From d8b7de110ce5e16b95f87f79aec65c13b7f475f2 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期六, 20 四月 2024 17:44:50 +0800
Subject: [PATCH] #演示
---
src/main/java/com/zy/core/thread/SiemensRgvThread.java | 92 +++++++++++++++++++++++-----------------------
1 files changed, 46 insertions(+), 46 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensRgvThread.java b/src/main/java/com/zy/core/thread/SiemensRgvThread.java
index edc891f..c6d7b77 100644
--- a/src/main/java/com/zy/core/thread/SiemensRgvThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensRgvThread.java
@@ -86,8 +86,8 @@
command = new RgvCommand();
}
command.setRgvNo(slave.getId()); // RGV缂栧彿
- command.setTaskNo1((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskNo1( 0); // 宸ヤ綔鍙�
+ command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short)0); // 婧愮珯
command.setDestinationStaNo1((short)0); // 鐩爣绔�
@@ -101,8 +101,8 @@
commandAvoidanceXY = new RgvCommand();
}
commandAvoidanceXY.setRgvNo(slave.getId()); // RGV缂栧彿
- commandAvoidanceXY.setTaskNo1((short) 9999); // 宸ヤ綔鍙�
- commandAvoidanceXY.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ commandAvoidanceXY.setTaskNo1( 9999); // 宸ヤ綔鍙�
+ commandAvoidanceXY.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
commandAvoidanceXY.setSourceStaNo1((short)0); // 婧愮珯
commandAvoidanceXY.setDestinationStaNo1((short)0); // 鐩爣绔�
@@ -134,7 +134,7 @@
}
rgvProtocol.setMode((short) -1);
rgvProtocol.setStatus((short)-1);
- rgvProtocol.setTaskNo1((short)0);
+ rgvProtocol.setTaskNo1(0);
rgvProtocol.setStatus1((short)-1);
rgvProtocol.setLoaded1((short)0);
rgvProtocol.setWalkPos((short)0);
@@ -175,20 +175,26 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) 16);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
if (result.IsSuccess) {
if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
rgvProtocol = new RgvProtocol();
rgvProtocol.setRgvNo(slave.getId());
}
rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- rgvProtocol.setSouSta(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
- rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 8));
- rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));
- rgvProtocol.setSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- rgvProtocol.setRgvPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));
+// rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
+ rgvProtocol.setRgvPos((int) siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+// rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+ rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+// rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+ rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+// rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
+// rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
OutputQueue.RGV.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()));
@@ -304,21 +310,21 @@
log.error("RGV鍐欏叆鍛戒护涓虹┖");
return false;
}
-
-// siemensNet.Write("DB100.20", command.getCommand());
+ siemensNet.Write("DB100.16", false);
command.setRgvNo(slave.getId());
- short[] array = new short[5];
- array[0] = command.getAckFinish1();
- array[1] = command.getTaskNo1();
+ short[] array = new short[4];
+ array[0] = command.getSourceStaNo1();
+ array[1] = command.getDestinationStaNo1();
array[2] = command.getTaskMode1();
- array[3] = command.getSourceStaNo1();
- array[4] = command.getDestinationStaNo1();
- siemensNet.Write("DB100.10", command.getCommand());
+// array[4] = command.getTaskNo1().shortValue();
+ OperateResult result1 = siemensNet.Write("DB100.0",command.isAckFinish1());
+ OperateResult result2 = siemensNet.Write("DB100.2", array);
+ OperateResult result3 = siemensNet.Write("DB100.8", command.getTaskNo1());
+// OperateResult result3 = siemensNet.Write("DB100.14.1", command.getAckFinish1() != 0);
- OperateResult result = siemensNet.Write("DB100.0", array);
- if (!result.IsSuccess){
+ if (!result1.IsSuccess && !result2.IsSuccess){
log.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));
MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
Thread.sleep(100);
@@ -332,12 +338,13 @@
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 12);
if (resultRead.IsSuccess){
RgvCommand one = new RgvCommand();
-// one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
- one.setTaskNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
- one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
- one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
- one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
- if (
+ one.setAckFinish1(siemensNet.getByteTransform().TransBool(resultRead.Content, 0));
+ one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 8));
+// one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ if ( !command.isAckFinish1() == one.isAckFinish1() ||
!command.getTaskNo1().equals(one.getTaskNo1()) ||
!command.getTaskMode1().equals(one.getTaskMode1()) ||
!command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
@@ -365,23 +372,22 @@
log.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
}
- if (command.getAckFinish1() == 0) {
- if (result.IsSuccess) {
+ if (!command.isAckFinish1()) {
+ if (result1.IsSuccess) {
Thread.sleep(300);
//浠诲姟涓嬪彂娆℃暟
int writeCount2 = 0;
do {
writeCount2++;
- short commandFinish = (short) 1;
- result = siemensNet.Write("DB100.10", commandFinish);
- if(result.IsSuccess){
+ result1 = siemensNet.Write("DB100.16", true);
+ if(result1.IsSuccess){
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(200);
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.10", (short) 2);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.16", (short) 2);
if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
- if (commandFinish != 1){
+ boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
+ if (!commandFinish){
log.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
@@ -389,24 +395,18 @@
break;
}
}else {
- log.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ log.error("RGV浠诲姟纭浣嶅洖璇诲け璐ワ紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}
} else {
- log.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ log.error("RGV浠诲姟纭浣嶅啓鍏ュけ璐ワ紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}
}while (writeCount2<5);
}
}
-// if (command.getAckFinish1() == 0) {
-// short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
-// Thread.sleep(200);
-// result = siemensNet.Write("DB100.10", commandFinish);
-// }
-
- if (result != null && result.IsSuccess) {
+ if (result1 != null && result1.IsSuccess) {
Thread.sleep(200);
this.readStatus();
log.info("RGV 宸ヤ綅1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
--
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