From d867d8d14b00e20ecfb00e349611ea62c4853c78 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 24 三月 2023 10:16:53 +0800
Subject: [PATCH] 四向穿梭车通讯协议代码部分
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 113 +++-------------
src/main/java/com/zy/core/model/command/ShuttleCommand.java | 22 +-
src/main/java/com/zy/core/enums/ShuttleStatusType.java | 12
src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java | 2
src/main/java/com/zy/core/thread/ShuttleThread.java | 197 ++++++++++++++--------------
src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java | 2
src/main/java/com/zy/common/utils/CommonUtils.java | 13 +
7 files changed, 151 insertions(+), 210 deletions(-)
diff --git a/src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java b/src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java
index 7963b64..df88570 100644
--- a/src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java
+++ b/src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java
@@ -36,7 +36,7 @@
private String command = "";
// 閫熷害
- private Double speed = 0.0D;
+ private Short speed = 0;
// 浣滀笟鏍囪
private String pakMk = "-";
diff --git a/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java b/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
index 70e3c4a..8c5d06a 100644
--- a/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
+++ b/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
@@ -48,7 +48,7 @@
/**
* 褰撳墠閫熷害
*/
- public Double speed;
+ public Short speed;
/**
* 鍏呯數鐘舵��
diff --git a/src/main/java/com/zy/common/utils/CommonUtils.java b/src/main/java/com/zy/common/utils/CommonUtils.java
index d3233b7..7d850db 100644
--- a/src/main/java/com/zy/common/utils/CommonUtils.java
+++ b/src/main/java/com/zy/common/utils/CommonUtils.java
@@ -1,5 +1,7 @@
package com.zy.common.utils;
+import com.core.common.RadixTools;
+
import java.math.BigDecimal;
/**
@@ -27,4 +29,15 @@
}
}
+ //int杞瑂hort鏁扮粍
+ public static short[] intToShorts(int num) {
+ //鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ byte[] bytes = RadixTools.intToBytes(num);
+ byte[] tmp1 = {bytes[0], bytes[1]};
+ short byteToShort = RadixTools.byteToShort(tmp1);
+ byte[] tmp2 = {bytes[2], bytes[3]};
+ short byteToShort2 = RadixTools.byteToShort(tmp2);
+ return new short[]{byteToShort2, byteToShort};
+ }
+
}
diff --git a/src/main/java/com/zy/core/enums/ShuttleStatusType.java b/src/main/java/com/zy/core/enums/ShuttleStatusType.java
index 36fc6d4..479b65f 100644
--- a/src/main/java/com/zy/core/enums/ShuttleStatusType.java
+++ b/src/main/java/com/zy/core/enums/ShuttleStatusType.java
@@ -6,24 +6,24 @@
*/
public enum ShuttleStatusType {
- IDLE(false, "绌洪棽"),
- BUSY(true, "蹇�"),
+ IDLE((short)0, "绌洪棽"),
+ BUSY((short)1, "蹇�"),
;
- public Boolean id;
+ public Short id;
public String desc;
- ShuttleStatusType(Boolean id,String desc) {
+ ShuttleStatusType(Short id,String desc) {
this.id = id;
this.desc = desc;
}
- public static ShuttleStatusType get(Boolean id) {
+ public static ShuttleStatusType get(Short id) {
if (null == id) {
return null;
}
for (ShuttleStatusType type : ShuttleStatusType.values()) {
- if (type.id.equals(id.booleanValue())) {
+ if (type.id.equals(id.shortValue())) {
return type;
}
}
diff --git a/src/main/java/com/zy/core/model/command/ShuttleCommand.java b/src/main/java/com/zy/core/model/command/ShuttleCommand.java
index 7acb6d6..17534f0 100644
--- a/src/main/java/com/zy/core/model/command/ShuttleCommand.java
+++ b/src/main/java/com/zy/core/model/command/ShuttleCommand.java
@@ -28,22 +28,22 @@
/**
* 鎺у埗鎸囦护瀛�
*/
- private Integer commandWord;
+ private Short commandWord;
/**
* 鍚浜岀淮缂栧彿
*/
- private String startCodeNum;
+ private Short startCodeNum;
/**
* 涓棿浜岀淮缂栧彿
*/
- private String middleCodeNum;
+ private Short middleCodeNum;
/**
* 鐩爣浜岀淮缂栧彿
*/
- private String distCodeNum;
+ private Short distCodeNum;
/**
* 璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴�
@@ -58,12 +58,12 @@
/**
* 灏忚溅杩愯鏂瑰悜
*/
- private Integer runDirection;
+ private Short runDirection;
/**
* 鎵樼洏椤跺崌
*/
- private Integer palletLift;
