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/ZyForkLiftThread.java | 47 +++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 45 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
index a23d30f..e795ce3 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -285,6 +285,25 @@
}
@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.getPick();//鍙栬揣鏁版嵁
+ array[3] = command.getPut();//鏀捐揣鏁版嵁
+ OperateResult result = siemensS7Net.Write("DB103.0", array);
+ if (result.IsSuccess) {
+ OperateResult result2 = siemensS7Net.Write("DB103.8", command.getConfirm());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
+ }
+
+ @Override
public CommandResponse reset() {
CommandResponse response = new CommandResponse(false);
OperateResult result = siemensS7Net.Write("DB103.10", (short) 1);
@@ -300,6 +319,7 @@
if (this.forkLiftProtocol.getTaskNo() == null
|| this.forkLiftProtocol.getProtocolStatus() == null
|| this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
) {
return false;
}
@@ -307,7 +327,9 @@
boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
&& this.forkLiftProtocol.getWrkNo() == 0
&& this.forkLiftProtocol.getTaskNo() == 0
- && this.forkLiftProtocol.getModel() == 2;
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0
+ ;
return res;
}
@@ -328,13 +350,16 @@
if (this.forkLiftProtocol.getTaskNo() == null
|| this.forkLiftProtocol.getProtocolStatus() == null
|| this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
) {
return false;
}
boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
&& this.forkLiftProtocol.getWrkNo() == 0
- && this.forkLiftProtocol.getModel() == 2;
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0
+ ;
return res;
}
@@ -399,6 +424,24 @@
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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