#map latest test

Junjie

2023-12-18 05f8bdf7e09849c1db885b6c996ad18280d130b3

 src/main/java/com/zy/core/thread/LiftThread.java

@@ -1,33 +1,29 @@
package com.zy.core.thread;

import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.RadixTools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.entity.BasLiftOpt;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.BasLiftOptService;
import com.zy.asrs.service.BasLiftService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
@@ -36,6 +32,7 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -45,14 +42,27 @@
@Slf4j
public class LiftThread implements  Runnable, ThreadHandler {

    private ModbusTcpNet modbusTcpNet;
    private SiemensS7Net siemensS7Net;
    private LiftSlave slave;
    private LiftProtocol liftProtocol;
    private RedisUtil redisUtil;
    private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();

    public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;

        //初始化站点
        for (LiftSlave.Sta sta : this.slave.getSta()) {
            LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
            liftStaProtocol.setStaNo(sta.getStaNo());//站点号
            liftStaProtocol.setLev(sta.getLev());//站点楼层
            String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
            liftStaProtocol.setLocNo(locNo);//站点库位号
            liftStaProtocol.setLiftNo(sta.getLiftNo());//提升机号
            liftStaProtocols.add(liftStaProtocol);
        }

    }

    @Override
@@ -72,12 +82,14 @@
                        break;
                    // 写入数据
                    case 2:
                        write((LiftCommand) task.getData());
                        write((NyLiftCommand) task.getData());
                        break;
                    //分配任务
                    case 3:
                        assignWork((LiftAssignCommand) task.getData());
                        break;
                    case 4:
                        write2((HashMap<String, Object>) task.getData());
                    default:
                        break;
                }
@@ -92,10 +104,8 @@
    public boolean connect() {
        boolean result = false;
        //-------------------------提升机连接方法------------------------//
        modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x02);
        // 当你需要指定格式的数据解析时，就需要设置下面的这个信息
        modbusTcpNet.setDataFormat(DataFormat.ABCD);
        OperateResult connect = modbusTcpNet.ConnectServer();
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -104,101 +114,86 @@
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        }
        modbusTcpNet.ConnectClose();
        siemensS7Net.ConnectClose();
        //-------------------------提升机连接方法------------------------//
        return result;
    }

    @Override
    public void close() {
        modbusTcpNet.ConnectClose();
        siemensS7Net.ConnectClose();
    }

    private void read() {
        try {
            readStatus();

            //提升机处于运行状态，将标记置为true
            if (liftProtocol.getRunning()) {
                liftProtocol.setPakMk(true);
            //提升机处于运行状态，将标记置为false
            if (liftProtocol.getBusy()) {
                liftProtocol.setPakMk(false);
            }

            //提升机处于未运行、就绪、标记true、有任务号
            if (!liftProtocol.getRunning()
                    && liftProtocol.getPakMk()
            if (!liftProtocol.getBusy()
                    && !liftProtocol.getPakMk()
                    && liftProtocol.getTaskNo() != 0) {
                //还有未完成的命令
                executeWork(liftProtocol.getTaskNo());
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initLift();
        }
    }

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("41117", (short) 50);
            if (result.IsSuccess) {
            //获取提升机数据
            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
            if (result1.IsSuccess) {
                if (null == liftProtocol) {
                    liftProtocol = new LiftProtocol();
                    liftProtocol.setLiftNo(slave.getId().shortValue());
                }

