#

zjj

2024-08-21 12f4a6839c831411be43819e4d6487af6933bbbb

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

@@ -4,12 +4,16 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
import com.core.common.Arith;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
@@ -23,7 +27,6 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Calendar;
import java.util.Date;

/**
@@ -32,14 +35,18 @@
 */
@Data
@Slf4j
public class MelsecCrnThread implements Runnable, CrnThread {
public class MelsecCrnThread implements Runnable, ThreadHandler, CrnThread {

    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;
    private short heartBeatVal = 1;
    private int heartTimes = 0;
    private boolean resetFlag = false;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;

    public MelsecCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -49,6 +56,11 @@
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
//        try {
//            Thread.sleep(2000);
//        } catch (InterruptedException e) {
//            e.printStackTrace();
//        }
        while (true) {
            try {
                int step = 1;
@@ -75,29 +87,51 @@
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        command.setSourcePosX((short)0);     // 源库位排
                        command.setSourcePosY((short)0);     // 源库位列
                        command.setSourcePosZ((short)0);     // 源库位层
                        command.setDestinationPosX((short)0);     // 目标库位排
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
//                        command.setSourcePosX((short)0);     // 源库位排
//                        command.setSourcePosY((short)0);     // 源库位列
//                        command.setSourcePosZ((short)0);     // 源库位层
//                        command.setDestinationPosX((short)0);     // 目标库位排
//                        command.setDestinationPosY((short)0);     // 目标库位列
//                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    default:
                        break;
                }
                // 心跳 2s一次
                heartTimes++;
                if (Arith.remainder(heartTimes, 4) == 0) {
                    heartbeat();
                    heartTimes = 0;
                }
                // 心跳
                heartbeat();
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
                e.printStackTrace();
            }

        }
    }

    /**
     * 初始化堆垛机状态
     */
    private void initCrn() {
        if (null == crnProtocol) {
            crnProtocol = new CrnProtocol();
        }
        crnProtocol.setMode((short) -1);
//        crnProtocol.setTaskNo((short)0);
        crnProtocol.setStatus((short)-1);
        crnProtocol.setBay((short)0);
        crnProtocol.setLevel((short)0);
        crnProtocol.setForkPos((short) -1);
        crnProtocol.setLiftPos((short) -1);
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setxSpeed((short)0);
        crnProtocol.setySpeed((short)0);
        crnProtocol.setzSpeed((short)0);
        crnProtocol.setxDistance((short)0);
        crnProtocol.setyDistance((short)0);
        crnProtocol.setxDuration((short)0);
        crnProtocol.setyDuration((short)0);
    }

    @Override
@@ -108,41 +142,13 @@
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
            News.info("MelsecCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("MelsecCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
        // 命令下发区 --------------------------------------------------------------------------
        /**
         *      array[1] = command.getSourcePosY(); // 列
         *         array[2] = command.getSourcePosZ(); // 层
         *         array[3] = command.getSourcePosX(); // 排
         *         array[4] = command.getDestinationPosY(); // 列
         *         array[5] = command.getDestinationPosZ();  // 层
         *         array[6] = command.getDestinationPosX(); // 排
         *         array[7] = command.getTaskNo();
         */
        Date date = new Date();
        Calendar cal = Calendar.getInstance();
        cal.setTime(date);
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
        crnCommand.setTaskMode(CrnTaskModeType.TIMING); // 任务模式:  设置时间
        crnCommand.setSourcePosY((short) cal.get(Calendar.YEAR));     // 年：1980～2079
        crnCommand.setSourcePosZ((short) (cal.get(Calendar.MONTH)+1));     // 月：1～12
        crnCommand.setSourcePosX((short) cal.get(Calendar.DATE));     // 日：1～31
        crnCommand.setDestinationPosY((short) cal.get(Calendar.HOUR_OF_DAY));     // 时：0～23
        crnCommand.setDestinationPosZ((short) cal.get(Calendar.MINUTE));     // 分：0～59
        crnCommand.setDestinationPosX((short) cal.get(Calendar.SECOND));     // 秒：0～59
        crnCommand.setTaskNo((short) (cal.get(Calendar.DAY_OF_WEEK) - 1));     // 星期：0(日)～6(六)
        crnCommand.setTaskSend((short) 1);
        crnCommand.setAckFinish((short) 0);
        if (write(crnCommand)) {
            log.info("堆垛机plc校对时间成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        }

        melsecMcNet.ConnectClose();
//        melsecMcNet.ConnectClose();
        return result;
    }

@@ -150,60 +156,78 @@
     * 读取状态
     */
    private void readStatus(){
        OperateResultExOne<byte[]> result = melsecMcNet.Read("D1119", (short) 58);
        if (result.IsSuccess) {
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }
            crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
            crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
            crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
            crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
            crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
            crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
            crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
            crnProtocol.setFingerPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
            crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
            crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
            crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
            crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
            crnProtocol.setXSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 30));
            crnProtocol.setYSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 34));
            crnProtocol.setZSpeed(melsecMcNet.getByteTransform().TransSingle(result.Content, 38));
            crnProtocol.setXDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 42));
            crnProtocol.setYDistance(melsecMcNet.getByteTransform().TransSingle(result.Content, 46));
            crnProtocol.setXDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 50));
            crnProtocol.setYDuration(melsecMcNet.getByteTransform().TransSingle(result.Content, 54));

            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

            // 复位信号
            if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                if (resetFlag) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
                    if (write(crnCommand)) {
                        resetFlag = false;
                    }

        try {
//            if (this.slave.getId() == 1 && flag1.equals(0)) {
//                Thread.sleep(3000);
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D1035", (short) 56);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
            }
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 52));

            // 根据实时信息更新数据库
            BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
            BasCrnp basCrnp = new BasCrnp();
            basCrnp.setCrnNo(slave.getId());
            if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            }
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

        } else {
                // 复位信号
                if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    News.error("MelsecCrn"+" - 3"+" ---------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                        }
                    }
                }

                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                basCrnp.setCrnSts((int)crnProtocol.getMode());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    News.error("MelsecCrn"+" - 4"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "堆垛机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("MelsecCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }

    }

    /**
@@ -211,51 +235,108 @@
     */
    private boolean write(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            News.error("MelsecCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }
        if (command.getAckFinish() == 1) {
            command.setTaskSend((short) 0);
        } else if (command.getAckFinish() == 0) {
            command.setTaskSend((short) 1);
        }

//        OperateResult result = null;
//        try{
//            Integer exeCount=0;
//            do{
//                command.setCrnNo(slave.getId());
//                short[] array = new short[10];
//                array[0] = command.getAckFinish();
//                array[1] = command.getTaskNo();
//                array[2] = command.getTaskMode();
//                array[3] = command.getSourcePosX();
//                array[4] = command.getSourcePosY();
//                array[5] = command.getSourcePosZ();
//                array[6] = command.getDestinationPosX();
//                array[7] = command.getDestinationPosY();
//                array[8] = command.getDestinationPosZ();
//                array[9] = command.getCommand();
//                result = melsecMcNet.Write("D0", array);
//                if(result.IsSuccess) {
//                    if (command.getAckFinish() == 0) {
//                        short commandFinish = 1;
//                        result = melsecMcNet.Write("D9", commandFinish);
//                        if(result.IsSuccess){
//                            //写任务确认返回成功后，查询确认一次
//                            Thread.sleep(200);
//                            OperateResultExOne<byte[]> result1 = melsecMcNet.Read("D9", (short)2);
//                            if(result1.IsSuccess){
//                                short commandVal = melsecMcNet.getByteTransform().TransInt16(result1.Content,2);
//                                if(commandVal==1){
//                                    break;
//                                } else {
//                                    exeCount++;
//                                }
//                            } else{
//                                exeCount++;
//                            }
//                        }else{
//                            exeCount++;
//                        }
//                    }
//                }else{
//                    exeCount++;
//                }
//                Thread.sleep(200);
//            }while(exeCount>3);
//        }catch (Exception e){
//
//        }

        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        array[0] = command.getTaskMode();
        array[1] = command.getSourcePosY(); // 列
        array[2] = command.getSourcePosZ(); // 层
        array[3] = command.getSourcePosX(); // 排
        array[4] = command.getDestinationPosY(); // 列
        array[5] = command.getDestinationPosZ();  // 层
        array[6] = command.getDestinationPosX(); // 排
        array[7] = command.getTaskNo();
        array[8] = command.getTaskSend();
        array[9] = command.getAckFinish();

        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
        array[9] = command.getCommand();
        OperateResult result = melsecMcNet.Write("D1001", array);
        if (result.IsSuccess) {
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = melsecMcNet.Write("D1010", commandFinish);
        }

        try {
            // 日志记录
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
                    command.getTaskNo().intValue(),    // 任务号
                    command.getCrnNo(),    // 堆垛机[非空]
                    new Date(),    // 下发时间
                    command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosX().intValue(),    // 源排
                    command.getSourcePosY().intValue(),    // 源列
                    command.getSourcePosZ().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosX().intValue(),    // 目标排
                    command.getDestinationPosY().intValue(),    // 目标列
                    command.getDestinationPosZ().intValue(),    // 目标层
                    null,    // 目标站
                    null,    // 响应结果
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            News.info("MelsecCrn"+" - 7"+" - 堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("MelsecCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 心跳
     */
    private void heartbeat(){
        if (heartBeatVal == 1) {
            heartBeatVal = 0;
        } else {
            heartBeatVal = 1;
        }
        OperateResult write = melsecMcNet.Write("D1000", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
        }
    }

@@ -264,18 +345,46 @@
        melsecMcNet.ConnectClose();
    }

    /**
     * 心跳
     */
    private void heartbeat(){
        if (heartBeatVal >= 30000) {
            heartBeatVal = -30000;
        } else {
            heartBeatVal =(short) (heartBeatVal+1);
        }
        OperateResult write = melsecMcNet.Write("D1011", heartBeatVal);
//        OperateResult write1 = melsecMcNet.Write("D1001", (short) 0);
//        OperateResult write2 = melsecMcNet.Write("D1002", (short) 0);
//        OperateResult write3 = melsecMcNet.Write("D1003", (short) 0);
//        OperateResult write4 = melsecMcNet.Write("D1004", (short) 0);
//        OperateResult write5 = melsecMcNet.Write("D1005", (short) 0);
//        OperateResult write6 = melsecMcNet.Write("D1006", (short) 0);
//        OperateResult write7 = melsecMcNet.Write("D1007", (short) 0);
//        OperateResult write8 = melsecMcNet.Write("D1008", (short) 0);
//        OperateResult write9 = melsecMcNet.Write("D1009", (short) 0);
//        OperateResult write10 = melsecMcNet.Write("D1010", (short) 0);
        if (!write.IsSuccess) {
            News.error("MelsecCrn"+" - 9"+" - 堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }


    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        MelsecCrnThread crnThread = new MelsecCrnThread(slave);
        crnThread.connect();
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));
        Thread.sleep(3000L);
        slave.setIp("192.168.3.39");
        slave.setPort(5015);
        slave.setRack(0);
        slave.setSlot(0);
        MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
        melsecCrnThread.connect();
        melsecCrnThread.readStatus();
        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();
@@ -348,19 +457,6 @@
//        command.setDestinationPosZ((short) 0);     // 目标库位层
//        crnThread.write(command);

//        // 7.坐标移行   目标发   pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
//        command.setSourcePosX((short) 0);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 0);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 1);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);

        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
@@ -376,4 +472,5 @@
//        }

    }

}