From ffc3b1151655f258fb1db0b24c3434bd294b0598 Mon Sep 17 00:00:00 2001
From: dubin <bindu_bean@163.com>
Date: 星期日, 05 十月 2025 10:35:32 +0800
Subject: [PATCH] 联调
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 121 +++++++++++++++++++++------------------
1 files changed, 65 insertions(+), 56 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index f2b7e8d..8f4ef1f 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -74,7 +74,12 @@
break;
// 鍐欏叆鏁版嵁 1鍙峰伐浣�
case 2:
- write((CrnCommand) task.getData());
+ CrnCommand data = (CrnCommand) task.getData();
+ if (data.getPltType() == null || data.getPltType() == 1) {
+ write(data);
+ } else if (data.getPltType() == 2) {
+ write2(data);
+ }
break;
// 澶嶄綅 1鍙峰伐浣�
case 3:
@@ -93,10 +98,6 @@
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
write(command);
- break;
- // 鍐欏叆鏁版嵁 2鍙峰伐浣�
- case 4:
- write2((CrnCommand) task.getData());
break;
// 澶嶄綅 2鍙峰伐浣�
case 6:
@@ -146,13 +147,13 @@
crnProtocol.setWalkPos((short) 0);
crnProtocol.setLoaded((short) 0);
crnProtocol.setAlarm((short) 0);
- crnProtocol.setxSpeed((short) 0);
- crnProtocol.setySpeed((short) 0);
- crnProtocol.setzSpeed((short) 0);
- crnProtocol.setxDistance((short) 0);
- crnProtocol.setyDistance((short) 0);
- crnProtocol.setxDuration((short) 0);
- crnProtocol.setyDuration((short) 0);
+ crnProtocol.setxSpeed((float) 0);
+ crnProtocol.setySpeed((float) 0);
+ crnProtocol.setzSpeed((float) 0);
+ crnProtocol.setxDistance((float) 0);
+ crnProtocol.setyDistance((float) 0);
+ crnProtocol.setxDuration((float) 0);
+ crnProtocol.setyDuration((float) 0);
}
@Override
@@ -180,7 +181,7 @@
*/
private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
if (result.IsSuccess) {
if (null == crnProtocol) {
crnProtocol = new CrnProtocol();
@@ -192,34 +193,40 @@
crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
- crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
- crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
- crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
- crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
- crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
- crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
- crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
- crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
- crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
- crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
- crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
- crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
- crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
+ crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setWalkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 28));
+ crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 30));
+
+ crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));
+
+
+ //crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+ //crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+ //crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
+ //crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setxSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
+ crnProtocol.setySpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
+ crnProtocol.setzSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 42));
+ crnProtocol.setxDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 50) / 10000);
+ crnProtocol.setyDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 54) / 10000);
+ crnProtocol.setxDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 58) / 10000);
+ crnProtocol.setyDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 62) / 10000);
//2宸ヤ綅
- crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 56));
- crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 58));
- crnProtocol.setLiftPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 60));
- crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 64));
+ crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setStatusTwo(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+ crnProtocol.setBayTwo(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setLevelTwo(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 24));
OutputQueue.CRN.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()));
// 澶嶄綅淇″彿
if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
- News.error("---绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙颁俊鍙�:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
+ News.error("---绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙�1淇″彿:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "鏈夌墿" : "鏃犵墿");
if (resetFlag) {
if (crnProtocol.getTaskNo() == 9999) {
@@ -230,7 +237,7 @@
crnCommand.setAckFinish((short) 1);
if (write(crnCommand)) {
resetFlag = false;
- News.error("---绗簩姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}]==>> 澶嶄綅resetFlag鏍囪鎴愬姛{}锛侊紒",
+ News.error("---绗簩姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}]==>> 宸ヤ綅1澶嶄綅resetFlag鏍囪鎴愬姛{}锛侊紒",
slave.getId(), wrkNo, resetFlag);
}
}
@@ -238,7 +245,7 @@