                //----------读取提升机状态-----------
                //获取数据
                byte[] content = result.Content;
                //提升机锁定
                liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
                //位置到达反馈
                liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));


                byte b1 = modbusTcpNet.getByteTransform().TransByte(content, 5);
                byte b2 = modbusTcpNet.getByteTransform().TransByte(content, 4);
                int[] datas1 = CommonUtils.byteToBits(b1);
                int[] datas2 = CommonUtils.byteToBits(b2);
                //准备就绪
                liftProtocol.setReady(CommonUtils.intToBoolean(datas1[0]));
                //运行中
                liftProtocol.setRunning(CommonUtils.intToBoolean(datas1[1]));
                //联机/单机
                liftProtocol.setMode(CommonUtils.intToBoolean(datas1[2]));
                //输送线前端光电有货
                liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas1[3]));
                //输送线正转反馈
                liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas1[4]));
                //输送线反转反馈
                liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas1[5]));
                //输送线电机过载
                liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas1[6]));
                //输送线末端光电有货
                liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas1[7]));
                //进输送线卡托盘报警
                liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[0]));
                //出输送线卡托盘报警
                liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[1]));
                //平台位置偏差报警
                liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas2[2]));
                //平台扭矩偏差报警
                liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas2[3]));
                //平台四向车检测
                liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas2[4]));

                //未就绪状态
                liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
                //伺服1错误
                liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //伺服2错误
                liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
                //伺服3错误
                liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
                //伺服4错误
                liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14));
                //提升机实际速度反馈
                liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));

                ///读取提升机状态-end
                //读取4.0-4.7数据
                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 1);
                //读取5.0-5.7数据
                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, 1, 1);
                //模式
                liftProtocol.setModel(status1[0]);
                //忙闲
                liftProtocol.setBusy(!status1[1]);
                //前超限
                liftProtocol.setFrontOverrun(status1[4]);
                //后超限
                liftProtocol.setBackOverrun(status1[5]);
                //左超限
                liftProtocol.setLeftOverrun(status1[6]);
                //右超限
                liftProtocol.setRightOverrun(status1[7]);
                //超高
                liftProtocol.setOverHeight(status2[0]);
                //超重
                liftProtocol.setOverWeight(status2[1]);
                //有托盘
                liftProtocol.setHasTray(status2[5]);
                //有小车
                liftProtocol.setHasCar(status2[6]);
                //设备故障
                liftProtocol.setDeviceError(status2[7]);
                //任务号
                liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
                //目的地址
                liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //已完成任务号
                liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
                //当前楼层
                short lev = siemensS7Net.getByteTransform().TransInt16(result1.Content, 8);
                if (lev >= 7 && lev <= 9) {
                    lev -= 2;
                } else if (lev >= 12 && lev <= 14) {
                    lev -= 4;
                }
                liftProtocol.setLev(lev);

                //将提升机状态保存至数据库
                BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
@@ -213,43 +208,76 @@
                basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
                basLift.setUpdateTime(new Date());
                basLift.setPakMk(liftProtocol.getPakMk());
                basLift.setLiftLock(liftProtocol.getLiftLock());
                basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
                basLift.setReady(liftProtocol.getReady());
                basLift.setRunning(liftProtocol.getRunning());
                basLift.setMode(liftProtocol.getMode());
                basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
                basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
                basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
                basLift.setMotorOverload(liftProtocol.getMotorOverload());
                basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
                basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
                basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
                basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
                basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
                basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
                basLift.setNotReady(liftProtocol.getNotReady().intValue());
                basLift.setServoError1(liftProtocol.getServoError1().intValue());
                basLift.setServoError2(liftProtocol.getServoError2().intValue());
                basLift.setServoError3(liftProtocol.getServoError3().intValue());
                basLift.setServoError4(liftProtocol.getServoError4().intValue());
                basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
                basLift.setModel(liftProtocol.getModel());
                basLift.setBusy(liftProtocol.getBusy());
                basLift.setFrontOverrun(liftProtocol.getFrontOverrun());
                basLift.setBackOverrun(liftProtocol.getBackOverrun());
                basLift.setLeftOverrun(liftProtocol.getLeftOverrun());
                basLift.setRightOverrun(liftProtocol.getRightOverrun());
                basLift.setOverHeight(liftProtocol.getOverHeight());
                basLift.setOverWeight(liftProtocol.getOverWeight());
                basLift.setHasTray(liftProtocol.getHasTray());
                basLift.setHasCar(liftProtocol.getHasCar());
                basLift.setDeviceError(liftProtocol.getDeviceError());
                basLift.setDistAddress(liftProtocol.getDistAddress().intValue());
                basLift.setCompleteTaskNo(liftProtocol.getCompleteTaskNo().intValue());
                basLift.setLev(liftProtocol.getLev().intValue());
                if (liftService.updateById(basLift)) {
                    OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                }

