+ }
+ liftProtocol.setTaskNo(assignCommand.getTaskNo());
+ switch (assignCommand.getTaskMode()) {
+ case 1://涓婂崌涓�灞�
+ command = getLiftUpDownCommand(++lev);//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ break;
+ case 2://涓嬮檷涓�灞�
+ command = getLiftUpDownCommand(--lev);//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ break;
+ case 3://鏈夎揣姝ｈ浆
+ command = getLiftTurnCommand(1);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 4://鏈夎揣鍙嶈浆
+ command = getLiftTurnCommand(2);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
+ break;
+ case 5://澶嶄綅
+ command = getResetCommand();//鑾峰彇澶嶄綅鍛戒护
+ break;
+ default:
+ }
+ commands.add(command);
+ assignCommand.setCommands(commands);
+ }
+
+ LiftRedisCommand redisCommand = new LiftRedisCommand();
+ redisCommand.setLiftNo(assignCommand.getLiftNo());//鎻愬崌鏈哄彿
+ redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+ redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
+ redisCommand.setAssignCommand(assignCommand);//鍛戒护
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+ liftProtocol.setAssignCommand(assignCommand);
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+ //鎵ц涓嬪彂浠诲姟
+ executeWork(assignCommand.getTaskNo());
+ }
+
+ //鎵ц浠诲姟
+ private boolean executeWork(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+ liftProtocol.setPakMk(false);
+
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return false;
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+ //鎬绘搴�
+ int size = commands.size();
+ LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+
+ //鍙栧嚭鍛戒护
+ LiftCommand command = commands.get(commandStep);
+ //涓嬪彂鍛戒护
+ if (!write(command)) {
+ News.error("鎻愬崌鏈哄懡浠や笅鍙戝け璐ワ紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+ return false;
+ }else {
+ News.info("鎻愬崌鏈哄懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+
+ //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
+ if (commandStep < size - 1) {
+ //鏇存柊redis鏁版嵁
+ //姝ュ簭澧炲姞
+ commandStep++;
+ redisCommand.setCommandStep(commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+ }else {
+ //宸叉墽琛屽畬鎴�
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
+ if (liftOptService != null) {
+ BasLiftOpt opt = new BasLiftOpt(
+ redisCommand.getWrkNo().intValue(),
+ redisCommand.getLiftNo().intValue(),
+ new Date(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(assignCommand)
+ );
+ liftOptService.insert(opt);
+ }
+ //鍒犻櫎redis
+ redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
+
+ if (assignCommand.getAuto()) {
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
+ News.info("鎻愬崌鏈轰换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+ }else {
+ //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬�
+ liftProtocol.setTaskNo((short) 0);
+ liftProtocol.setShuttleNo((short) 0);
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ liftProtocol.setPakMk(true);
+ liftProtocol.setSecurityMk(false);
+ News.info("鎻愬崌鏈烘墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+ }
+
+ //涓嬪彂涓�鏉℃彁鍗囨満瑙ｉ攣鍛戒护
+ LiftCommand unlockCommand = getUnlockCommand(command.getLiftNo());
+ if (write(unlockCommand)) {
+ News.info("鎻愬崌鏈虹姸鎬佸凡瑙ｉ攣锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+ }
+
+ }
+ }
+
+ return true;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
+ */
+ public LiftCommand getUnlockCommand(Short liftNo) {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 0);
+ command.setLiftNo(liftNo);
+ command.setLiftLock(false);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇澶嶄綅鍛戒护
+ */
+ public LiftCommand getResetCommand() {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 0);
+ command.setLiftLock(false);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ */
+ public LiftCommand getLiftUpDownCommand(Short lev) {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 1);//鍗囬檷
+ command.setDistPosition(lev);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
+ */
+ public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Short lev) {
+ LiftCommand command = new LiftCommand();
+ command.setRun((short) 1);//鍗囬檷
+ command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
+ command.setTaskNo(taskNo);//浠诲姟鍙�
+ command.setDistPosition(lev);//鐩爣妤煎眰1灞�
+ command.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞�
+ */
+ public LiftCommand getLiftTurnCommand(Integer direction) {
+ LiftCommand command = new LiftCommand();
+ command.setRun(direction == 1 ? (short) 6 : (short) 3);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞�
+ */
+ public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
+ LiftCommand command = new LiftCommand();
+ command.setRun(direction == 1 ? (short) 6 : (short) 3);
+ command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
+ command.setTaskNo(taskNo);//浠诲姟鍙�
+ command.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ return command;
}
/**
@@ -218,19 +496,19 @@
slave.setId(1);
slave.setIp("192.168.4.24");
slave.setPort(502);
- LiftThread thread = new LiftThread(slave);
- thread.connect();
- thread.readStatus();
-
- LiftCommand command = new LiftCommand();
- command.setRun((short) 0);
- command.setDistPosition((short) 12);
- command.setSpeed((short) 300);
- command.setHeight2((short) 100);
- command.setHeight3((short) 200);
- command.setHeight4((short) 303);
- command.setLiftLock((short) 1);
- thread.write(command);
+// LiftThread thread = new LiftThread(slave,);
+// thread.connect();
+// thread.readStatus();
+//
+// LiftCommand command = new LiftCommand();
+// command.setRun((short) 1);
+// command.setDistPosition((short) 12);
+// command.setSpeed((short) 300);
+// command.setHeight2((short) 100);
+// command.setHeight3((short) 200);
+// command.setHeight4((short) 303);
+// command.setLiftLock(true);
+// thread.write(command);
}
--
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