//package com.zy.acs.wcs.core.thread;
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//
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//import HslCommunication.Core.Types.OperateResult;
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//import HslCommunication.Core.Types.OperateResultExOne;
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//import HslCommunication.Profinet.Siemens.SiemensPLCS;
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//import HslCommunication.Profinet.Siemens.SiemensS7Net;
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//import com.alibaba.fastjson.JSON;
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//import com.baomidou.mybatisplus.mapper.EntityWrapper;
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//import com.core.common.Cools;
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//import com.core.common.DateUtils;
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//import com.core.common.SpringUtils;
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//import com.zy.asrs.entity.*;
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//import com.zy.asrs.service.*;
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//import com.zy.acs.wcs.core.CrnThread;
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//import com.zy.acs.wcs.core.cache.MessageQueue;
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//import com.zy.acs.wcs.core.cache.OutputQueue;
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//import com.zy.acs.wcs.core.enums.CommandStatusType;
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//import com.zy.acs.wcs.core.enums.CrnTaskModeType;
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//import com.zy.acs.wcs.core.enums.SlaveType;
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//import com.zy.acs.wcs.core.model.CrnSlave;
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//import com.zy.acs.wcs.core.model.Task;
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//import com.zy.acs.wcs.core.model.command.CrnCommand;
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//import com.zy.acs.wcs.core.model.protocol.CrnProtocol;
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//import lombok.Data;
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//import lombok.extern.slf4j.Slf4j;
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//
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//import java.text.MessageFormat;
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//import java.util.Date;
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//
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///**
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// * 堆垛机线程
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// * Created by vincent on 2020/8/4
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// */
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//@Data
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//@Slf4j
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//public class SiemensCrnThread implements Runnable, CrnThread {
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//
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// private SiemensS7Net siemensNet;
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// private CrnSlave slave;
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// private CrnProtocol crnProtocol;
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// private boolean resetFlag = false;
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//
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//
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//
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// public SiemensCrnThread(CrnSlave slave) {
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// this.slave = slave;
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// }
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//
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// /*****************************************************************************************/
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// public static void main(String[] args) throws InterruptedException {
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// CrnSlave slave = new CrnSlave();
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// slave.setId(1);
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// slave.setIp("192.168.6.9");
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// slave.setRack(0);
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// slave.setSlot(0);
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// SiemensCrnThread crnThread = new SiemensCrnThread(slave);
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// crnThread.connect();
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// crnThread.readStatus();
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// System.out.println(JSON.toJSONString(crnThread.crnProtocol));
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// Thread.sleep(3000L);
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//
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// // 1.入库 源和目标都发
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(1); // 堆垛机编号
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//// command.setTaskNo((short) 0); // 工作号
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//// command.setAckFinish((short) 0); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
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//// command.setSourcePosX((short) 1); // 源库位排
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//// command.setSourcePosY((short) 0); // 源库位列
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//// command.setSourcePosZ((short) 1); // 源库位层
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//// command.setDestinationPosX((short) 2); // 目标库位排
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//// command.setDestinationPosY((short) 3); // 目标库位列
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//// command.setDestinationPosZ((short) 1); // 目标库位层
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//// crnThread.write(command);
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//
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// // 2.出库 源和目标都发
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(1); // 堆垛机编号
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//// command.setTaskNo((short) 0); // 工作号
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//// command.setAckFinish((short) 0); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
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//// command.setSourcePosX((short) 2); // 源库位排
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//// command.setSourcePosY((short) 4); // 源库位列
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//// command.setSourcePosZ((short) 3); // 源库位层
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//// command.setDestinationPosX((short) 1); // 目标库位排
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//// command.setDestinationPosY((short) 0); // 目标库位列
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//// command.setDestinationPosZ((short) 1); // 目标库位层
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//// crnThread.write(command);
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//
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//
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//// // 3.库位移转 源和目标都发 pass
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(slave.getId()); // 堆垛机编号
