package com.zy.core.thread;
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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.Melsec.MelsecMcNet;
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import com.alibaba.fastjson.JSON;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.BasCrnOpt;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.service.BasCrnOptService;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.core.CrnThread;
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import com.zy.core.ThreadHandler;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.CrnStatusType;
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import com.zy.core.enums.CrnTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.util.Date;
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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 MelsecCrnThread implements Runnable, ThreadHandler, CrnThread {
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private MelsecMcNet melsecMcNet;
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private CrnSlave slave;
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private CrnProtocol crnProtocol;
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private short heartBeatVal = 1;
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private boolean resetFlag = false;
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/**
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* 堆垛机是否在回原点运动中标记
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*/
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private boolean backHpFlag = false;
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public MelsecCrnThread(CrnSlave slave) {
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this.slave = slave;
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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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this.connect();
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// try {
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// Thread.sleep(2000);
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// } catch (InterruptedException e) {
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// e.printStackTrace();
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// }
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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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write((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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default:
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break;
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}
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// 心跳
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heartbeat();
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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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* 初始化堆垛机状态
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*/
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private void initCrn() {
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if (null == crnProtocol) {
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crnProtocol = new CrnProtocol();
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}
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crnProtocol.setMode((short) -1);
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// crnProtocol.setTaskNo((short)0);
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crnProtocol.setStatus((short)-1);
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crnProtocol.setBay((short)0);
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crnProtocol.setLevel((short)0);
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crnProtocol.setForkPos((short) -1);
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crnProtocol.setLiftPos((short) -1);
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crnProtocol.setWalkPos((short)0);
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crnProtocol.setLoaded((short)0);
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crnProtocol.setAlarm((short)0);
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crnProtocol.setxSpeed((short)0);
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crnProtocol.setySpeed((short)0);
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crnProtocol.setzSpeed((short)0);
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crnProtocol.setxDistance((short)0);
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crnProtocol.setyDistance((short)0);
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crnProtocol.setxDuration((short)0);
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crnProtocol.setyDuration((short)0);
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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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melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
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OperateResult connect = melsecMcNet.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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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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}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initCrn();
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}
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// melsecMcNet.ConnectClose();
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return result;
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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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try {
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// if (this.slave.getId() == 1 && flag1.equals(0)) {
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// Thread.sleep(3000);
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// flag1=1;
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// System.out.println("===");
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// }
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OperateResultExOne<byte[]> result = melsecMcNet.Read("D20", (short) 70);
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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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crnProtocol.setCrnNo(slave.getId());
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}
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crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
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crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
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crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
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crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
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crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
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crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
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crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
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crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
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crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
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crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
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crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
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crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
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crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
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crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
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crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
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crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
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crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
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crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
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crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
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crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
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crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 52));
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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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// 复位信号
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if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
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log.error("-------------------------------------------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
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if (resetFlag) {
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if(crnProtocol.getTaskNo()==9999){
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backHpFlag = false;
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}
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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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}
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}
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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.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
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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:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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} else {
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
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throw new CoolException(MessageFormat.format( "堆垛机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
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}
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} catch (Exception e) {
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e.printStackTrace();
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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}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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initCrn();
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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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// OperateResult result = null;
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// try{
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// Integer exeCount=0;
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// do{
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// command.setCrnNo(slave.getId());
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// short[] array = new short[10];
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// array[0] = command.getAckFinish();
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// array[1] = command.getTaskNo();
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// array[2] = command.getTaskMode();
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// array[3] = command.getSourcePosX();
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// array[4] = command.getSourcePosY();
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// array[5] = command.getSourcePosZ();
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// array[6] = command.getDestinationPosX();
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// array[7] = command.getDestinationPosY();
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// array[8] = command.getDestinationPosZ();
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// array[9] = command.getCommand();
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// result = melsecMcNet.Write("D0", array);
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// if(result.IsSuccess) {
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// if (command.getAckFinish() == 0) {
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// short commandFinish = 1;
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// result = melsecMcNet.Write("D9", commandFinish);
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// if(result.IsSuccess){
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// //写任务确认返回成功后，查询确认一次
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// Thread.sleep(200);
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// OperateResultExOne<byte[]> result1 = melsecMcNet.Read("D9", (short)2);
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// if(result1.IsSuccess){
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// short commandVal = melsecMcNet.getByteTransform().TransInt16(result1.Content,2);
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// if(commandVal==1){
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// break;
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// } else {
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// exeCount++;
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// }
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// } else{
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// exeCount++;
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// }
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// }else{
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// exeCount++;
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// }
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// }
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// }else{
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// exeCount++;
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// }
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// Thread.sleep(200);
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// }while(exeCount>3);
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// }catch (Exception e){
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//
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// }
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command.setCrnNo(slave.getId());
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short[] array = new short[10];
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array[0] = command.getAckFinish();
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array[1] = command.getTaskNo();
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array[2] = command.getTaskMode();
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array[3] = command.getSourcePosX();
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array[4] = command.getSourcePosY();
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array[5] = command.getSourcePosZ();
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array[6] = command.getDestinationPosX();
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array[7] = command.getDestinationPosY();
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array[8] = command.getDestinationPosZ();
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array[9] = command.getCommand();
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OperateResult result = melsecMcNet.Write("D0", array);
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if (command.getAckFinish() == 0) {
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short commandFinish = 1;
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result = melsecMcNet.Write("D9", commandFinish);
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}
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try {
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// 日志记录
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BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
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BasCrnOpt basCrnOpt = new BasCrnOpt(
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command.getTaskNo().intValue(), // 任务号
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command.getCrnNo(), // 堆垛机[非空]
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new Date(), // 下发时间
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command.getTaskModeType().toString(), // 模式
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command.getSourcePosX().intValue(), // 源排
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command.getSourcePosY().intValue(), // 源列
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command.getSourcePosZ().intValue(), // 源层
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null, // 源站
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command.getDestinationPosX().intValue(), // 目标排
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command.getDestinationPosY().intValue(), // 目标列
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command.getDestinationPosZ().intValue(), // 目标层
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null, // 目标站
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null, // 响应结果
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null, // 修改时间
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null // 修改人员
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);
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bean.insert(basCrnOpt);
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} catch (Exception ignore) {}
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if (result != null && result.IsSuccess) {
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log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
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OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
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return true;
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} else {
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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()));
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log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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return false;
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}
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}
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@Override
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public void close() {
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melsecMcNet.ConnectClose();
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}
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/**
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* 心跳
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*/
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private void heartbeat(){
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if (heartBeatVal == 1) {
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heartBeatVal = 2;
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} else {
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heartBeatVal = 1;
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}
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OperateResult write = melsecMcNet.Write("D10", heartBeatVal);
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if (!write.IsSuccess) {
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log.error("堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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}
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/******************************************************************************************/
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/**************************************** 测试专用 *****************************************/
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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("192.168.3.39");
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slave.setPort(5015);
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slave.setRack(0);
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slave.setSlot(0);
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MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
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melsecCrnThread.connect();
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melsecCrnThread.readStatus();
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System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
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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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// 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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// // 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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// 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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// // 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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// 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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