From d91d1fc34a8af84513416cb2a03c75d96fb0304e Mon Sep 17 00:00:00 2001
From: zzgtfwq <zzgtfwq>
Date: 星期三, 10 十二月 2025 08:46:01 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/model/StartupDto.java | 6
src/main/java/com/zy/core/thread/RgvThread.java | 152 +++++++++++++++++----
src/main/java/com/zy/asrs/controller/RgvController.java | 12 +
src/main/java/com/zy/asrs/utils/Utils.java | 78 +++++++---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 4
src/main/java/com/zy/asrs/entity/WrkMast.java | 6
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 4
src/main/resources/application.yml | 152 ++++++++++----------
8 files changed, 266 insertions(+), 148 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 5fe0cb4..6c12e13 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -391,7 +391,11 @@
// ringThroughParam.setIndex(i);
// double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
// double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
- double[] doubles = Utils.getRgvPosNew(trackEntireLength, rgvProtocol.RgvPos.doubleValue());
+ double v = rgvProtocol.RgvPos.doubleValue() ;
+ if (rgv.getId()>2){
+ v = rgvProtocol.RgvPos.doubleValue() + 1000000.0;
+ }
+ double[] doubles = Utils.getRgvPosNew(trackEntireLength, v);
ringThroughParam.setValueX(doubles[0]);
ringThroughParam.setValueY(doubles[1]);
@@ -445,7 +449,11 @@
// double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
// ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
// ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
- double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),trackEntireLength, basDevpPosition.getPlcPosition());
+ double v = basDevpPosition.getPlcPosition() ;
+ if (basDevpPosition.getDevNo()>200){
+ v = basDevpPosition.getPlcPosition() + 1000000.0;
+ }
+ double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),trackEntireLength, v);
ringThroughParam.setValueX(doubles[0]);
ringThroughParam.setValueY(doubles[1]);
result.add(ringThroughParam);
diff --git a/src/main/java/com/zy/asrs/entity/WrkMast.java b/src/main/java/com/zy/asrs/entity/WrkMast.java
index e1f5c49..88860a0 100644
--- a/src/main/java/com/zy/asrs/entity/WrkMast.java
+++ b/src/main/java/com/zy/asrs/entity/WrkMast.java
@@ -495,11 +495,11 @@
switch (sourceStaNo){
case 118:
case 121:
- case 122:
+ case 124:
case 218:
case 221:
- case 222:
- return sourceStaNo+1;
+ case 224:
+ return sourceStaNo-1;
}
return staNo;
}
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 46167d3..03e06ce 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -722,7 +722,7 @@
}
// 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
+ if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo()) && crnProtocol.getCrnNo()!=3) {
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
// O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
@@ -869,7 +869,7 @@
}
// 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
+ if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo()) && crnProtocol.getCrnNo()!=3) {
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
// O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index c208377..c14a658 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -87,8 +87,14 @@
*/
public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
int row = getRow(deepLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
+ int shallowRow = row;
+ if (row==1 || row == 5 || row==11){
+ shallowRow = row+1;
+ } else if (row==4 || row==8 || row == 14){
+ shallowRow = row-1;
+ }
+// int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
+// int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
}
@@ -105,15 +111,23 @@
*/
public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
+// int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
int targetRow;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 3) {
- targetRow = row + 1;
- } else {
+// int targetRow = row;
+ if (row==2 || row == 6 || row==12){
+ targetRow = row-1;
+ } else if (row==3 || row==7 || row == 13){
+ targetRow = row+1;
+ }else {
throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
}
+// if (remainder == 2) {
+// targetRow = row - 1;
+// } else if (remainder == 3) {
+// targetRow = row + 1;
+// } else {
+// throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
+// }
return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
}
@@ -121,14 +135,23 @@
* 鑾峰彇 娴呭簱浣嶆帓瀵瑰簲鐨勬繁搴撲綅鎺�
*/
public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
- int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
+// int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
int targetRow;
- if (remainder == 2) {
- targetRow = shallowRow - 1;
- } else if (remainder == 3) {
- targetRow = shallowRow + 1;
- } else {
- throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
+// if (remainder == 2) {
+// targetRow = shallowRow - 1;
+// } else if (remainder == 3) {
+// targetRow = shallowRow + 1;
+// } else {
+// throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
+// }
+
+// int targetRow = row;
+ if (shallowRow==2 || shallowRow == 6 || shallowRow==12){
+ targetRow = shallowRow-1;
+ } else if (shallowRow==3 || shallowRow==7 || shallowRow == 13){
+ targetRow = shallowRow+1;
+ }else {
+ throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
}
return targetRow;
}
@@ -217,18 +240,19 @@
// {680103, 731550, 1115, 882, 1215, 775, 1125, 882},
// 鐩寸嚎鍖洪棿锛�0-134400锛�
// {璧风偣, 缁堢偣, 绫诲瀷, x1, y1, x2, y2,
- {0.0, 120000.0, 0, 390.0, 750.0, 60.0, 750.0},
- // 鍦嗗姬鍖洪棿锛堟嫄鐐�116-115锛夋柊鍙傛暟锛氬渾蹇�(1115,775)
- {120000.0, 127500.0, 2, 60.0, 750.0, 10.0, 800.0, 60.0, 800.0}, // 淇缁堢偣鍧愭爣
- {127500.0, 134900.0, 2, 10.0, 800.0, 60.0, 850.0, 60.0, 800.0},
- {134900.0, 680103.0,0, 60.0, 850.0, 1100.0, 850.0},
- {680103.0, 731550.0, 2, 1100.0, 850.0, 1200.0, 750.0, 1100.0, 750.0},
- {731550.0, 972950.0,0, 1200.0, 750.0, 1200.0, 100.0},
- {972950.0, 1016193.0, 2, 1200.0, 100.0, 1150.0, 50.0, 1150.0, 100.0},
- {1016193.0, 1063563.0, 2, 1150.0, 50.0, 1100.0, 100.0, 1150.0, 100.0},
- {1063563.0, 1315250.0,0, 1100.0, 100.0, 1100.0, 700.0},
- {1315250.0, 1322829.0, 2, 1100.0, 700.0, 1050.0, 750.0, 1050.0, 700.0},
- {1322829.0, 1737000.0,0, 1050.0, 750.0, 390.0, 750.0},
+ {0.0, 240000.0, 0, 100.0, 225.0, 1100.0, 225.0},
+ {1000000.0, 1240000.0, 0, 100.0, 625.0, 1100.0, 625.0},
+// // 鍦嗗姬鍖洪棿锛堟嫄鐐�116-115锛夋柊鍙傛暟锛氬渾蹇�(1115,775)
+// {120000.0, 127500.0, 2, 60.0, 750.0, 10.0, 800.0, 60.0, 800.0}, // 淇缁堢偣鍧愭爣
+// {127500.0, 134900.0, 2, 10.0, 800.0, 60.0, 850.0, 60.0, 800.0},
+// {134900.0, 680103.0,0, 60.0, 850.0, 1100.0, 850.0},
+// {680103.0, 731550.0, 2, 1100.0, 850.0, 1200.0, 750.0, 1100.0, 750.0},
+// {731550.0, 972950.0,0, 1200.0, 750.0, 1200.0, 100.0},
+// {972950.0, 1016193.0, 2, 1200.0, 100.0, 1150.0, 50.0, 1150.0, 100.0},
+// {1016193.0, 1063563.0, 2, 1150.0, 50.0, 1100.0, 100.0, 1150.0, 100.0},
+// {1063563.0, 1315250.0,0, 1100.0, 100.0, 1100.0, 700.0},
+// {1315250.0, 1322829.0, 2, 1100.0, 700.0, 1050.0, 750.0, 1050.0, 700.0},
+// {1322829.0, 1737000.0,0, 1050.0, 750.0, 390.0, 750.0},
};
for (Object[] interval : intervals) {
diff --git a/src/main/java/com/zy/common/model/StartupDto.java b/src/main/java/com/zy/common/model/StartupDto.java
index e3e95a6..cf5a896 100644
--- a/src/main/java/com/zy/common/model/StartupDto.java
+++ b/src/main/java/com/zy/common/model/StartupDto.java
@@ -27,11 +27,11 @@
switch (sourceStaNo){
case 118:
case 121:
- case 122:
+ case 124:
case 218:
case 221:
- case 222:
- return sourceStaNo+1;
+ case 224:
+ return sourceStaNo-1;
}
return staNoE;
}
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 6be9330..6ea0bca 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -52,7 +52,7 @@
//# 杞ㄩ亾鍩哄噯鐐�
private Long trackBenchmark = 1L;
// # 閬胯璺濈
- private Long avoidDistance = 14000L;
+ private Long avoidDistance = 11200L;
private String errorRgv = "-";
/**
@@ -134,7 +134,7 @@
initRgv();
continue;
}
- Thread.sleep(20);
+ Thread.sleep(100L);
// System.out.println("璇荤嚎绋�,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
readStatus();
@@ -169,12 +169,12 @@
}
continue;
}
-// if (delRgvTask){
-// writeDelRgvTask();