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//// command.setTaskNo((short) 0); // 工作号
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//// command.setAckFinish((short) 0); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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//// command.setSourcePosX((short)2); // 源库位排
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//// command.setSourcePosY((short)2); // 源库位列
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//// command.setSourcePosZ((short)3); // 源库位层
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//// command.setDestinationPosX((short)2); // 目标库位排
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//// command.setDestinationPosY((short)4); // 目标库位列
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//// command.setDestinationPosZ((short)4); // 目标库位层
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//// crnThread.write(command);
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//
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// // 4.站位移转 源和目标都发
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(slave.getId()); // 堆垛机编号
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//// command.setTaskNo((short) 0); // 工作号
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//// command.setAckFinish((short) 0); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转
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//// command.setSourcePosX((short)1); // 源库位排
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//// command.setSourcePosY((short)0); // 源库位列
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//// command.setSourcePosZ((short)1); // 源库位层
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//// command.setDestinationPosX((short)2); // 目标库位排
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//// command.setDestinationPosY((short)0); // 目标库位列
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//// command.setDestinationPosZ((short)1); // 目标库位层
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//// crnThread.write(command);
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//
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//// // 5.回原点 不用发 pass
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(1); // 堆垛机编号
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//// command.setTaskNo((short) 0); // 工作号
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//// command.setAckFinish((short) 0); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
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//// command.setSourcePosX((short) 0); // 源库位排
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//// command.setSourcePosY((short) 0); // 源库位列
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//// command.setSourcePosZ((short) 0); // 源库位层
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//// command.setDestinationPosX((short) 0); // 目标库位排
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//// command.setDestinationPosY((short) 0); // 目标库位列
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//// command.setDestinationPosZ((short) 0); // 目标库位层
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//// crnThread.write(command);
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//
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//// // 7.坐标移行 目标发 pass
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(1); // 堆垛机编号
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//// command.setTaskNo((short) 0); // 工作号
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//// command.setAckFinish((short) 0); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
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//// command.setSourcePosX((short) 0); // 源库位排
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//// command.setSourcePosY((short) 0); // 源库位列
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//// command.setSourcePosZ((short) 0); // 源库位层
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//// command.setDestinationPosX((short) 2); // 目标库位排
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//// command.setDestinationPosY((short) 1); // 目标库位列
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//// command.setDestinationPosZ((short) 1); // 目标库位层
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//// crnThread.write(command);
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//
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// // 只有出现指定异常才进行复位
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//// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
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//// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
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//// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
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//// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
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//// CrnCommand command = new CrnCommand();
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//// command.setCrnNo(1); // 堆垛机编号
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//// command.setAckFinish((short) 1); // 任务完成确认位
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//// command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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//// Thread.sleep(3000L);
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//// crnThread.write(command);
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//// }
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//
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// }
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//
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// @Override
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// @SuppressWarnings("InfiniteLoopStatement")
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// public void run() {
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// initCrnProtocol();
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// this.connect();
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// while (true) {
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// try {
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// int step = 1;
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// Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
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// if (task != null) {
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// step = task.getStep();
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// }
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// switch (step) {
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// // 读数据
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// case 1:
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// readStatus();
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// break;
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// // 写入数据
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// case 2:
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// write5((CrnCommand) task.getData());
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// break;
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// // 复位
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// case 3:
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// CrnCommand command = (CrnCommand) task.getData();
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// if (null == command) {
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// command = new CrnCommand();
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// }
