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.core.exception.CoolException;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.BasRgvMap;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.BasRgvMapService;
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import com.zy.common.utils.News;
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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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//
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// }};
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public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
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add(100);add(101);add(102);add(103);
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add(104);add(105);add(106);add(107);
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add(108);add(109);add(110);add(111);
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add(112);add(113);add(114);add(115);
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add(116);add(117);add(118);add(119);
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add(120);add(121);add(122);add(123);
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add(124);add(125);add(126);add(127);
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add(128);add(129);add(130);add(131);
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add(132);add(133);add(134);add(135);
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add(136);add(137);add(138);add(139);
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add(140);add(141);add(142);add(143);
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add(144);add(145);add(146);add(147);
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add(148);add(149);add(150);add(151);
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add(152);add(153);add(154);add(155);
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add(156);add(157);add(158);add(159);
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add(160);add(161);
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add(1);
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// add(200);add(201);add(202);
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}};
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public static final ArrayList<Integer> BarcodeList = new ArrayList<Integer>() {{
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add(0); add(1); add(2);
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}};
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public static final ArrayList<Integer> staNosErrList = new ArrayList<Integer>() {{
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add(106); add(107); add(159);
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}};
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private Integer count=0;
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/**
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* 条码数量
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*/
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private int barcodeSize = 6;
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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 IoModeType ioModeOf4F = 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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private ArrayList<Integer> getStaNo() {
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switch (slave.getId()) {
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case 1:
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return staNos1;
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default:
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throw new CoolException("服务器异常");
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}
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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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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log.error("输送线下发命令："+((StaProtocol) task.getData()).getWorkNo()+","+((StaProtocol) task.getData()).getStaNo());
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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(300);
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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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* 初始化站点状态
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*/
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private void initSite() {
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count ++;
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ArrayList<Integer> staNos = getStaNo();
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if(count > 77) {
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// 站点编号
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for (Integer siteId : staNos) {
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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(0); // ID
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staProtocol.setAutoing(false); // 自动
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staProtocol.setLoading(false); // 有物
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staProtocol.setInEnable(false); // 可入
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staProtocol.setOutEnable(false); // 可出
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staProtocol.setEmptyMk(false); // 空板信号
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staProtocol.setStaNo((short) 0); // 目标站
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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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count = 0;
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}
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}
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@Override
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public boolean connect() {
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boolean result = false;
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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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News.info("SiemensDevp"+" - 1"+" - 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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News.error("SiemensDevp"+" - 2"+" - 输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
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}
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siemensS7Net.ConnectClose();
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initSite();
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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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ArrayList<Integer> staNos = getStaNo();
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int staNoSize = staNos.size();
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OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
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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().TransInt32(result.Content, i*8)); // 工作号
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staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4)); // 目标站
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boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
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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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BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
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//RGV小车
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Thread.sleep(200);
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OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB50.200",(short)10);
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if (result3.IsSuccess) {
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BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));
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if (!Cools.isEmpty(basRgvMap) && basRgvMap.getStartRoute() == 100){
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Integer siteId = 1;
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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.setAutoing(true);
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staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 8)));
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}
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}
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//RGV小车
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Thread.sleep(200);
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OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB50.212",(short)10);
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if (result4.IsSuccess) {
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BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result4.Content, 0));
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if (!Cools.isEmpty(basRgvMap) && (basRgvMap.getStartRoute() == 161 || basRgvMap.getStartRoute() == 157)){
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Integer siteId = 2;
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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.setAutoing(true);
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staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result4.Content, 8)));
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}
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}
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//条码扫描器
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ArrayList<Integer> barcodeList = BarcodeList;
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OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8));
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if (result2.IsSuccess) {
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for (int i = 0; i < barcodeList.size(); i++) {
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Integer barcodeId = barcodeList.get(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, barcodeId + 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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//外形检测
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ArrayList<Integer> staNoErrs = staNosErrList;
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int staNoErrsSize = staNoErrs.size();
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OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.800", (short) (staNoErrsSize*8));
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if (resultErr.IsSuccess){
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for (int i = 0;i<3;i++){
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Integer siteId = staNoErrs.get(i); // 站点编号
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boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4+2, 1);
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StaProtocol staProtocol = station.get(siteId);
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staProtocol.setFrontErr(status[0]);
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staProtocol.setBackErr(status[1]);
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staProtocol.setHighErr(status[2]);
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staProtocol.setLeftErr(status[3]);
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staProtocol.setRightErr(status[4]);
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staProtocol.setWeightErr(status[5]);
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staProtocol.setBarcodeErr(status[6]);
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}
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}
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if (result.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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initSite();
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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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News.error("SiemensDevp"+" - 3"+" - 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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} 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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}
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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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ArrayList<Integer> staNos = getStaNo();
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int index = staNos.indexOf(staProtocol.getSiteId());
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OperateResult write = null;
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OperateResult write1 = null;
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//任务下发次数
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int writeCount = 0;
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do {
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write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo()); // 工作号
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Thread.sleep(200);
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write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue()); // 目标站
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if(write.IsSuccess && write1.IsSuccess){
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break;
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}
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else {
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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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}while (writeCount<5);
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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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News.error("SiemensDevp"+" - 4"+" - 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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News.info("SiemensDevp"+" - 5"+" - 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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}
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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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News.error("SiemensDevp"+" - 6"+" - 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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News.error("SiemensDevp"+" - 7"+" - 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(staNos1.indexOf(129));
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System.out.println(staNos1.size());
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for (int i = 0; i<staNos1.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 = staNos1.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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