+ private Short palletLift;
/**
* 灏忚溅寮哄埗绉诲姩璺濈
@@ -73,26 +73,26 @@
/**
* 鍏呯數寮�鍏�
*/
- private Integer chargeSwitch;
+ private Short chargeSwitch;
/**
* 灏忚溅IO鎺у埗
*/
- private byte IOControl;
+ private Short IOControl;
/**
* 灏忚溅杩愯閫熷害
*/
- private Integer runSpeed;
+ private Short runSpeed;
/**
* 灏忚溅闆疯揪澶囩敤
*/
- private Integer radarTmp;
+ private Short radarTmp;
/**
* 鎸囦护缁撴潫浣�
*/
- private Integer commandEnd;
+ private Short commandEnd;
}
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index b82f97b..5c1d5d7 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -37,82 +37,11 @@
public Short lev;
/**
- * 鎺у埗鎸囦护瀛�
- */
- private Integer commandWord;
-
- /**
- * 鍚浜岀淮缂栧彿
- */
- private Integer startCodeNum;
-
- /**
- * 涓棿浜岀淮缂栧彿
- */
- private Integer middleCodeNum;
-
- /**
- * 鐩爣浜岀淮缂栧彿
- */
- private Integer distCodeNum;
-
- /**
- * 璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴�
- */
- private Integer startToDistDistance;
-
- /**
- * 涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害
- */
- private Integer middleToDistDistance;
-
- /**
- * 灏忚溅杩愯鏂瑰悜
- */
- private Integer runDirection;
-
- /**
- * 鎵樼洏椤跺崌
- */
- private Integer palletLift;
-
- /**
- * 灏忚溅寮哄埗绉诲姩璺濈
- */
- private Integer forceMoveDistance;
-
- /**
- * 鍏呯數寮�鍏�
- */
- private Integer chargeSwitch;
-
- /**
- * 灏忚溅IO鎺у埗
- */
- private Integer IOControl;
-
- /**
- * 灏忚溅杩愯閫熷害
- */
- private Integer runSpeed;
-
- /**
- * 灏忚溅闆疯揪澶囩敤
- */
- private Integer radarTmp;
-
- /**
- * 鎸囦护缁撴潫浣�
- */
- private Integer commandEnd;
-
-
- /**
* 灏忚溅蹇欑姸鎬佷綅
- * true: 蹇�
- * false: 绌洪棽
+ * 1: 蹇�
+ * 0: 绌洪棽
*/
- private Boolean busyStatus;
+ private Short busyStatus;
/**
* 灏忚溅蹇欑姸鎬佷綅鏋氫妇
@@ -123,82 +52,82 @@
* 褰撳墠浜岀淮鐮�
* 0涓虹┖
*/
- private String currentCode;
+ private Short currentCode;
/**
* 鐢垫睜鐢甸噺鐧惧垎姣�
*/
- private Double batteryPower;
+ private Short batteryPower;
/**
* 鐢垫睜娓╁害
*/
- private Double batteryTemp;
+ private Short batteryTemp;
/**
* 閿欒缂栧彿
*/
- private Integer errorCode;
+ private Short errorCode;
/**
* Plc杈撳嚭鐘舵�両O
*/
- private byte plcOutputStatusIO;
+ private Short plcOutputStatusIO;
/**
* 閿欒淇℃伅鐮�
*/
- private Integer statusErrorCode;
+ private Short statusErrorCode;
/**
* PLC杈撳叆鐘舵��
*/
- private byte plcInputStatus;
+ private Short plcInputStatus;
/**
* 褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
*/
- private String currentOrBeforeCode;
+ private Short currentOrBeforeCode;
/**
* 璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
*/
- private Integer codeOffsetX;
+ private Short codeOffsetX;
/**
* 璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
*/
- private Integer codeOffsetY;
+ private Short codeOffsetY;
/**
* 褰撳墠鐨勭數鍘嬪��
*/
- private Double currentVoltage;
+ private Short currentVoltage;
/**
* 褰撳墠鐨勬ā鎷熼噺鍊�
*/
- private Integer currentAnalogValue;
+ private Short currentAnalogValue;
/**
* 褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
*/
- private Double currentLiftServoSpeed;
+ private Short currentLiftServoSpeed;
/**
* 褰撳墠鐨勮璧颁己鏈嶉�熷害
*/
- private Double currentMoveServoSpeed;
+ private Short currentMoveServoSpeed;
/**
* 褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
*/
- private Double currentLiftServoLoad;
+ private Short currentLiftServoLoad;
/**
* 褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
*/
- private Double currentMoveServoLoad;
+ private Short currentMoveServoLoad;
/**
* 浣滀笟鏍囪
@@ -281,13 +210,13 @@
*/
private boolean goOHpAvoidErr;
- public void setBusyStatus(Boolean status) {
+ public void setBusyStatus(Short status) {
this.busyStatus = status;
this.busyStatusType = ShuttleStatusType.get(status);
}
public void setBusyStatus(ShuttleStatusType type) {
- this.busyStatus = type.id.booleanValue();
+ this.busyStatus = type.id.shortValue();
this.busyStatusType = type;
}
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 224377b..1e3d471 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -10,6 +10,7 @@
import com.core.common.DateUtils;
import com.core.common.RadixTools;
import com.core.exception.CoolException;
+import com.zy.common.utils.CommonUtils;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -28,6 +29,7 @@