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// command.setCrnNo(slave.getId()); // 堆垛机编号
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// command.setTaskNo((short) 0); // 工作号
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// command.setAckFinish((short) 1); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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// command.setSourcePosX((short) 0); // 源库位排
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// command.setSourcePosY((short) 0); // 源库位列
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// command.setSourcePosZ((short) 0); // 源库位层
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// command.setDestinationPosX((short) 0); // 目标库位排
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// command.setDestinationPosY((short) 0); // 目标库位列
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// command.setDestinationPosZ((short) 0); // 目标库位层
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// write(command);
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// break;
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// case 4:
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// writeAuto((CrnCommand) task.getData());
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// break;
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// case 5:
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// write((CrnCommand) task.getData());
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// break;
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// default:
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// break;
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// }
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// Thread.sleep(500);
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// } catch (Exception e) {
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//// e.printStackTrace();
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// }
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//
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// }
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// }
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//
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// /**
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// * 初始化堆垛机
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// */
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// private void initCrnProtocol() {
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// crnProtocol = new CrnProtocol();
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// crnProtocol.setMode((short) 0);
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// crnProtocol.setStatus((short) 0);
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// crnProtocol.setTaskNo((short) 0);
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// crnProtocol.setTaskFinish((short) 0);
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// crnProtocol.setValid((short) 0);
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// crnProtocol.setBay((short) 0);
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// crnProtocol.setLevel((short) 0);
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// crnProtocol.setRow((short) 0);
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// crnProtocol.setLane((short) 0);
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// }
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//
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// @Override
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// public boolean connect() {
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// boolean result = false;
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// siemensNet = new SiemensS7Net(SiemensPLCS.S1500, slave.getIp());
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// siemensNet.setRack(slave.getRack().byteValue());
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// siemensNet.setSlot(slave.getSlot().byteValue());
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// OperateResult connect = siemensNet.ConnectServer();
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// if (connect.IsSuccess) {
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// result = true;
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// OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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// log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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// } else {
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// OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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// log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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//// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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//// deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败");
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// initCrnProtocol();
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// }
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//// siemensNet.ConnectClose();
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// return result;
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// }
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//
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// /**
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// * 读取状态
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// */
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// private void readStatus() {
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//
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// OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
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// if (result.IsSuccess) {
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// if (null == crnProtocol) {
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// crnProtocol = new CrnProtocol();
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// }
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// crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
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// crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
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// crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
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// crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
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// crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
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// crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
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// crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
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// crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
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// crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
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// crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
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//// crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
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//// crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
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//// crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