-// delRgvTask = false;
-// continue;
-// }
- Thread.sleep(50L);
+ if (delRgvTask){
+ writeDelRgvTask();
+ delRgvTask = false;
+ continue;
+ }
+ Thread.sleep(200L);
// 鏋勫缓璁惧鐘舵�佸璞�
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
@@ -182,10 +182,33 @@
rgvProtocol = new RgvProtocol();
}
if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING) || rgvProtocol.getStatusType().equals(RgvStatusType.FETCHWAITING)){
- OperateResult result2 = siemensNet.Write("DB100.2",(int) 0);
- OperateResult result = siemensNet.Write("DB100.14", (int) 0);
- OperateResult result1 = siemensNet.Write("DB100.6", (short) 0);
- OperateResult result4 = siemensNet.Write("DB100.0", (short) 1);
+ boolean sign = true;
+ int i = 1;
+ while (sign && i<5){
+ i++;
+ sign = false;
+ OperateResult result2 = siemensNet.Write("DB100.2",(int) 0);
+ OperateResult result14 = siemensNet.Write("DB100.14", (int) 0);
+ OperateResult result6 = siemensNet.Write("DB100.6", (short) 0);
+ OperateResult result8 = siemensNet.Write("DB100.8", (short) 0);
+ OperateResult result10 = siemensNet.Write("DB100.10", (short) 0);
+ OperateResult result12 = siemensNet.Write("DB100.12", (short) 0);
+ Thread.sleep(10L);
+
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);
+ short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);
+ short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);
+ short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);
+ Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);
+ if (i2!=0 || i6 != (short) 0
+ || i8!=(short)0 || i10 != (short) 0
+ || i14!=0){
+ sign = true;
+ }
+ }
+
+ OperateResult result0 = siemensNet.Write("DB100.0", (short) 1);
}
} catch (Exception e) {
log.error("RGV鏁版嵁浠诲姟涓嬪彂澶嶄綅绾跨▼寮傚父锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
@@ -218,7 +241,7 @@
continue;
}
// 浼戠湢 1 绉�
- Thread.sleep(100);
+ Thread.sleep(200L);
if (!deviceDetection()) {
continue;
@@ -1154,10 +1177,13 @@
}
return false;
}
+
+
+ this.wrkSign = 1;
// convertRow(command);
// taskProtocol.setRgvNo(slave.getId());
// Long[] array = new Long[11];
- OperateResult result41 = siemensNet.Write("DB100.0", (short) 0);
+ OperateResult result0 = siemensNet.Write("DB100.0", (short) 0);
// array[0] = taskProtocol.getAckFinish1();
// array[1] = taskProtocol.getTaskNo();
// array[2] = taskProtocol.getTaskMode();
@@ -1166,18 +1192,52 @@
int taskStatus = taskProtocol.getTaskStatus$();
int targetPositionStaNo = taskProtocol.getTargetPositionStaNo();
int targetPositionStaNoEnd = taskProtocol.getTargetPositionStaNoEnd();
-
- OperateResult result2 = siemensNet.Write("DB100.2", taskProtocol.getTaskNo().intValue());
- OperateResult result1 = siemensNet.Write("DB100.6", (short) taskStatus);
- OperateResult result11 = siemensNet.Write("DB100.8", (short) targetPositionStaNo);
- OperateResult result12 = siemensNet.Write("DB100.10", (short) targetPositionStaNo);
- OperateResult result = siemensNet.Write("DB100.14", taskProtocol.getTargetPosition().intValue());
- OperateResult result13 = siemensNet.Write("DB100.18", (short) targetPositionStaNoEnd);
+ boolean sign = true;
+ int i = 1;
+ while (sign && i<5){
+ i++;
+ sign = false;
+ OperateResult result2 = siemensNet.Write("DB100.2", taskProtocol.getTaskNo().intValue());
+ OperateResult result6 = siemensNet.Write("DB100.6", (short) taskStatus);
+ OperateResult result8 = siemensNet.Write("DB100.8", (short) targetPositionStaNo);
+ OperateResult result10 = siemensNet.Write("DB100.10", (short) targetPositionStaNo);
+ OperateResult result14 = siemensNet.Write("DB100.14", taskProtocol.getTargetPosition().intValue());
+ OperateResult result18 = siemensNet.Write("DB100.18", (short) targetPositionStaNoEnd);
// OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
- Thread.sleep(10L);
+ Thread.sleep(10L);
- OperateResult result4 = siemensNet.Write("DB100.12", (short) 1);
- this.wrkSign = 1;
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ short i0 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 0);
+ Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);
