From 314e894c0d6ce2739344dcd1c94ae7770868a0f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 五月 2025 14:51:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java | 86 ++++++++++++++++++++++++++++--------------
1 files changed, 57 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
index d84c69c..9d30a66 100644
--- a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
+++ b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
@@ -87,7 +87,7 @@
}
read();
- Thread.sleep(200);
+ Thread.sleep(300);
execute();
} catch (Exception e) {
e.printStackTrace();
@@ -131,19 +131,7 @@
private void readStatus() {
try {
//鑾峰彇鎻愬崌鏈烘暟鎹�
- HashMap<String, Object> resultData = this.masterThread.read(this.slave.getId(), "status");
- if (resultData == null) {
- OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
- return;
- }
- if (Integer.parseInt(resultData.get("slaveId").toString()) != this.slave.getId()) {
- return;
- }
- if (!resultData.get("slaveId").toString().equals("status")) {
- return;
- }
-
- OperateResultExOne<byte[]> result1 = (OperateResultExOne<byte[]>) resultData.get("data");
+ OperateResultExOne<byte[]> result1 = this.masterThread.read(this.slave.getId(), "status");
SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
if (result1.IsSuccess) {
if (null == forkLiftProtocol) {
@@ -171,6 +159,8 @@
forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
//鏁呴殰鐮�
forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
+ //褰撳墠灞�
+ forkLiftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));
//************琛ュ厖鎵╁睍瀛楁*************
InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
@@ -180,18 +170,7 @@
OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
}
- //鑾峰彇鎻愬崌鏈烘暟鎹�
- HashMap<String, Object> resultData2 = this.masterThread.read(this.slave.getId(), "staStatus");
- if (resultData2 == null) {
- OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇璐у弶鎻愬崌鏈虹姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
- }
- if (Integer.parseInt(resultData.get("slaveId").toString()) != this.slave.getId()) {
- return;
- }
- if (!resultData.get("slaveId").toString().equals("staStatus")) {
- return;
- }
- OperateResultExOne<byte[]> result2 = (OperateResultExOne<byte[]>) resultData.get("data");
+ OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatusTray");
if (result2.IsSuccess) {
for (int i = 0; i < this.slave.getSta().size(); i++) {
ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
@@ -199,10 +178,23 @@
continue;
}
+ short val = siemensS7Net.getByteTransform().TransInt16(result2.Content, i * 2);
ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
- boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i * 2, 2);
- forkLiftStaProtocol.setHasTray(status1[0]);
- forkLiftStaProtocol.setHasCar(status1[1]);
+ forkLiftStaProtocol.setHasTray(val == 1);
+ }
+ }
+
+ OperateResultExOne<byte[]> result3 = this.masterThread.read(this.slave.getId(), "staStatusCar");
+ if (result3.IsSuccess) {
+ for (int i = 0; i < this.slave.getSta().size(); i++) {
+ ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
+ if (forkLiftStaProtocols.isEmpty()) {
+ continue;
+ }
+
+ short val = siemensS7Net.getByteTransform().TransInt16(result3.Content, i * 2);
+ ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
+ forkLiftStaProtocol.setHasCar(val == 1);
}
}
@@ -303,6 +295,24 @@
array[1] = command.getMode();//浠诲姟妯″紡
array[2] = command.getPick();//鍙栬揣鏁版嵁
array[3] = command.getPut();//鏀捐揣鏁版嵁
+ OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
+ if (result.IsSuccess) {
+ OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
+ }
+
+ @Override
+ public CommandResponse move(ForkLiftCommand command) {
+ CommandResponse response = new CommandResponse(false);
+
+ short[] array = new short[4];
+ array[0] = command.getTaskNo();//浠诲姟鍙�
+ array[1] = command.getMode();//浠诲姟妯″紡
+ array[2] = command.getPut();//鏀捐揣鏁版嵁
OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
if (result.IsSuccess) {
OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
@@ -434,6 +444,24 @@
return commands;
}
+ @Override
+ public List<ForkLiftCommand> getMoveCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
+ List<ForkLiftCommand> commands = new ArrayList<>();
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(slave.getId());
+ command.setTaskNo(taskNo.shortValue());
+ command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue());
+ command.setPick(realPick.shortValue());
+ command.setPut(realPut.shortValue());
+ command.setConfirm((short) 1);
+
+ commands.add(command);
+ return commands;
+ }
+
/**
* 鎵╁睍瀛楁
*/
--
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