            }else {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}提升机plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "提升机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
            Thread.sleep(200);

            //获取提升机站点数据
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB82.14.0", (short) (10 * liftStaProtocols.size()));
            if (result1.IsSuccess) {
                for (int i = 0; i < slave.getSta().size(); i++) {
                    LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i);
                    int i1 = 0 + (i * 10);
                    int i2 = 1 + (i * 10);
                    //读取x4.0-x4.7数据
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i1, 1);
                    //读取x5.0-x5.7数据
                    boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result2.Content, i2, 1);
                    //模式
                    liftStaProtocol.setModel(status1[0]);
                    //忙闲
                    liftStaProtocol.setBusy(!status1[1]);
                    //有托盘
                    liftStaProtocol.setHasTray(status1[2]);
                    //前超限
                    liftStaProtocol.setFrontOverrun(status1[4]);
                    //后超限
                    liftStaProtocol.setBackOverrun(status1[5]);
                    //左超限
                    liftStaProtocol.setLeftOverrun(status1[6]);
                    //右超限
                    liftStaProtocol.setRightOverrun(status1[7]);
                    //超高
                    liftStaProtocol.setOverHeight(status2[0]);
                    //超重
                    liftStaProtocol.setOverWeight(status2[1]);
                    //有小车
                    liftStaProtocol.setHasCar(status2[6]);
                    //设备故障
                    liftStaProtocol.setDeviceError(status2[7]);
                    //任务号
                    liftStaProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 2));
                    //已完成任务号
                    liftStaProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 6));
                }
            }

        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initLift();
        }
    }

    private boolean write(LiftCommand command){
    private boolean write(NyLiftCommand command){
        if (null == command) {
            News.error("提升机写入命令为空");
            return false;
@@ -258,42 +286,11 @@
        command.setLiftNo(slave.getId().shortValue());
        short[] array = getCommandArr(command);//获取命令报文

        try {
            Thread.sleep(500);//命令下发前休眠
        } catch (InterruptedException e) {
            throw new RuntimeException(e);
        }

        OperateResult result = modbusTcpNet.Write("41088", array);
        OperateResult result = siemensS7Net.Write("DB83.0", array);
        if (result != null && result.IsSuccess) {
            liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            News.info("提升机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            try {
                Thread.sleep(500);//命令下发后休眠
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }

            for (int i = 0; i < 5; i++) {
                if (command.getRun().intValue() == 4 || command.getRun().intValue() == 5) {
                    break;//系统复位和链条停止转动不需要重发
                }
                readStatus();//重新读取状态
                if (liftProtocol.getRunning()) {
                    break;
                }

                //判断是否运行中，如不运行，重新下发命令
                result = modbusTcpNet.Write("41088", array);
                News.info("提升机命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
                try {
                    Thread.sleep(300);//命令下发后休眠
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
            }
            return true;
        } else {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -303,97 +300,37 @@
    }

    //获取命令报文
    private short[] getCommandArr(LiftCommand command) {
    private short[] getCommandArr(NyLiftCommand command) {
        // 开始任务
        short[] array = new short[30];
        //开始运行
        array[0] = command.getRun();
        if (command.getDistPosition() != null) {
            //目标位置
            array[1] = command.getDistPosition();
        short[] array = new short[4];
        if (command.getTaskModel() != null) {
            //任务类型
            array[0] = command.getTaskModel();
        }
        if (command.getSpeed() != null) {
            //运行速度
            array[2] = command.getSpeed();
        if (command.getSourceSta() != null) {
            //源站台编号
            array[1] = command.getSourceSta();
        }
        if (command.getHeight2() != null) {
            //二层高度设定
            array[3] = command.getHeight2();
        if (command.getTargetSta() != null) {
            //目标站台编号
            array[2] = command.getTargetSta();
        }
        if (command.getHeight3() != null) {
            //三层高度设定
            array[4] = command.getHeight3();
        }
        if (command.getHeight4() != null) {
            //四层高度设定
            array[5] = command.getHeight4();
        }
        if (command.getHeight5() != null) {
            //四层高度设定
            array[6] = command.getHeight5();
        }
        if (command.getLiftLockShortValue() != null) {
            //提升机锁定
            array[29] = command.getLiftLockShortValue();
        }

