liftUpdate

Junjie

2023-07-24 1983e747ee2368186cef348fd31e9e5163f56634

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

@@ -5,13 +5,16 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
@@ -38,12 +41,20 @@
    private SiemensS7Net siemensS7Net;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
    private short heartBeatVal = 1;
    private int barcodeSize = 1;
    public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
        add(100);add(101);add(102);add(103);add(104);add(105);add(106);add(107);add(108);add(109);add(110);add(111);add(112);add(113);add(114);
        add(115);add(116);add(117);add(118);add(119);add(120);add(121);add(122);add(123);add(124);add(125);add(126);add(127);add(128);
        add(200);add(201);add(202);add(203);add(204);add(205);
        add(300);add(301);add(302);add(303);add(304);add(305);add(306);
        add(100);add(101);add(102);
        add(103);add(104);add(105);
        add(106);add(107);add(108);
    }};

    public static final ArrayList<Integer> outInStaNos = new ArrayList<Integer>() {{
        add(102);add(105);add(106);
        add(107);add(108);
    }};

    public boolean charge0;
    public boolean charge1;

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
@@ -67,8 +78,18 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        write((StaProtocol) task.getData());
                        read();
                        break;
                    // 出入库模式
                    case 3:
                        write3((StaProtocol) task.getData());
                        read();
                        break;
                    //102站回退信号
                    case 5:
                        write5((StaProtocol) task.getData());
                        read();
                    default:
                        break;
                }
@@ -92,10 +113,10 @@
        if(connect.IsSuccess){
            result = true;
            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()));
            log.info("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.info("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            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()));
            log.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
        siemensS7Net.ConnectClose();
        return result;
@@ -105,9 +126,9 @@
     * 读取状态 ====> 整块plc
     */
    private void read() throws InterruptedException {
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) 140);
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNos.size()*4));
        if (result.IsSuccess) {
            for (int i = 0; i < 35; i++) {
            for (int i = 0; i < staNos.size(); i++) {
                Integer siteId = staNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
@@ -115,29 +136,14 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*2));     // 工作号
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*2 + 70));   // 目标站
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4));     // 工作号
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4+2));   // 目标站
            }
        }
        Thread.sleep(50);
        OperateResultExOne<byte[]> result0 = siemensS7Net.Read("DB100.180", (short) 28);
        if (result0.IsSuccess) {
            for (int i = 0; i < 7; i++) {
                Integer siteId = staNos.get(i + 35); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result0.Content, i*2));     // 工作号
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result0.Content, i*2 + 14));   // 目标站
            }
        }
        Thread.sleep(50);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.140", (short) 35);
        Thread.sleep(200);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) (staNos.size()));
        if (result1.IsSuccess) {
            for (int i = 0; i < 35; i++) {
            for (int i = 0; i < staNos.size(); i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i, 1);
                StaProtocol staProtocol = station.get(siteId);
@@ -147,38 +153,89 @@
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位
                staProtocol.setLiftArrival(status[6]);     // 提升机到位信号
                staProtocol.setShuttleTakeEnable(status[7]);      // 提升机可取信号

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                }
            }
        }
        Thread.sleep(50);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.208", (short) 7);

        //读条码
        Thread.sleep(100);
        OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.200",(short)24);
        if (result2.IsSuccess) {
            for (int i = 0; i < 7; i++) {
                Integer siteId = staNos.get(i + 35); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result2.Content, i, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
            for (int i = 0; i <= barcodeSize; i++) {
//                byte[] bytes = siemensS7Net.getByteTransform().TransByte(result2.Content, i * 8, 8);
//                String barcode = CommonUtils.bytesToBarcode(bytes);
                String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                    barcodeThread.setBarcode(barcode);
                }
            }
        }

        if (result.IsSuccess && result0.IsSuccess && result1.IsSuccess && result2.IsSuccess) {
        // 充电信号位1
        Thread.sleep(50);
        OperateResultExOne<byte[]> result32 = siemensS7Net.Read("DB102.109", (short)1);
        if (result32.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result32.Content, 0, 1);
            charge0 = status[0];  //1:可以充电   0：可能离线 可能在充电
        }
        // 充电信号位2
        Thread.sleep(50);
        OperateResultExOne<byte[]> result31 = siemensS7Net.Read("DB100.201", (short)1);
        if (result31.IsSuccess) {
            boolean[] status = siemensS7Net.getByteTransform().TransBool(result31.Content, 0, 1);
            charge1 = status[0];
        }

        // 外形检测 - 102
        Thread.sleep(50);
        OperateResultExOne<byte[]> result102 = siemensS7Net.Read("DB100.100", (short)2);
        if (result102.IsSuccess) {
            //出入库模式
            short outInModel = siemensS7Net.getByteTransform().TransInt16(result102.Content, 0);
            StaProtocol staProtocol = station.get(102);
            staProtocol.setOutInModel(outInModel);
        }