import java.text.MessageFormat;
import java.util.Date;
+import java.util.Random;
/**
* 鍥涘悜绌挎杞︾嚎绋�
@@ -102,60 +104,58 @@
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("0", (short) 17);
+ OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
if (result.IsSuccess) {
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
shuttleProtocol.setShuttleNo(slave.getId().shortValue());
}
- //----------璁剧疆鍥涘悜绌挎杞︾姸鎬�-----------
+ //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
//鑾峰彇鏁版嵁
byte[] content = result.Content;
+ //灏忚溅蹇欑姸鎬佷綅
+ shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
+ //褰撳墠浜岀淮鐮�
+ shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
+ //鐢垫睜鐢甸噺鐧惧垎姣�
+ shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
+ //鐢垫睜娓╁害
+ shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
+ //閿欒缂栧彿
+ shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
+ //Plc杈撳嚭鐘舵�両O
+ shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
+ //閿欒淇℃伅鐮�
+ shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
+ //PLC杈撳叆鐘舵��
+ shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
+ //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
+ shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
+ //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
+ shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
+ //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
+ shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
+ //褰撳墠鐨勭數鍘嬪��
+ shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
+ //褰撳墠鐨勬ā鎷熼噺鍊�
+ shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
+ //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
+ shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
+ //褰撳墠鐨勮璧颁己鏈嶉�熷害
+ shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
+ //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+ shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
+ //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
+ shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));
- //--------鎺у埗瀛�--------
- //鎺у埗鎸囦护瀛�
- shuttleProtocol.setCommandWord(modbusTcpNet.getByteTransform().TransUInt16(content, 0));
- //鍚浜岀淮缂栧彿
- shuttleProtocol.setStartCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 2));
- //涓棿浜岀淮缂栧彿
- shuttleProtocol.setMiddleCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 4));
- //鐩爣浜岀淮缂栧彿
- shuttleProtocol.setDistCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 6));
- //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴�
- shuttleProtocol.setStartToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 8));
- //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害
- shuttleProtocol.setMiddleToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 12));
- //灏忚溅杩愯鏂瑰悜
- shuttleProtocol.setRunDirection(modbusTcpNet.getByteTransform().TransUInt16(content, 16));
- //鎵樼洏椤跺崌
- shuttleProtocol.setPalletLift(modbusTcpNet.getByteTransform().TransUInt16(content,18));
- //灏忚溅寮哄埗绉诲姩璺濈
- shuttleProtocol.setForceMoveDistance(modbusTcpNet.getByteTransform().TransInt32(content, 20));
- //鍏呯數寮�鍏�
- shuttleProtocol.setChargeSwitch(modbusTcpNet.getByteTransform().TransUInt16(content,24));
- //灏忚溅IO鎺у埗
- shuttleProtocol.setIOControl(modbusTcpNet.getByteTransform().TransUInt16(content,26));
- //灏忚溅杩愯閫熷害
- shuttleProtocol.setRunSpeed(modbusTcpNet.getByteTransform().TransUInt16(content,28));
- //灏忚溅闆疯揪澶囩敤
- shuttleProtocol.setRadarTmp(modbusTcpNet.getByteTransform().TransUInt16(content,30));
- //鎸囦护缁撴潫浣�
- shuttleProtocol.setCommandEnd(modbusTcpNet.getByteTransform().TransUInt16(content,32));
+ ///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
-
- //---------鐘舵�佸瓧---------
-// shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransUInt16(content,32));
-
- ///璁剧疆鍥涘悜绌挎杞︾姸鎬�-end
OutputQueue.SHUTTLE.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()));
- //璇诲彇鍥涘悜绌挎杞﹁澶囦俊鎭紝鎻愪緵鏌ヨ
- //.....
-
+ 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()));
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
//.....