        if (array[2] == 0) {
            // 开始任务
            short[] tmp = new short[2];
            tmp[0] = array[0];
            tmp[1] = array[1];
            array = tmp;
        if (command.getTaskNo() != null) {
            //任务号
            array[3] = command.getTaskNo();
        }
        return array;
    }

    //分配任务
    private void assignWork(LiftAssignCommand assignCommand) {
        //手动模式指令
        if (!assignCommand.getAuto()) {
            LiftCommand command = new LiftCommand();
            //提升机当前楼层
            Short lev = liftProtocol.getLev();
            List<LiftCommand> commands = assignCommand.getCommands();
            if (commands == null) {
                commands = new ArrayList<LiftCommand>();
            }
            liftProtocol.setTaskNo(assignCommand.getTaskNo());
            switch (assignCommand.getTaskMode()) {
                case 1://移动提升机
                    command = getLiftUpDownCommand(assignCommand.getLev());//获取提升机上升下降命令
                    break;
                case 3://无货正转
                    command = getLiftTurnCommand(3);//获取提升机转动命令
                    break;
                case 4://无货反转
                    command = getLiftTurnCommand(4);//获取提升机转动命令
                    break;
                case 5://有货正转
                    command = getLiftTurnCommand(1);//获取提升机转动命令
                    break;
                case 6://有货反转
                    command = getLiftTurnCommand(2);//获取提升机转动命令
                    break;
                case 7://链条停止
                    command = getLiftTurnCommand(5);//获取提升机转动命令
                    break;
                case 0://复位
                    command = getResetCommand();//获取复位命令
                    break;
                default:
            }
            commands.add(command);
            assignCommand.setCommands(commands);
        }

        LiftRedisCommand redisCommand = new LiftRedisCommand();
        redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号
        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        redisUtil.set(RedisKeyType.LIFT.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        liftProtocol.setAssignCommand(assignCommand);
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
        //执行下发任务
@@ -408,262 +345,113 @@
        }

        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
        if (o == null) {
            return false;
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
        List<NyLiftCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = redisCommand.getCommandStep();
        //总步序
        int size = commands.size();
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();

        if (commandStep != 0) {
            //判断上一条指令是否完成
            LiftCommand command = commands.get(commandStep - 1);
            if (command.getRun().intValue() == 1) {
                //提升机升降命令
                if (command.getDistPosition().intValue() == liftProtocol.getPositionArrivalFeedback().intValue()) {
                    //提升机目标楼层和实际楼层相同，则认定命令完成
                    command.setComplete(true);
                }
            } else if (command.getRun().intValue() == 2 || command.getRun().intValue() == 3) {
                //无货正转，有货正转
                if (!liftProtocol.getForwardRotationFeedback()) {
                    //输送线正转反馈不在运行中，认定命令完成
                    command.setComplete(true);
                }
            } else if (command.getRun().intValue() == 6 || command.getRun().intValue() == 7) {
                //有货反转，无货反转
                if (!liftProtocol.getReverseFeedback()) {
                    //输送线反转反馈不在运行中，认定命令完成
                    command.setComplete(true);
                }
            } else if (command.getRun().intValue() == 4) {
                //输送线停止
                if (!liftProtocol.getForwardRotationFeedback() && !liftProtocol.getReverseFeedback()) {
                    //输送线正转反转都不在运行中，认定命令完成
                    command.setComplete(true);
                }
            }
            //任务数据保存到redis
            redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

            if (!command.getComplete()) {
                //上一条任务未完成，禁止下发命令
                return false;
            }
        }

