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.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.BasDevp;
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import com.zy.asrs.entity.CommandInfo;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.CommandInfoService;
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import com.zy.asrs.service.DeviceErrorService;
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import com.zy.core.DevpThread;
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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.cache.SlaveConnection;
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import com.zy.core.enums.IoModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.protocol.StaProtocol;
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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.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* 输送线线程
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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 SiemensDevpThread implements Runnable, DevpThread {
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private DevpSlave slave;
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private SiemensS7Net siemensS7Net;
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private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
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private short heartBeatVal = 1;
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public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
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add(101);add(102);add(103);add(104);add(105);add(106);add(107);add(108);add(109);add(110);add(111);add(112);
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add(201);add(202);add(203);add(204);add(205);add(206);add(207);add(208);add(209);add(210);add(211);add(212);
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}};
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/**
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* 条码数量
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*/
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private int barcodeSize = 3;
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/**
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* 入出库模式
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* 0：未知
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* 1：入库启动中
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* 2.入库模式
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* 3.出库启动中 （不能生成入库工作档）
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* 4.出库模式
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*/
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public IoModeType ioModeOf2F = IoModeType.NONE;
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// public IoModeType ioMode = IoModeType.NONE;
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public SiemensDevpThread(DevpSlave 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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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.Devp, 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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read();
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break;
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// 写数据 ID+目标站
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case 2:
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write((StaProtocol)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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// 心跳
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// heartbeat();
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Thread.sleep(400);
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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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siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
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siemensS7Net.setRack(slave.getRack().byteValue());
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siemensS7Net.setSlot(slave.getSlot().byteValue());
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OperateResult connect = siemensS7Net.ConnectServer();
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if(connect.IsSuccess){
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result = true;
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OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线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("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线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("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.addDeviceError("devp", slave.getId(), "输送线plc连接失败");
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}
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siemensS7Net.ConnectClose();
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return result;
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}
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/**
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* 读取状态 ====> 整块plc
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*/
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private void read() throws InterruptedException {
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// // 更新入出库模式
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// updateIoMode();
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int staNoSize = staNos.size();
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OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNoSize*4));
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if (result.IsSuccess) {
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for (int i = 0; i < staNoSize; i++) {
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Integer siteId = staNos.get(i); // 站点编号
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StaProtocol staProtocol = station.get(siteId);
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if (null == staProtocol) {
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staProtocol = new StaProtocol();
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staProtocol.setSiteId(siteId);
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station.put(siteId, staProtocol);
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}
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staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4)); // 工作号
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staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4 + 2)); // 目标站
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}
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}
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Thread.sleep(200);
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OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.100", (short) (staNoSize*2));
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if (result1.IsSuccess) {
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for (int i = 0; i < staNoSize; i++) {
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Integer siteId = staNos.get(i); // 站点编号
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boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2, 1);
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StaProtocol staProtocol = station.get(siteId);
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staProtocol.setAutoing(status[0]); // 自动
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staProtocol.setLoading(status[1]); // 有物
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staProtocol.setInEnable(status[2]); // 可入
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staProtocol.setOutEnable(status[3]);// 可出
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staProtocol.setEmptyMk(status[4]); // 空板信号
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staProtocol.setFullPlt(status[5]); // 满托盘
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staProtocol.setHigh(status[6]); // 高库位
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staProtocol.setLow(status[7]); // 低库位
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if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
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staProtocol.setPakMk(true);
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}
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}
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}
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// //条码
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// Thread.sleep(200);
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// OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.160",(short)4);
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// if (result2.IsSuccess) {
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// for (int i = 0; i < barcodeSize; i++) {
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// String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
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// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
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// if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
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// barcodeThread.setBarcode(barcode);
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// }
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// }
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//
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// }
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//RGV台车位置
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Thread.sleep(200);
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OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.160",(short)4);
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if (result3.IsSuccess) {
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for (int i = 0; i < 2; i++) {
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Integer siteId = i==0 ? 112 : 212; // 站点编号
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StaProtocol staProtocol = station.get(siteId);
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if (null == staProtocol) {
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staProtocol = new StaProtocol();
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staProtocol.setSiteId(siteId);
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station.put(siteId, staProtocol);
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}
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staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
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// String aa = staProtocol.getNearbySta();
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// System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
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}
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}
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// OperateResultExOne<Short> result2 = siemensS7Net.ReadInt16("DB200.0");
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// if (result2.IsSuccess) {
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// this.ioMode = IoModeType.get(result2.Content);
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// }
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if (result.IsSuccess && result1.IsSuccess) {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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// 根据实时信息更新数据库
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try {
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List<BasDevp> basDevps = new ArrayList<>();
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for (Integer siteId : staNos) {
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StaProtocol staProtocol = station.get(siteId);
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basDevps.add(staProtocol.toSqlModel());
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}
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BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
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if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) {
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throw new Exception("更新数据库数据失败");
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [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("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
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}
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DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
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deviceErrorService.deleteDeviceError("devp", slave.getId());
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线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("读取输送线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("devp", slave.getId(), "读取输送线plc状态信息失败");
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}
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}
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/**
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* 写入 ID+目标站 =====> 单站点写入
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*/
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private void write(StaProtocol staProtocol) throws InterruptedException {
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if (null == staProtocol) {
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return;
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}
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int index = staNos.indexOf(staProtocol.getSiteId());
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short[] array = new short[2];
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array[0] = staProtocol.getWorkNo();
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array[1] = staProtocol.getStaNo();
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// OperateResult write = siemensS7Net.Write("DB100." + index*4, array);
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CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
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CommandInfo commandInfo = new CommandInfo();
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commandInfo.setWrkNo(staProtocol.getWorkNo().intValue());
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commandInfo.setCommandStatus(1);
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commandInfo.setStartTime(new Date());
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commandInfo.setDevice("devp");
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commandInfo.setCommand(JSON.toJSONString(staProtocol));
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commandInfoService.insert(commandInfo);
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OperateResult writeResult;
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//任务下发次数
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int writeCount = 0;
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//任务下发成功标识
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boolean writeFlag = false;
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while(writeCount < 5){
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writeResult = siemensS7Net.Write("DB100." + index*4, array); // 工作号、目标站
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if(writeResult.IsSuccess){
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Thread.sleep(200);
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OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*4, (short)4);
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if(readResult.IsSuccess){
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short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
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short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 2);
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if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
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//任务命令写入成功
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writeFlag = true;
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log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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break;
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} else {//返回结果是成功了，但是真实值不相同
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writeCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol),writeCount));
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log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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}
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} else {
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writeCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol), writeCount));
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log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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}
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} else {
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writeCount++;
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
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slave.getId(), JSON.toJSON(staProtocol),writeCount));
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log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
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}
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Thread.sleep(200);
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}
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//写命令尝试了5次还是失败了
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if(!writeFlag){
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staProtocol = station.get(staProtocol.getSiteId());
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if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
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staProtocol.setPakMk(true);
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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//重新添加数据到任务队列
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boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
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read();//读取1次设备状态
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return;
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} else {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
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log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}", slave.getId(), JSON.toJSON(staProtocol));
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Integer siteId = staProtocol.getSiteId();
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staProtocol = station.get(siteId);
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if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
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staProtocol.setPakMk(true);
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}
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}
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}
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// /**
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// * 写入 ID+目标站 =====> 单站点写入
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// */
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// private void write(StaProtocol staProtocol) throws InterruptedException {
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// if (null == staProtocol) {
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// return;
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// }
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// int index = staNos.indexOf(staProtocol.getSiteId());
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// short[] array = new short[2];
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// array[0] = staProtocol.getWorkNo();
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// array[1] = staProtocol.getStaNo();
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// OperateResult write = siemensS7Net.Write("DB100." + index*4, array);
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//
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//// OperateResult write = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo()); // 工作号
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//// Thread.sleep(500);
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//// OperateResult write1 = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo()); // 目标站
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//
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// if (!write.IsSuccess) {
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// staProtocol = station.get(staProtocol.getSiteId());
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// if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
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// staProtocol.setPakMk(true);
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// }
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// OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
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// log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
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// } else {
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// OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
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// log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}", slave.getId(), JSON.toJSON(staProtocol));
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//
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// Integer siteId = staProtocol.getSiteId();
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// staProtocol = station.get(siteId);
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// if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
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// staProtocol.setPakMk(true);
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// }
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// }
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// }
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// 更新入出库模式
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private void updateIoMode() throws InterruptedException {
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if (this.ioModeOf2F != IoModeType.NONE) {
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if (!siemensS7Net.Write("DB100.180", this.ioModeOf2F.id).IsSuccess) {
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线2F入出库模式失败。输送线plc编号={1}", slave.getId()));
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log.error("写入输送线2F入出库模式失败。输送线plc编号={}", slave.getId());
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}
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}
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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 = siemensS7Net.Write("DB100.50", heartBeatVal);
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if (!write.IsSuccess) {
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log.error("输送线plc编号={} 心跳失败", slave.getId());
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}
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}
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/**
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* 设置入库标记
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*/
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@Override
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public void setPakMk(Integer siteId, boolean pakMk) {
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StaProtocol staProtocol = station.get(siteId);
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if (null != staProtocol) {
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staProtocol.setPakMk(pakMk);
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}
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}
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@Override
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public void close() {
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siemensS7Net.ConnectClose();
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}
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public static void main(String[] args) {
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System.out.println(staNos.indexOf(129));
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System.out.println(staNos.size());
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for (int i = 0; i<staNos.size(); i++) {
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// System.out.println(i*2);
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// System.out.println(i*2 + 200);
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// System.out.println(i);
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}
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int index = staNos.indexOf(128);
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System.out.println(index*2);
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System.out.println(index*2 + 200);
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}
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// public static void main(String[] args) throws Exception {
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// DevpSlave slave = new DevpSlave();
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// slave.setIp("192.168.2.125");
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// SiemensDevpThread devpThread = new SiemensDevpThread(slave);
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// devpThread.connect();
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// devpThread.read();
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// // 写
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// StaProtocol staProtocol = devpThread.getStation().get(1);
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// staProtocol.setWorkNo((short) 232);
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// staProtocol.setStaNo((short) 6);
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// staProtocol.setAutoing(true);
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// staProtocol.setEmptyMk(true);
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// staProtocol.setInEnable(true);
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// devpThread.write(staProtocol);
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// System.out.println("----------------------------------------");
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// // 读
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// devpThread.read();
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// System.out.println(JSON.toJSONString(devpThread.station));
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//
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// }
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}
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