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//// crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
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// crnProtocol.setXSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));
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// crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));
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// crnProtocol.setZSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));
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// crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));
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// crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));
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// crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
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// crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));
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//
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//
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// OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
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//
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// // 复位信号
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// if (crnProtocol.getTaskFinish() == 0) {
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// if (resetFlag) {
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// CrnCommand crnCommand = new CrnCommand();
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// crnCommand.setAckFinish((short) 1);
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// if (write(crnCommand)) {
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// resetFlag = false;
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//
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// //堆垛机任务完成后访问wms请求任务完成 locationDone 货位处理完成
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// TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
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// TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no", crnProtocol.getTaskNo()));
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//// String tasktype = null;
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//// switch (taskWrk.getIoType()) {
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//// case 1:
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//// tasktype = "RK";
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//// break;
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//// case 2:
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//// tasktype = "CK";
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//// break;
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//// case 3:
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//// tasktype = "YK";
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//// break;
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//// default:
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//// tasktype = "未知";
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//// }
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//// Map<String, Object> map = new HashMap<>();
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//// map.put("x-api-key", "7a15b5db-29b6-552c-8cff-0cfec3756da2");
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//// TaskOverToWms taskOverToWms = new TaskOverToWms();
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//// taskOverToWms.setFeedbackFrom("WCS"); //来源
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//// taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
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//// taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
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//// taskOverToWms.setTaskType(tasktype); // 任务类型
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//// taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
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//// if (taskWrk.getIoType() == 1) {
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//// taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
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//// taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
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//// } else if (taskWrk.getIoType() == 2) {
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//// Map<Integer, String> map1 = new HashMap<>();
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//// map1.put(102, "J-1101");
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//// map1.put(106, "J-1103");
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//// map1.put(110, "J-1105");
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//// map1.put(114, "J-1107");
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//// map1.put(118, "J-1109");
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//// map1.put(122, "J-1111");
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//// map1.put(305, "H-1101");
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//// map1.put(405, "G-1101");
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//// taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
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//// taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
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//// } else if (taskWrk.getIoType() == 3) {
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//// taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
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//// taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint());
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//// taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
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//// }
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//// taskOverToWms.setTaskStatus("location_done"); //任务状态
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//// String response = null;
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//// try {
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//// response = new HttpHandler.Builder()
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//// .setHeaders(map)
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//// .setUri("10.32.53.195:8080")
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//// .setPath("wcsManager/wcsInterface/taskStatusFeedback")
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//// .setJson(JSON.toJSONString(taskOverToWms))
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//// .build()
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//// .doPost();
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//// } catch (Exception e) {
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//// log.error("堆垛机任务完成，请求wms任务完成接口失败");
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//// }
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//// ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
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//// apiLogService.save("Wms任务完成接口"
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//// , "10.32.53.195:8080" + "/wcsManager/wcsInterface/taskStatusFeedback"
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//// , null
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//// , "127.0.0.1"
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//// , JSON.toJSONString(taskOverToWms)
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//// , response
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//// , true
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//// );
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//// JSONObject jsonObject = JSON.parseObject(response);
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//// if (jsonObject.getInteger("code").equals(200)) {
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// if (taskWrk.getIoType() == 3) {
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// taskWrk.setWrkSts(4);
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// }
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// taskWrk.setStatus(5);
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// if (!taskWrkService.update(taskWrk, new EntityWrapper<TaskWrk>().eq("wrk_no", crnProtocol.getTaskNo()))) {
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// log.error("堆垛机任务完成，改变任务状态失败");
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// }
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//
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// log.info("堆垛机任务完成，请求wms任务完成接口成功");
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// } else {
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// log.error("堆垛机任务完成，请求wms任务完成接口完成，但返回失败");
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// }
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//
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//// }
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//
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//
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// }
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// }
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//
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// try {
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// // 根据实时信息更新数据库
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// BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
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// BasCrnp basCrnp = new BasCrnp();
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// basCrnp.setCrnNo(slave.getId());
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// basCrnp.setCrnSts((int) crnProtocol.getMode());
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// if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) {
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// log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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// }
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// } catch (Exception ignore) {
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// }
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//
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// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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// deviceErrorService.deleteDeviceError("crn", slave.getId());
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// } else {
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// OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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// log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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// deviceErrorService.addDeviceError("crn", slave.getId(), "读取堆垛机plc状态信息失败");
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// }
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// }
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//
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// /**
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// * 写入数据
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// */
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// private boolean write(CrnCommand command) {
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// if (null == command) {
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// log.error("堆垛机写入命令为空");
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// return false;
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// }
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// //转换前克隆一份
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// CrnCommand crnCommand = new CrnCommand();
|
// crnCommand.setCrnNo(command.getCrnNo());
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// crnCommand.setAckFinish(command.getAckFinish());
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// crnCommand.setTaskNo(command.getTaskNo());
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// crnCommand.setTaskMode(command.getTaskMode());
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// crnCommand.setSourcePosX(command.getSourcePosX());
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// crnCommand.setSourcePosY(command.getSourcePosY());
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// crnCommand.setSourcePosZ(command.getSourcePosZ());
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// crnCommand.setDestinationPosX(command.getDestinationPosX());
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// crnCommand.setDestinationPosY(command.getDestinationPosY());
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// crnCommand.setDestinationPosZ(command.getDestinationPosZ());
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//// crnCommand.setSourceStaNo(command.getSourceStaNo());
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//// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
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// crnCommand.setCommand(command.getCommand());
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// if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
|
// command.setTaskNo((short) 999);
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// }
|
//
|
// command.setCrnNo(slave.getId());
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// short[] array = new short[10];
|
// array[0] = command.getAckFinish();
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// array[1] = command.getTaskNo();
|
// array[2] = command.getTaskMode();
|
// array[3] = command.getSourcePosX();
|
// array[4] = command.getSourcePosY();
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// array[5] = command.getSourcePosZ();
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// array[6] = command.getDestinationPosX();
|
// array[7] = command.getDestinationPosY();
|
// array[8] = command.getDestinationPosZ();
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// array[9] = command.getCommand();
|
//
|
// // 作业信息
|
// OperateResult result = siemensNet.Write("DB100.0", array);
|
//
|
//
|
// if (result.IsSuccess) {
|
// log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
// return true;
|
// } else {
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
// log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
// return false;
|
// }
|
// }
|
//
|
// /**
|
// * 写入数据
|
// */
|
// private boolean write5(CrnCommand command) throws InterruptedException {
|
// String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
|
//
|
// if (null == command) {
|
// log.error("堆垛机写入命令为空");
|
// return false;
|
// }
|
//// convertRow(command);
|
// command.setCrnNo(slave.getId());
|
// short[] array = new short[10];
|
// array[0] = command.getAckFinish();
|
// array[1] = command.getTaskNo();
|
// array[2] = command.getTaskMode();
|
// array[3] = command.getSourcePosX();
|
// array[4] = command.getSourcePosY();
|
// array[5] = command.getSourcePosZ();
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// array[6] = command.getDestinationPosX();
|
// array[7] = command.getDestinationPosY();
|
// array[8] = command.getDestinationPosZ();
|
//// array[9] = command.getSourceStaNo();
|
//// array[10] = command.getDestinationStaNo();
|
// array[9] = command.getCommand();
|
//
|
// OperateResult result = siemensNet.Write("DB100.0", array);
|
//
|
// int i = 0;
|
// do {
|
// //堆垛机任务写入后，回读一次，看是否成功
|
// Thread.sleep(200);
|
// OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
|
// if (resultRead.IsSuccess) {
|
// CrnCommand one = new CrnCommand();
|
// one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
|
// one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
|
// one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
|
// one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
|
// one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
|
// one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
|
// one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
|
// one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
|
// if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
|
// || !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())
|
// ) {
|
// i++;
|
// log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i, JSON.toJSON(command), JSON.toJSON(one));
|
// result = siemensNet.Write("DB100.0", array);
|
// } else {
|
// i = 5;
|
// }
|
// }
|
// } while (i < 5);
|
//
|
//
|
// try {
|
// // 日志记录
|
// BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
|
// BasCrnOpt basCrnOpt = new BasCrnOpt(
|
// command.getTaskNo().intValue(), // 任务号
|
// command.getCrnNo(), // 堆垛机[非空]
|
// new Date(), // 下发时间
|
// command.getTaskModeType().toString(), // 模式
|
// command.getSourcePosX().intValue(), // 源排
|
// command.getSourcePosY().intValue(), // 源列
|
// command.getSourcePosZ().intValue(), // 源层
|
// null, // 源站
|
// command.getDestinationPosX().intValue(), // 目标排
|
// command.getDestinationPosY().intValue(), // 目标列
|
// command.getDestinationPosZ().intValue(), // 目标层
|
// null, // 目标站
|
// null, // 响应结果
|
// null, // 修改时间
|
// null // 修改人员
|
// );
|
// bean.insert(basCrnOpt);
|
// } catch (Exception ignore) {
|
// }
|
//
|
// if (result != null && result.IsSuccess) {
|
// Thread.sleep(200);
|
// this.readStatus();
|
// log.info(methodName + ":堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
// return true;
|
// } else {
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
|
// log.error(methodName + ":写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
|
// return false;
|
// }
|
// }
|
//
|
// /**
|
// * 写入数据
|
// */
|
// private boolean write2(CrnCommand command) {
|
// if (null == command) {
|
// log.error("堆垛机写入命令为空");
|
// return false;
|
// }
|
// //转换前克隆一份
|
// CrnCommand crnCommand = new CrnCommand();
|
// crnCommand.setCrnNo(command.getCrnNo());
|
// crnCommand.setAckFinish(command.getAckFinish());
|
// crnCommand.setTaskNo(command.getTaskNo());
|
// crnCommand.setTaskMode(command.getTaskMode());
|
// crnCommand.setSourcePosX(command.getSourcePosX());
|
// crnCommand.setSourcePosY(command.getSourcePosY());
|
// crnCommand.setSourcePosZ(command.getSourcePosZ());
|
// crnCommand.setDestinationPosX(command.getDestinationPosX());
|
// crnCommand.setDestinationPosY(command.getDestinationPosY());
|
// crnCommand.setDestinationPosZ(command.getDestinationPosZ());
|
//// crnCommand.setSourceStaNo(command.getSourceStaNo());
|
//// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
|
// crnCommand.setCommand(command.getCommand());
|
// if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
|
// command.setTaskNo((short) 999);
|
// }
|
//
|
// command.setCrnNo(slave.getId());
|
// short[] array = new short[10];
|
// if (Cools.isEmpty(command.getAckFinish())) {
|
// array[0] = 5;
|
// } else {
|
// 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();
|
// array[9] = command.getCommand();
|
// // 作业信息
|
// OperateResult result = siemensNet.Write("DB100.0", array);
|
// // 日志记录
|
// if (command.getAckFinish() != 1) {
|
// BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
|
// BasCrnOpt basCrnOpt = new BasCrnOpt(
|
// command.getTaskNo().intValue(), // 任务号
|
// command.getCrnNo(), // 堆垛机[非空]
|
// new Date(), // 下发时间
|
// command.getTaskModeType() == null ? null : command.getTaskModeType().toString(), // 模式
|
// command.getSourcePosX().intValue(), // 源排
|
// command.getSourcePosY().intValue(), // 源列
|
// command.getSourcePosZ().intValue(), // 源层
|
// null, // 源站
|
// command.getDestinationPosX().intValue(), // 目标排
|
// command.getDestinationPosY().intValue(), // 目标列
|
// command.getDestinationPosZ().intValue(), // 目标层
|
// null, // 目标站
|
// null, // 响应结果
|
// null, // 修改时间
|
// null // 修改人员
|
// );
|
// bean.insert(basCrnOpt);
|
// }
|
//// } catch (Exception ignore) {}
|
//
|
// //更新命令日志
|
// CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
|
// CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
|
// CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
|
// if (Cools.isEmpty(commandInfo)) {
|
// commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
|
// .eq("wrk_no", crnProtocol.getTaskNo())
|
// .eq("device", "Crn"));
|
// }
|
// CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
|
// commandInfoLog.setId(null);
|
// if (result.IsSuccess) {
|
// Date now = new Date();
|
// //更新指令日志
|
// commandInfoLog.setDeviceLog("指令下发成功");
|
// commandInfoLogService.insert(commandInfoLog);
|
//
|
// //线程暂存指令ID
|
// crnProtocol.setCommandId(command.getCommandId());
|
//
|
// //更新指令状态
|
// commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//执行中
|
// commandInfo.setExecuteTime(now);
|
// commandInfoService.updateById(commandInfo);
|
//
|
// //更新任务步序
|
// TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
|
// TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
|
// if (taskWrk != null) {
|
// taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
|
// taskWrkService.updateById(taskWrk);
|
// }
|
//
|
//
|
// } else {
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
// log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
// }
|
// return true;
|
// }
|
//
|
// private boolean writeAuto(CrnCommand command) {
|
// if (null == command) {
|
// log.error("堆垛机写入命令为空");
|
// return false;
|
// }
|
// OperateResult result = new OperateResult();
|
// short[] array = new short[1];
|
// array[0] = command.getAuto();
|
// if (command.getAuto() != 0) {
|
// array[0] = command.getAuto();
|
// result = siemensNet.Write("DB103.0", array);
|
// } else if (command.getOnlineWrk1() != 0) {
|
// array[0] = command.getOnlineWrk1();
|
// result = siemensNet.Write("DB103.2", array);
|
// } else if (command.getOnlineWrk2() != 0) {
|
// array[0] = command.getOnlineWrk2();
|
// result = siemensNet.Write("DB103.4", array);
|
// } else if (command.getOnlineWrk3() != 0) {
|
// array[0] = command.getOnlineWrk3();
|
// result = siemensNet.Write("DB103.6", array);
|
// } else if (command.getOnlineWrk4() != 0) {
|
// array[0] = command.getOnlineWrk4();
|
// result = siemensNet.Write("DB103.8", array);
|
// } else if (command.getReset() != 0) {
|
// array[0] = command.getReset();
|
// result = siemensNet.Write("DB103.10", array);
|
// }
|
//
|
//
|
// if (result.IsSuccess) {
|
// log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
|
//
|
//
|
// return true;
|
// } else {
|
// OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
|
// log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
|
//
|
// return false;
|
// }
|
// }
|
//
|
// /******************************************************************************************/
|
// /**************************************** 测试专用 *****************************************/
|
//
|
// @Override
|
// public void close() {
|
// siemensNet.ConnectClose();
|
// }
|
//
|
//}
|