// 澶嶄綅淇″彿
if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) {
- News.error("---绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙颁俊鍙�:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
+ News.error("---绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙�2淇″彿:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "鏈夌墿" : "鏃犵墿");
if (resetFlagTwo) {
if (crnProtocol.getTaskNo() == 9999) {
@@ -249,7 +256,7 @@
crnCommand.setAckFinish((short) 1);
if (write2(crnCommand)) {
resetFlagTwo = false;
- News.error("---绗簩姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}]==>> 澶嶄綅resetFlag鏍囪鎴愬姛{}锛侊紒",
+ News.error("---绗簩姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}]==>> 宸ヤ綅2澶嶄綅resetFlag鏍囪鎴愬姛{}锛侊紒",
slave.getId(), wrkNo, resetFlag);
}
}
@@ -326,7 +333,7 @@
// convertRow(command);
command.setCrnNo(slave.getId());
// short[] array = new short[10];
- short[] array = new short[10];
+ short[] array = new short[9];
array[0] = command.getAckFinish(); // 浠诲姟瀹屾垚纭浣�
array[1] = command.getTaskNo(); // 浠诲姟鍙�
array[2] = command.getTaskMode(); // 妯″紡
@@ -336,7 +343,6 @@
array[6] = command.getDestinationPosX(); // 鐩爣浣嶇疆鎺掑彿
array[7] = command.getDestinationPosY(); // 鐩爣浣嶇疆鍒楀彿
array[8] = command.getDestinationPosZ(); // 鐩爣浣嶇疆灞傚彿
- array[9] = command.getCommand();
// array[10] = 0; //澶囩敤1
@@ -353,6 +359,7 @@
// if (!resetFlag){
News.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触锛岄噸鏂颁笅鍙戜换鍔� 鍐欏叆鐩存帴澶辫触 ===>> [id:{}],{},[鍐欏叆娆℃暟:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
result = siemensNet.Write("DB100.0", array);
+
// }
Thread.sleep(100);
writeCount1++;
@@ -489,8 +496,8 @@
return false;
}
// 鍚戝爢鍨涙満鍙戜换鍔″墠鐨勫爢鍨涙満鐘舵��
- try{
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
+ try {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 20);
if (resultRead.IsSuccess) {
CrnCommand one = new CrnCommand();
one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
@@ -505,13 +512,13 @@
|| !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
|| !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
|| !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
- ){
+ ) {
// News.error("涓嬪彂鍓嶏細[id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
} else {
// News.info("涓嬪彂鍓嶏細[id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
}
}
- }catch (Exception e){
+ } catch (Exception e) {
News.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲嚭閿�");
}
// convertRow(command);
@@ -531,7 +538,7 @@
// array[10] = 0; //澶囩敤1
short[] array2 = new short[1];
- array2[0] = command.getAckFinish();
+ array2[0] = command.getAckFinish();
OperateResult result = siemensNet.Write("DB100.20", array);
OperateResult result2 = siemensNet.Write("DB100.0", array2);
News.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), array);
@@ -539,7 +546,7 @@
int writeCount1 = 1;
do {
try {
- if (!result.IsSuccess||!result2.IsSuccess) {
+ if (!result.IsSuccess || !result2.IsSuccess) {
// if (!resetFlag){
News.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触锛岄噸鏂颁笅鍙戜换鍔� 鍐欏叆鐩存帴澶辫触 ===>> [id:{}],{},[鍐欏叆娆℃暟:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
result = siemensNet.Write("DB100.0", array);
@@ -548,7 +555,7 @@
writeCount1++;
continue;
}
- OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
if (resultRead.IsSuccess) {
CrnCommand one = new CrnCommand();
one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
@@ -593,7 +600,7 @@
}
}
} catch (Exception e) {
- News.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲嚭閿�,寮傚父锛�" + e);
+ News.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲嚭閿�2,寮傚父锛�" + e);
}
writeCount1++;
} while (writeCount1 < 6);
@@ -609,26 +616,26 @@
writeCount2++;
short commandFinish = (short) 1;
result = siemensNet.Write("DB100.38", commandFinish);
- if(result.IsSuccess){
+ if (result.IsSuccess) {
//鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(200);
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2);
if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
- if (commandFinish != 1){
- News.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+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{
+ commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish != 1) {
+ News.error("鍫嗗灈鏈轰换鍔＄‘璁や綅" + 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
// News.info("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
break;
}
- }else {
- News.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ } else {
+ News.error("鍫嗗灈鏈轰换鍔＄‘璁や綅" + commandFinish + "鍥炶澶辫触锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
}
} else {
- News.error("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ News.error("鍫嗗灈鏈轰换鍔＄‘璁や綅" + commandFinish + "鍐欏叆澶辫触锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
}
- }while (writeCount2<5);
+ } while (writeCount2 < 5);
}
}
@@ -654,7 +661,8 @@
null // 淇敼浜哄憳
);
bean.insert(basCrnOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
@@ -668,6 +676,7 @@
return false;
}
}
+
public void requestStop() {
isRunning = false;
}
--
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