        //取出命令
        LiftCommand command = commands.get(commandStep);
        if (command.getOperaStaNo() != null && command.getDevpId() != null) {
            //站点和输送线ID不为null，需要下发站点指令调度指定站点进行链条转动
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
            StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue());
            staProtocol = staProtocol.clone();
            if (!staProtocol.isLiftArrival()) {//链条转动条件，需要有提升机到位信号
                liftProtocol.setPakMk(true);
                return false;
            }
            staProtocol.setWorkNo(wrkNo);//设置任务号
            if (command.getStaNo() != null) {
                staProtocol.setStaNo(command.getStaNo());//设置目标站
            }
        NyLiftCommand command = commands.get(commandStep);

            if (command.getRotationDire() != null) {
                staProtocol.setRotationDire(command.getRotationDire());//站点链条转动信号
            }
            Integer devpId = command.getDevpId();
            boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//下发命令使输送线链条运转
        }

        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
        if (wrkMast != null) {
            if (wrkMast.getWrkSts() == 28) {//28.提升机搬运中
                if (command.getRun().intValue() == 1 && command.getDistPosition().intValue() == LiftLevType.TWO.lev) {
                    //提升机移动且位置是到输送线楼层，需要判断站点货物是否无物，提升机是否有物
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
                    //工作档源库位楼层
                    int wrkMastLocNoLey = Utils.getLev(wrkMast.getSourceLocNo());
                    StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
                    //判断输送站点是否有物，只有无物情况才能继续调度提升机
                    if (staProtocol.isLoading()) {
                        //有物禁止调度
                        return false;
                    }
                }
            }
        if (!redisCommand.getLiftNo().equals(liftProtocol.getLiftNo())) {
            return false;
        }

        //下发命令
        if (!write(command)) {
            News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            return false;
        }

        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
        News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));

        //将标记置为true(防止重发)
        liftProtocol.setPakMk(true);

        //保存数据到数据库做流水
        BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
        if (liftOptService != null) {
            short[] commandArr = getCommandArr(command);//获取命令报文
            BasLiftOpt opt = new BasLiftOpt(
                    redisCommand.getWrkNo().intValue(),
                    liftProtocol.getLiftNo().intValue(),
                    new Date(),
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(liftProtocol)
            );
            opt.setDeviceWrk(command.getTaskNo().toString());//设备工作号
            liftOptService.insert(opt);
        }

        //判断数据是否执行完成
        if (commandStep < size - 1) {
            //更新redis数据
            //步序增加
            commandStep++;
            redisCommand.setCommandStep(commandStep);
            //任务数据保存到redis
            redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
        }else {
            News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            liftProtocol.setWrkTime(new Date());//更新工作时间
            //已执行完成
            //删除redis
            redisUtil.del(RedisKeyType.LIFT.key + redisCommand.getWrkNo());

            //将标记置为false(防止重发)
            liftProtocol.setPakMk(false);
            //对主线程抛出等待确认状态waiting
            liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
            News.info("提升机任务执行下发完成等待执行结束，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
        }

            //保存数据到数据库做流水
            BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
            if (liftOptService != null) {
                short[] commandArr = getCommandArr(command);//获取命令报文
                BasLiftOpt opt = new BasLiftOpt(
                        redisCommand.getWrkNo().intValue(),
                        redisCommand.getLiftNo().intValue(),
                        new Date(),
                        null,
                        null,
                        null,
                        JSON.toJSONString(command),
                        JSON.toJSONString(commandArr)
                );
                liftOptService.insert(opt);
            }

            //判断数据是否执行完成
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;
                redisCommand.setCommandStep(commandStep);
                //任务数据保存到redis
                redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成
                //删除redis
                redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());

