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.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.core.common.DateUtils;
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import com.core.common.SpringUtils;
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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.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.*;
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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 SiemensCrnThread implements Runnable, CrnThread {
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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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public SiemensCrnThread(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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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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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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@Override
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public boolean connect() {
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boolean result = false;
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siemensNet = new SiemensS7Net(SiemensPLCS.S1200, 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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}
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siemensNet.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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OperateResultExOne<byte[]> result = siemensNet.Read("DB11.2", (short) 104);
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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)); // 2
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crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); // 4
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crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 4)); // 6
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crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 6)); // 8
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crnProtocol.setValid(siemensNet.getByteTransform().TransInt16(result.Content, 8)); // 10
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crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // 16
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crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 16)); // 18
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crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18)); // 20
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crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20)); // 22
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// 异常
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crnProtocol.setAlarm1(0);
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crnProtocol.setAlarm2(0);
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crnProtocol.setAlarm3(0);
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crnProtocol.setAlarm4(0);
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boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1); // 30
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if (err1[0]) { crnProtocol.setAlarm1(1); }
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if (err1[1]) { crnProtocol.setAlarm1(2); }
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if (err1[2]) { crnProtocol.setAlarm1(3); }
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boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1); // 31
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if (err2[0]) { crnProtocol.setAlarm1(4); }
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if (err2[1]) { crnProtocol.setAlarm1(5); }
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if (err2[2]) { crnProtocol.setAlarm1(6); }
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boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1); // 32
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if (err3[6]) { crnProtocol.setAlarm1(7); }
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if (err3[7]) { crnProtocol.setAlarm1(8); }
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boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1); // 33
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if (err4[1]) { crnProtocol.setAlarm1(9); }
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if (err4[5]) { crnProtocol.setAlarm1(10); }
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if (err4[6]) { crnProtocol.setAlarm1(11); }
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if (err4[7]) { crnProtocol.setAlarm1(12); }
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boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1); // 34
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if (err5[0]) { crnProtocol.setAlarm2(13); }
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if (err5[2]) { crnProtocol.setAlarm2(14); }
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if (err5[3]) { crnProtocol.setAlarm2(15); }
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if (err5[5]) { crnProtocol.setAlarm2(16); }
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if (err5[6]) { crnProtocol.setAlarm2(17); }
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if (err5[7]) { crnProtocol.setAlarm2(18); }
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boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1); // 35
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if (err6[1]) { crnProtocol.setAlarm2(19); }
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if (err6[2]) { crnProtocol.setAlarm2(20); }
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if (err6[3]) { crnProtocol.setAlarm2(21); }
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if (err6[4]) { crnProtocol.setAlarm2(22); }
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boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1); // 36
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if (err7[4]) { crnProtocol.setAlarm2(23); }
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if (err7[5]) { crnProtocol.setAlarm2(24); }
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if (err7[6]) { crnProtocol.setAlarm2(25); }
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boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1); // 38
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if (err8[0]) { crnProtocol.setAlarm3(26); }
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if (err8[1]) { crnProtocol.setAlarm3(27); }
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if (err8[2]) { crnProtocol.setAlarm3(28); }
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if (err8[3]) { crnProtocol.setAlarm3(29); }
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if (err8[4]) { crnProtocol.setAlarm3(30); }
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if (err8[5]) { crnProtocol.setAlarm3(31); }
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if (err8[6]) { crnProtocol.setAlarm3(32); }
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if (err8[7]) { crnProtocol.setAlarm3(33); }
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boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1); // 39
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if (err9[0]) { crnProtocol.setAlarm3(34); }
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if (err9[1]) { crnProtocol.setAlarm3(35); }
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if (err9[2]) { crnProtocol.setAlarm3(36); }
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if (err9[3]) { crnProtocol.setAlarm3(37); }
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if (err9[4]) { crnProtocol.setAlarm3(38); }
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if (err9[5]) { crnProtocol.setAlarm3(39); }
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if (err9[6]) { crnProtocol.setAlarm3(40); }
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if (err9[7]) { crnProtocol.setAlarm3(41); }
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boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1); // 40
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if (err10[0]) { crnProtocol.setAlarm3(42); }
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if (err10[1]) { crnProtocol.setAlarm3(43); }
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if (err10[2]) { crnProtocol.setAlarm3(44); }
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if (err10[3]) { crnProtocol.setAlarm3(45); }
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if (err10[4]) { crnProtocol.setAlarm3(46); }
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boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1); // 41
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if (err11[0]) { crnProtocol.setAlarm3(47); }
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if (err11[1]) { crnProtocol.setAlarm3(48); }
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if (err11[2]) { crnProtocol.setAlarm3(49); }
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boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1); // 42
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if (err12[0]) { crnProtocol.setAlarm4(50); }
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if (err12[1]) { crnProtocol.setAlarm4(51); }
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if (err12[2]) { crnProtocol.setAlarm4(52); }
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if (err12[3]) { crnProtocol.setAlarm4(53); }
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if (err12[4]) { crnProtocol.setAlarm4(54); }
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if (err12[5]) { crnProtocol.setAlarm4(55); }
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boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1); // 43
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if (err13[0]) { crnProtocol.setAlarm4(56); }
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if (err13[1]) { crnProtocol.setAlarm4(57); }
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if (err13[2]) { crnProtocol.setAlarm4(58); }
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if (err13[3]) { crnProtocol.setAlarm4(59); }
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boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1); // 44
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if (err14[0]) { crnProtocol.setAlarm4(60); }
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if (err14[1]) { crnProtocol.setAlarm4(61); }
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if (err14[2]) { crnProtocol.setAlarm4(62); }
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if (err14[3]) { crnProtocol.setAlarm4(63); }
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if (err14[4]) { crnProtocol.setAlarm4(64); }
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if (err14[5]) { crnProtocol.setAlarm4(65); }
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if (err14[6]) { crnProtocol.setAlarm4(66); }
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if (err14[7]) { crnProtocol.setAlarm4(67); }
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boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1); // 45
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if (err15[1]) { crnProtocol.setAlarm4(68); }
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if (err15[2]) { crnProtocol.setAlarm4(69); }
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if (err15[3]) { crnProtocol.setAlarm4(70); }
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if (err15[4]) { crnProtocol.setAlarm4(71); }
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if (err15[5]) { crnProtocol.setAlarm4(72); }
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if (err15[6]) { crnProtocol.setAlarm4(73); }
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boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1); // 62
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crnProtocol.setConnStatus(bool1[0]);
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crnProtocol.setCorrection(bool1[3]);
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crnProtocol.setTuError(bool1[4]);
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crnProtocol.setNoneError(bool1[5]);
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crnProtocol.setStockError(bool1[6]);
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crnProtocol.setJobInvalid(bool1[7]);
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boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1); // 63
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crnProtocol.setIdle(bool2[0]);
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crnProtocol.setControl(bool2[1]);
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crnProtocol.setStopQuasi(bool2[2]);
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crnProtocol.setRunning(bool2[3]);
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crnProtocol.setFault(bool2[4]);
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crnProtocol.setForkHome(bool2[5]);
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crnProtocol.setForkSingleLeft(bool2[6]);
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crnProtocol.setForkSingleRight(bool2[7]);
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boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1); // 64
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crnProtocol.setForkDoubleLeft(bool3[0]);
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crnProtocol.setForkDoubleRight(bool3[1]);
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crnProtocol.setSingleHigh(bool3[2]);
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crnProtocol.setSingleLow(bool3[3]);
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crnProtocol.setDoubleHigh(bool3[4]);
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crnProtocol.setDoubleLow(bool3[5]);
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crnProtocol.setPlatformHigh(bool3[6]);
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crnProtocol.setPlatformLow(bool3[7]);
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boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1); // 66
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crnProtocol.setLoaded((short) (bool4[4]?1:0)); // 有物
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// 速度
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crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22)); // 24
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crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26
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crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28
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// 累计里程、时长
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crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90
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crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94
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crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98
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crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102
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// 增强
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if (crnProtocol.getForkHome()) {
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crnProtocol.setForkPos(CrnForkPosType.HOME);
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}
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if (crnProtocol.getForkSingleLeft()) {
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crnProtocol.setForkPos(CrnForkPosType.LEFT);
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}
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if (crnProtocol.getForkSingleRight()) {
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crnProtocol.setForkPos(CrnForkPosType.RIGHT);
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}
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if (crnProtocol.getForkDoubleLeft()) {
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crnProtocol.setForkPos(CrnForkPosType._LEFT);
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}
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if (crnProtocol.getForkDoubleRight()) {
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crnProtocol.setForkPos(CrnForkPosType._RIGHT);
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}
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if (crnProtocol.getSingleHigh()) {
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crnProtocol.setLiftPos(CrnLiftPosType.UP);
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}
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if (crnProtocol.getSingleLow()) {
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crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
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}
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if (crnProtocol.getDoubleHigh()) {
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crnProtocol.setLiftPos(CrnLiftPosType._UP);
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}
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if (crnProtocol.getDoubleLow()) {
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crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
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}
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if (crnProtocol.getIdle()) {
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crnProtocol.setStatus(CrnStatusType.IDLE);
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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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// 复位信号
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if (crnProtocol.getTaskFinish() == 1) {
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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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}
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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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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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} 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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}
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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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if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
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command.setTaskNo((short) 9999);
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}
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command.setCrnNo(slave.getId());
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short[] array = new short[9];
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if (command.getAckFinish() == 0) {
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array[0] = 5;
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} else {
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array[0] = 0;
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}
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array[1] = command.getSourcePosZ();
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array[2] = command.getSourcePosY();
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array[3] = command.getSourcePosX();
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array[4] = command.getDestinationPosZ();
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array[5] = command.getDestinationPosY();
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array[6] = command.getDestinationPosX();
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array[7] = command.getSourceStaNo();
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array[8] = command.getDestinationStaNo();
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// 作业信息
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OperateResult result = siemensNet.Write("DB1000.0", array);
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// 任务号 + 完成位
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short[] array2 = new short[2];
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array2[0] = command.getTaskNo();
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array2[1] = command.getAckFinish();
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OperateResult result1 = siemensNet.Write("DB1000.24", array2);
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// 结束位
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if (command.getAckFinish() == 0) {
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OperateResult result2 = siemensNet.Write("DB1000.28.1", true);
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}
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// 日志记录
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try {
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if (command.getAckFinish() != 1) {
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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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}
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} catch (Exception ignore) {}
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if (result.IsSuccess && result1.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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
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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());
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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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siemensNet.ConnectClose();
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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("192.168.6.9");
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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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// 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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// // 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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// 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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