+ short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);
+ short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);
+ short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);
+ Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);
+ short i18 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 18);
+ if (i0 !=(short) 0 || i2!=taskProtocol.getTaskNo().intValue() || i6 != (short) taskStatus
+ || i8!=(short)targetPositionStaNo || i10 != (short) targetPositionStaNo
+ || i14!=taskProtocol.getTargetPosition().intValue() || i18 != (short) targetPositionStaNoEnd){
+ sign = true;
+ }
+ }
+ sign = true;
+ OperateResult result12 = siemensNet.Write("DB100.12", (short) 1);
+//
+ i = 1;
+ sign = true;
+ while (sign && i<5){
+ i++;
+ sign = false;
+// OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+ Thread.sleep(10L);
+
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ short i12 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 12);
+ if (i12 != (short) 1 ){
+ sign = true;
+ }
+ result12 = siemensNet.Write("DB100.12", (short) 1);
+ }
// log.info("浠诲姟涓嬪彂绾跨▼,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
@@ -1199,7 +1259,7 @@
null,
null,
null,
- result.IsSuccess ? 1 : 0,
+ result12.IsSuccess ? 1 : 0,
null,
new Date(),
null
@@ -1209,7 +1269,7 @@
}
readStatus();
- if (result != null && result.IsSuccess) {
+ if (result12 != null && result0.IsSuccess) {
// Thread.sleep(50);
// this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(taskProtocol));
@@ -1232,11 +1292,37 @@
private boolean writeDelRgvTask() throws InterruptedException {
//
- OperateResult result = siemensNet.Write("DB100.12.0", false);
- OperateResult result0 = siemensNet.Write("DB100.0", (int) 0);
- OperateResult result1 = siemensNet.Write("DB100.4", (short) 0);
- OperateResult result2 = siemensNet.Write("DB100.6", (int) 0);
- OperateResult result3 = siemensNet.Write("DB100.10", (short) 0); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+ int i = 1;
+ boolean sign = true;
+ while (sign && i<5){
+ i++;
+ sign = false;
+ OperateResult result0 = siemensNet.Write("DB100.0", (short) 0);
+ OperateResult result2 = siemensNet.Write("DB100.2", 0);
+ OperateResult result6 = siemensNet.Write("DB100.6", (short) 0);
+ OperateResult result8 = siemensNet.Write("DB100.8", (short) 0);
+ OperateResult result10 = siemensNet.Write("DB100.10", (short) 0);
+ OperateResult result12 = siemensNet.Write("DB100.12",(short)0);
+ OperateResult result14 = siemensNet.Write("DB100.14",0);
+ OperateResult result18 = siemensNet.Write("DB100.18", (short) 0);
+// OperateResult result3 = siemensNet.Write("DB100.10", taskProtocol.isDirection()? (short) 1 : (short) 2); // 鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
+ Thread.sleep(10L);
+
+ OperateResultExOne<byte[]> resultRead0 = siemensNet.Read("DB100.0", (short) 20);
+ short i0 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 0);
+ Integer i2 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 2);
+ short i6 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 6);
+ short i8 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 8);
+ short i10 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 10);
+ short i12 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 12);
+ Integer i14 = siemensNet.getByteTransform().TransInt32(resultRead0.Content, 14);
+ short i18 = siemensNet.getByteTransform().TransInt16(resultRead0.Content, 18);
+ if (i0 !=(short) 0 || i2!=0 || i6 != (short) 0
+ || i8!=(short)0 || i10 != (short) 0 || i12 != (short) 0
+ || i14!=0 || i18 != (short) 0){
+ sign = true;
+ }
+ }
log.info("浠诲姟瀹屾垚涓嬪彂绾跨▼,灏忚溅鍙�"+ slave.getId()+"鏃堕棿鎴筹細"+System.currentTimeMillis());
try {
@@ -1251,7 +1337,7 @@
null,
null,
null,
- result.IsSuccess ? 1 : 0,
+ sign ? 1 : 0,
null,
new Date(),
null
@@ -1260,7 +1346,7 @@
} catch (Exception ignore) {
}
- if (result != null && result.IsSuccess) {
+ if (sign) {
// Thread.sleep(200);
// this.readStatus();
log.info("RGV 鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON("null"));