                //对主线程抛出等待确认状态waiting
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
                News.info("提升机任务执行下发完成等待执行结束，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            }
        if (redisCommand.getAssignCommand().getTaskMode() == NyLiftTaskModelType.RESET.id.shortValue()) {
            //复位命令
            //工作号清零
            liftProtocol.setTaskNo((short) 0);
            //令牌清零
            liftProtocol.setToken(0);
            //设置提升机为空闲状态
            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
            //任务指令清零
            liftProtocol.setAssignCommand(null);
        }

        return true;
    }

    /**
     * 获取提升机解锁命令
     */
    public LiftCommand getUnlockCommand(Short liftNo) {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 0);
        command.setLiftNo(liftNo);
        command.setLiftLock(false);
        return command;
    }
    //给提升机写入进出状态
    private void write2(HashMap<String,Object> data) {
//        //出
//        status = true;
//        //进
//        status = false;
        int lev = Integer.parseInt(data.get("lev").toString());
        boolean status = Boolean.parseBoolean(data.get("status").toString());

    /**
     * 获取复位命令
     */
    public LiftCommand getResetCommand() {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 5);
        command.setLiftLock(false);
        return command;
    }

    /**
     * 获取提升机上升下降命令
     */
    public LiftCommand getLiftUpDownCommand(Integer lev) {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 1);//升降
        Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值
        command.setDistPosition(position);
//        command.setSpeed((short) 200);
//        command.setHeight2((short) 180);
//        command.setHeight3((short) 1645);
//        command.setHeight4((short) (2 * 1645));
//        command.setHeight5((short) (3 * 1645));
        return command;
    }

    /**
     * 获取提升机上升下降命令
     */
    public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) {
        LiftCommand command = new LiftCommand();
        Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值
        command.setRun((short) 1);//升降
        command.setLiftNo(liftNo);//提升机号
        command.setTaskNo(taskNo);//任务号
        command.setDistPosition(position);//目标楼层
//        command.setSpeed((short) 200);
//        command.setHeight2((short) 180);
//        command.setHeight3((short) 1645);
//        command.setHeight4((short) 3290);
//        command.setHeight5((short) 4945);
        return command;
    }

    /**
     * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转，3=>无货正转，4=>无货反转
     */
    public LiftCommand getLiftTurnCommand(Integer direction) {
        LiftCommand command = new LiftCommand();
        Short run = 0;
        switch (direction) {
            case 1:
                run = 6;//有货正转
                break;
            case 2:
                run = 3;//有货反转
                break;
            case 3:
                run = 2;//无货正转
                break;
            case 4:
                run = 7;//无货反转
                break;
            case 5:
                run = 4;//链条停止
        }
        command.setRun(run);
        return command;
    }

    /**
     * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转
     */
    public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
        LiftCommand command = new LiftCommand();
        Short run = 0;
        switch (direction) {
            case 1:
                run = 6;//有货正转
                break;
            case 2:
                run = 3;//有货反转
                break;
            case 3:
                run = 2;//无货正转
                break;
            case 4:
                run = 7;//无货反转
                break;
            case 5:
                run = 4;//链条停止
        }
        command.setRun(run);
        command.setLiftNo(liftNo);//提升机号
        command.setTaskNo(taskNo);//任务号
        return command;
    }

    /**
     * 初始化提升机
     */
    private void initLift() {
        this.connect();
        if (null == liftProtocol) {
            liftProtocol = new LiftProtocol();
        ArrayList<String> list = new ArrayList<String>(){{
            add("83.8.0");
            add("83.8.1");
            add("83.8.2");
            add("83.8.3");
            add("83.8.4");
            add("83.8.5");
            add("83.8.6");
            add("83.8.7");
            add("83.9.0");
            add("83.9.1");
        }};
        OperateResult result = siemensS7Net.Write("DB" + list.get(lev - 1), status);
        if (result != null && result.IsSuccess) {
            News.info("提升机命令下发[id:{}]", slave.getId());
        } else {
            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }