From b6428016edf3de843020bc95fd1708d3bb1961e5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 07 七月 2025 16:41:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java | 43 ++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 42 insertions(+), 1 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 3ee487a..82bb5aa 100644
--- a/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
+++ b/src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java
@@ -96,7 +96,10 @@
}
private void execute() {
- ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
+ ForkLiftAction forkLiftAction = null;
+ try {
+ forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
+ }catch (Exception e){}
if (forkLiftAction == null) {
return;
}
@@ -159,6 +162,8 @@
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();
@@ -304,6 +309,24 @@
}
@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());
+ if (result2.IsSuccess) {
+ response.setResult(true);
+ }
+ }
+ return response;
+ }
+
+ @Override
public CommandResponse reset() {
CommandResponse response = new CommandResponse(false);
OperateResult result = this.masterThread.write(this.slave.getId(), "confirm", (short) 1);
@@ -424,6 +447,24 @@
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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