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index ba4aeeb..3979c4e 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -47,13 +47,13 @@
public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
add(101);add(102);add(103);add(104);add(105);add(106);add(107);add(108);add(109);add(110);
add(111);add(112);add(113);add(114);add(115);add(116);add(117);add(118);add(119);add(120);
- add(121);add(122);add(124);add(125);
+ add(121);add(122);add(123);add(124);add(125);
}};
public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
add(201);add(202);add(203);add(204);add(205);add(206);add(207);add(208);add(209);add(210);
add(211);add(212);add(213);add(214);add(215);add(216);add(217);add(218);add(219);add(220);
- add(221);add(222);add(224);add(225);
+ add(221);add(222);add(223);add(224);add(225);
}};
public static final ArrayList<Integer> staNos1W = new ArrayList<Integer>() {{
add(118);add(121);add(124);
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 9fc2721..43c40c2 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -59,7 +59,7 @@
# 杞ㄩ亾杞崲涓虹背姣斾緥
trackProportion: 10000
# 閬胯璺濈
- avoidDistance: 13300
+ avoidDistance: 11200
inventory:
number: 7
@@ -68,7 +68,7 @@
# 鍙屾繁
doubleDeep: true
# 鍙屾繁搴撲綅鎺掑彿
- doubleLocs: 1,4,5,8,9,12,13,16,17,20
+ doubleLocs: 1,4,5,8,11,14
# 涓�涓爢鍨涙満璐熻矗鐨勮揣鏋舵帓鏁�
groupCount: 4
# 鍫嗗灈鏈�1
@@ -298,9 +298,9 @@
directionOther: false
rgvOutSta[3]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 116
+ staNo: 102
direction: true
- staNoOther: 116
+ staNoOther: 102
directionOther: false
rgvOutSta[4]:
devpPlcId: ${wcs-slave.devp[0].id}
@@ -316,9 +316,9 @@
directionOther: false
rgvSuperSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 116
+ staNo: 102
direction: true
- staNoOther: 116
+ staNoOther: 102
directionOther: false
# RGV绌挎杞�2
rgv[1]:
@@ -402,9 +402,9 @@
directionOther: false
rgvOutSta[3]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 102
+ staNo: 116
direction: true
- staNoOther: 102
+ staNoOther: 116
directionOther: false
rgvOutSta[4]:
devpPlcId: ${wcs-slave.devp[0].id}
@@ -420,9 +420,9 @@
directionOther: false
rgvSuperSta[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 102
+ staNo: 116
direction: true
- staNoOther: 102
+ staNoOther: 116
directionOther: false
# RGV绌挎杞�3
rgv[2]:
@@ -436,49 +436,49 @@
carBodyKunPeng: 2800
#RGV婧愮珯鐐�
rgvInSta[0]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 217
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶�===> 鍚� 鍓峵rue鍚巉alse锛� true:宸� false:鍙�
direction: false
staNoOther: 217
directionOther: false
rgvInSta[1]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 220
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: false
staNoOther: 220
directionOther: false
rgvInSta[2]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 223
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
staNoOther: 223
directionOther: false
rgvInSta[3]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 204
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
staNoOther: 204
directionOther: false
rgvInSta[4]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 208
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
staNoOther: 208
directionOther: false
rgvInSta[5]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 212
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
staNoOther: 212
directionOther: false
rgvInSta[6]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 214
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
@@ -486,47 +486,47 @@
directionOther: false
#RGV鐩爣绔欑偣
rgvOutSta[0]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 217
direction: false
staNoOther: 217
directionOther: false
rgvOutSta[1]:
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
staNo: 220
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: false
staNoOther: 220
directionOther: false
rgvOutSta[2]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 123
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 223
direction: false
- staNoOther: 123
+ staNoOther: 223
directionOther: false
rgvOutSta[3]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 102
