From 968072c0fb57b0a95ce2d45daed8f3e2e735b27c Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期四, 03 九月 2020 17:02:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/CrnThread.java | 332 +++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 259 insertions(+), 73 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/CrnThread.java b/src/main/java/com/zy/core/thread/CrnThread.java
index 8946211..9a4f4ea 100644
--- a/src/main/java/com/zy/core/thread/CrnThread.java
+++ b/src/main/java/com/zy/core/thread/CrnThread.java
@@ -2,11 +2,17 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
+import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.service.BasCrnpService;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
@@ -16,6 +22,9 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import java.text.MessageFormat;
+import java.util.Date;
+
/**
* 鍫嗗灈鏈虹嚎绋�
* Created by vincent on 2020/8/4
@@ -24,9 +33,10 @@
@Slf4j
public class CrnThread implements Runnable, ThreadHandler {
- private SiemensS7Net siemensNet;
+ private MelsecMcNet melsecMcNet;
private CrnSlave slave;
private CrnProtocol crnProtocol;
+ private boolean resetFlag = false;
public CrnThread(CrnSlave slave) {
this.slave = slave;
@@ -39,7 +49,7 @@
while (true) {
try {
int step = 1;
- Task task = MessageQueue.poll(SlaveType.Devp, slave.getId());
+ Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
if (task != null) {
step = task.getStep();
}
@@ -61,7 +71,7 @@
command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
@@ -84,17 +94,17 @@
@Override
public boolean connect() {
boolean result = false;
- siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
- siemensNet.setRack(slave.getRack().byteValue());
- siemensNet.setSlot(slave.getSlot().byteValue());
- OperateResult connect = siemensNet.ConnectServer();
+ melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
+ OperateResult connect = melsecMcNet.ConnectServer();
if(connect.IsSuccess){
result = true;
- log.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
} else {
- log.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
}
- siemensNet.ConnectClose();
+ melsecMcNet.ConnectClose();
return result;
}
@@ -102,34 +112,91 @@
* 璇诲彇鐘舵��
*/
private void readStatus(){
- OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 46);
- if (result.IsSuccess) {
- if (null == crnProtocol) {
- crnProtocol = new CrnProtocol();
+ try {
+
+ /* 鏂规硶1 */
+ OperateResultExOne<byte[]> result = melsecMcNet.Read("D2231", (short) 62);
+ if (result.IsSuccess) {
+ if (null == crnProtocol) {
+ crnProtocol = new CrnProtocol();
+ }
+ crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
+ crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
+// crnProtocol.setTaskFinish(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setError1(melsecMcNet.getByteTransform().TransBool(result.Content, 24, 2));
+ crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransBool(result.Content, 26, 2));
+ crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
+ crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 30));
+ crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
+ crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
+ crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
+ crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
+ crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
+ crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
+ crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));
+ crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 58));
+
+ 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 (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
+ if (resetFlag) {
+ if (melsecMcNet.Write("D2218", (short) 1).IsSuccess) {
+ resetFlag = false;
+ }
+ }
+ }
+
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ BasCrnp basCrnp = new BasCrnp();
+ basCrnp.setCrnNo(slave.getId());
+ if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
+ log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ }
+
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆憑1}鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐�",DateUtils.convert(new Date()), slave.getId()));
+ throw new CoolException(MessageFormat.format( "鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
}
- crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
- crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
- crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
- 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.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
- crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
- crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- crnProtocol.setError1(siemensNet.getByteTransform().TransInt16(result.Content, 22));
- crnProtocol.setError2(siemensNet.getByteTransform().TransInt16(result.Content, 24));
- crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 26));
- crnProtocol.setXSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
- crnProtocol.setYSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 30));
- crnProtocol.setZSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
- crnProtocol.setXDistance(siemensNet.getByteTransform().TransInt32(result.Content, 34));
- crnProtocol.setYDistance(siemensNet.getByteTransform().TransInt32(result.Content, 38));
- crnProtocol.setDuration(siemensNet.getByteTransform().TransInt32(result.Content, 42));
- } else {
- log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ /* 鏂规硶2 */
+// crnProtocol.setMode(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setTaskNo(melsecMcNet.ReadInt16("D2233").Content);
+// crnProtocol.setStatus(melsecMcNet.ReadInt16("D2234").Content);
+// crnProtocol.setBay(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setLevel(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setForkPos(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setLiftPos(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setWalkPos(melsecMcNet.ReadInt16("D2231").Content);
+//// crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+// crnProtocol.setLoaded(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setAlarm(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setError1(melsecMcNet.ReadBool("D2231", (short) 2).Content);
+// crnProtocol.setTemp1(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setTemp2(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setTemp3(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setTemp4(melsecMcNet.ReadInt16("D2231").Content);
+// crnProtocol.setXSpeed(melsecMcNet.ReadFloat("D2231").Content);
+// crnProtocol.setYSpeed(melsecMcNet.ReadFloat("D2231").Content);
+// crnProtocol.setZSpeed(melsecMcNet.ReadFloat("D2231").Content);
+// crnProtocol.setXDistance(melsecMcNet.ReadFloat("D2231").Content);
+// crnProtocol.setYDistance(melsecMcNet.ReadFloat("D2231").Content);
+// crnProtocol.setXDuration(melsecMcNet.ReadFloat("D2231").Content);
+// crnProtocol.setYDuration(melsecMcNet.ReadFloat("D2231").Content);
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
}
+
}
/**
@@ -141,62 +208,181 @@
return;
}
command.setCrnNo(slave.getId());
- short[] array = new short[9];
- array[0] = command.getAckFinish();
- array[1] = command.getTaskNo();
- array[2] = command.getTaskMode();
- array[3] = command.getSourcePosX();
- array[4] = command.getSourcePosY();
- array[5] = command.getSourcePosZ();
- array[6] = command.getDestinationPosX();
- array[7] = command.getDestinationPosY();
- array[8] = command.getDestinationPosZ();
- OperateResult result = siemensNet.Write("DB8.0", array);
- if (result.IsSuccess) {
- readStatus();
- } else {
- log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
- }
+ /* 鏂规硶 1 */
+ do {
+ if (command.getDestinationPosZ() != null) {
+ if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
+ }
+ if (command.getDestinationPosY() != null) {
+ if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
+ }
+ if (command.getDestinationPosX() != null) {
+ if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
+ }
+ if (command.getSourcePosZ() != null) {
+ if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
+ }
+ if (command.getSourcePosY() != null) {
+ if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
+ }
+ if (command.getDestinationPosX() != null) {
+ if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
+ }
+ if (command.getTaskMode() != null) {
+ if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
+ }
+ if (command.getTaskNo() != null) {
+ if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
+ }
+ if (command.getAckFinish() != null) {
+ if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
+ }
+
+ log.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+
+ return;
+ } while (false);
+
+
+ System.out.println(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+
+
+
+ /* 鏂规硶 2 */
+// melsecMcNet.Write("D2218", command.getAckFinish());
+// melsecMcNet.Write("D2217", command.getTaskNo());
+// melsecMcNet.Write("D2216", command.getTaskMode());
+// melsecMcNet.Write("D2214", command.getSourcePosX());
+// melsecMcNet.Write("D2212", command.getSourcePosY());
+// melsecMcNet.Write("D2210", command.getSourcePosZ());
+// melsecMcNet.Write("D2208", command.getDestinationPosX());
+// melsecMcNet.Write("D2204", command.getDestinationPosY());
+// melsecMcNet.Write("D2202", command.getDestinationPosZ());
+
}
@Override
public void close() {
- siemensNet.ConnectClose();
- }
-
- public CrnProtocol getCrnProtocol(){
- if (crnProtocol == null) {
- readStatus();
- }
- return this.crnProtocol;
+ melsecMcNet.ConnectClose();
}
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
- public static void main(String[] args) {
+ public static void main(String[] args) throws InterruptedException {
CrnSlave slave = new CrnSlave();
- slave.setIp("192.168.2.9");
+ slave.setId(1);
+ slave.setIp("192.168.3.39");
+ slave.setPort(5015);
slave.setRack(0);
slave.setSlot(0);
CrnThread crnThread = new CrnThread(slave);
+ crnThread.connect();
crnThread.readStatus();
System.out.println(JSON.toJSONString(crnThread.crnProtocol));
-// // 鍐�
+
+ // 1.鍏ュ簱 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 2.鍑哄簱 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKOUT); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 4); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+
+// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
// CrnCommand command = new CrnCommand();
// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
// crnThread.write(command);
+ // 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// command.setSourcePosX((short)1); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short)1); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+// // 5.鍥炲師鐐� 涓嶇敤鍙� pass
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 7.鍧愭爣绉昏 鐩爣鍙� pass
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 3); // 鐩爣搴撲綅灞�
+ crnThread.write(command);
+
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
+// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+// Thread.sleep(3000L);
+// crnThread.write(command);
+// }
+
}
}
--
Gitblit v1.9.1