-
}else {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆憑1}鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
@@ -173,34 +173,52 @@
return false;
}
- //鍒ゆ柇灏忚溅鏄惁鍦ㄥ厖鐢�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- if (devpThread.charge1){
-
- }
-
command.setShuttleNo(slave.getId());
- OperateResult result = null;
// 寮�濮嬩换鍔�
//...
+ short[] array = new short[17];
+ //鎺у埗鎸囦护瀛�
+ array[0] = command.getCommandWord();
+ //鍚浜岀淮缂栧彿
+ array[1] = command.getStartCodeNum();
+ //涓棿浜岀淮缂栧彿
+ array[2] = command.getMiddleCodeNum();
+ //鐩爣浜岀淮缂栧彿
+ array[3] = command.getDistCodeNum();
+ //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
+ array[4] = startToDistDistances[0];
+ array[5] = startToDistDistances[1];
- try {
- // 鏃ュ織璁板綍
- if (!command.getComplete() && command.getTaskMode() != 0) {
- //鏃ュ織璁板綍淇濆瓨鍒版暟鎹簱涓�
- //.....
- }
- } catch (Exception ignore) {}
+ //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
+ array[6] = middleToDistDistances[0];
+ array[7] = middleToDistDistances[1];
+ //灏忚溅杩愯鏂瑰悜
+ array[8] = command.getRunDirection();
+ //鎵樼洏椤跺崌
+ array[9] = command.getPalletLift();
+
+ //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
+ array[10] = forceMoveDistances[0];
+ array[11] = forceMoveDistances[1];
+
+ //鍏呯數寮�鍏�
+ array[12] = command.getChargeSwitch();
+ //灏忚溅IO鎺у埗
+ array[13] = command.getIOControl();
+ //灏忚溅杩愯閫熷害
+ array[14] = command.getRunSpeed();
+ //灏忚溅闆疯揪澶囩敤
+ array[15] = command.getRadarTmp();
+ //鎸囦护缁撴潫浣�
+ array[16] = command.getCommandEnd();
+
+ OperateResult result = modbusTcpNet.Write("0", array);;
if (result != null && result.IsSuccess) {
- // 缁存姢鏁版嵁搴撴帓鍒楀眰
-// if (!steProtocol.getWaiting()) {
-// if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) {
-// this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());
-// }
-// }
-
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
return true;
@@ -218,9 +236,9 @@
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
}
- shuttleProtocol.setShuttleNo(slave.getId().shortValue());
- shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
- shuttleProtocol.setCurrentCode("0");
+// shuttleProtocol.setShuttleNo(slave.getId().shortValue());
+// shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
+// shuttleProtocol.setCurrentCode("0");
}
/******************************************************************************************/
@@ -234,42 +252,23 @@
ShuttleThread thread = new ShuttleThread(slave);
thread.connect();
thread.readStatus();
- System.out.println(JSON.toJSONString(thread.shuttleProtocol));
- // 浠诲姟浣滀笟
-// SteCommand command = new SteCommand();
-// command.setSteNo(1); // 鍫嗗灈鏈虹紪鍙�
-// Random random = new Random();
-// int taskNo = random.nextInt(9090);
-// command.setTaskNo(taskNo); // 宸ヤ綔鍙�
-// command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 浠诲姟妯″紡
-// thread.write(command);
-
- // 浠诲姟瀹屾垚
-// SteCommand command = new SteCommand();
-// command.setSteNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setComplete(Boolean.TRUE); // 浠诲姟妯″紡
-// thread.write(command);
-
- // 鎺у埗妯″紡
-// SteCommand command = new SteCommand();
-// command.setControlMode((short) 1);
-// thread.write(command);
-
- // 澶嶄綅淇″彿
-// SteCommand command = new SteCommand();
-// command.setReset(Boolean.TRUE);
-// thread.write(command);
-
- // 鍒犻櫎鎸囦护
-// SteCommand command = new SteCommand();
-// command.setDelete(Boolean.TRUE);
-// thread.write(command);
-
- // 绌挎杞﹁繍琛岀姝�
-// SteCommand command = new SteCommand();
-// command.setRun((short)0);
-// thread.write(command);
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 0);
+ command.setStartCodeNum((short) 12323);
+ command.setMiddleCodeNum((short) 22323);
+ command.setDistCodeNum((short) 29999);
+ command.setStartToDistDistance(109999);
+ command.setMiddleToDistDistance(5000);
+ command.setRunDirection((short) 1);
+ command.setPalletLift((short) 2);
+ command.setForceMoveDistance(3000);
+ command.setChargeSwitch((short) 2);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 0);
+ command.setRadarTmp((short) 0);
+ command.setCommandEnd((short) 1);
+ thread.write(command);
}
}
--
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