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 202
direction: true
- staNoOther: 102
+ staNoOther: 202
directionOther: false
rgvOutSta[4]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 106
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 206
direction: true
- staNoOther: 106
+ staNoOther: 206
directionOther: false
rgvOutSta[5]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 110
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 210
direction: true
- staNoOther: 110
+ staNoOther: 210
directionOther: false
rgvSuperSta[0]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 102
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 202
direction: true
- staNoOther: 102
+ staNoOther: 202
directionOther: false
# RGV绌挎杞�4
rgv[3]:
@@ -540,97 +540,97 @@
carBodyKunPeng: 2800
#RGV婧愮珯鐐�
rgvInSta[0]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 117
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 217
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶�===> 鍚� 鍓峵rue鍚巉alse锛� true:宸� false:鍙�
direction: false
- staNoOther: 117
+ staNoOther: 217
directionOther: false
rgvInSta[1]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 120
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 220
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: false
- staNoOther: 120
+ staNoOther: 220
directionOther: false
rgvInSta[2]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 123
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 223
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 123
+ staNoOther: 223
directionOther: false
rgvInSta[3]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 104
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 204
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 104
+ staNoOther: 204
directionOther: false
rgvInSta[4]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 108
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 208
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 108
+ staNoOther: 208
directionOther: false
rgvInSta[5]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 112
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 212
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 112
+ staNoOther: 212
directionOther: false
rgvInSta[6]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 114
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 214
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: true
- staNoOther: 114
+ staNoOther: 214
directionOther: false
#RGV鐩爣绔欑偣
rgvOutSta[0]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 117
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 217
direction: false
- staNoOther: 117
+ staNoOther: 217
directionOther: false
rgvOutSta[1]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 120
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 220
#鎵ц鏂瑰悜锛堥潰鏈濊建閬� 瀹氫綅鍊煎乏灏忓彸澶э級 true:宸� false:鍙�
direction: false
- staNoOther: 120
+ staNoOther: 220
directionOther: false
rgvOutSta[2]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 123
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 223
direction: false
- staNoOther: 123
+ staNoOther: 223
directionOther: false
rgvOutSta[3]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 116
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 216
direction: true
- staNoOther: 116
+ staNoOther: 216
directionOther: false
rgvOutSta[4]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 106
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 206
direction: true
- staNoOther: 106
+ staNoOther: 206
directionOther: false
rgvOutSta[5]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 110
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 210
direction: true
- staNoOther: 110
+ staNoOther: 210
directionOther: false
rgvSuperSta[0]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 116
+ devpPlcId: ${wcs-slave.devp[1].id}
+ staNo: 216
direction: true
- staNoOther: 116
+ staNoOther: 216
directionOther: false
# 杈撻�佺嚎1
devp[0]:
--
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