        Thread.sleep(50);
        for (Integer siteId : outInStaNos) {
            String dbAddress = "DB100.300";
            switch (siteId) {
                case 102:
                    dbAddress = "DB100.300";
                    break;
                case 105:
                    dbAddress = "DB100.302";
                    break;
                case 106:
                    dbAddress = "DB100.304";
                    break;
                case 107:
                    dbAddress = "DB100.306";
                    break;
                case 108:
                    dbAddress = "DB100.308";
                    break;
            }

            OperateResultExOne<byte[]> resultRead = siemensS7Net.Read(dbAddress, (short) 2);
            if (resultRead.IsSuccess) {
                //链条转动情况
                short direction = siemensS7Net.getByteTransform().TransInt16(resultRead.Content, 0);
                StaProtocol staProtocol = station.get(siteId);
                if (direction != 0 && !staProtocol.isLoading()) {
                    //状态为正转或反转且无物时，将链条转动信号位复位
                    write4(siteId, 0);
                }
            }
        }

        if (result.IsSuccess && result1.IsSuccess) {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

            // 根据实时信息更新数据库
@@ -194,13 +251,143 @@
                }
            } catch (Exception e) {
                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()));
                log.error("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                News.error("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }

        } else {
            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()));
            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());
//            News.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());
        }
    }

    /**
     * plc与提升机交互
     */
    private void write4(Integer siteId, Integer direction) throws InterruptedException {
        if (Cools.isEmpty(siteId, direction)) {
            return;
        }
        switch (siteId) {
            case 102:
                siemensS7Net.Write("DB100.300", direction.shortValue());
                break;
            case 105:
                siemensS7Net.Write("DB100.302", direction.shortValue());
                break;
            case 106:
                siemensS7Net.Write("DB100.304", direction.shortValue());
                break;
            case 107:
                siemensS7Net.Write("DB100.306", direction.shortValue());
                break;
            case 108:
                siemensS7Net.Write("DB100.308", direction.shortValue());
                break;
        }
    }

    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void write3(StaProtocol staProtocol) throws InterruptedException {
        if (Cools.isEmpty(staProtocol)) {
            return;
        }
        OperateResult writeResult = null;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;

        Short outAndIn = staProtocol.getOutInModel();
        Integer siteId = staProtocol.getSiteId();
        Short run = 0;//停止转动
        String address = "";
        if (staProtocol.getRotationDire() != null) {
            run = staProtocol.getRotationDire().shortValue();//转动方向
        }
        switch (siteId) {
            case 102:
                address = "DB100.300";
                break;
            case 105:
                address = "DB100.302";
                break;
            case 106:
                address = "DB100.304";
                break;
            case 107:
                address = "DB100.306";
                break;
            case 108:
                address = "DB100.308";
                break;
        }

        while(writeCount < 5){
            writeResult = siemensS7Net.Write(address, run);
            if (writeResult == null) {
                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);
                continue;
            }

            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read(address, (short) 2);
                if(readResult.IsSuccess){
                    short run2 = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    if(run.equals(run2)){
                        //任务命令写入成功
                        writeFlag = true;
                        if (staProtocol.getStaNo() != null && staProtocol.getWorkNo() != null) {
                            write(staProtocol);//写入工作号和目标站
                        }
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                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);
            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(3, staProtocol));
            read();//读取1次设备状态
            return;
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

            staProtocol = station.get(siteId);
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
        }

    }

    /**
@@ -211,30 +398,118 @@
            return;
        }
        int index = staNos.indexOf(staProtocol.getSiteId());
        OperateResult write;
        OperateResult write1;
        // 一期
        if (staProtocol.getSiteId() < 300) {
            write = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(100);
            write1 = siemensS7Net.Write("DB100." + (index*2 + 70), staProtocol.getStaNo());    // 目标站
        // 二期
        } else {
            write = siemensS7Net.Write("DB100." + (index-35)*2 + 180, staProtocol.getWorkNo());    // 工作号
            Thread.sleep(100);
            write1 = siemensS7Net.Write("DB100." + ((index-35)*2 + 14) + 180, staProtocol.getStaNo());    // 目标站
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, staProtocol.getWorkNo());    // 工作号
//        Thread.sleep(500);
//        OperateResult write1 = siemensS7Net.Write("DB100." + (index*4+2), staProtocol.getStaNo());    // 目标站

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        while(writeCount < 5){
            writeResult = siemensS7Net.Write("DB100." + index*4, array);    // 工作号、目标站
            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*4, (short)4);
                if(readResult.IsSuccess){
                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 2);
                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
                        //任务命令写入成功
                        writeFlag = true;
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                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);
            }
            Thread.sleep(200);
        }

        if (!write.IsSuccess || !write1.IsSuccess) {
        //写命令尝试了5次还是失败了
        if(!writeFlag){
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            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)));
            log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
            read();//读取1次设备状态
            return;
        } else {
            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)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

            Integer siteId = staProtocol.getSiteId();
            staProtocol = station.get(siteId);
            if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
                staProtocol.setPakMk(true);
            }
        }
    }

    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void write5(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        while(writeCount < 5){
            writeResult = siemensS7Net.Write("DB100.310", staProtocol.getRollback102().shortValue());
            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100.310", (short)2);
                if(readResult.IsSuccess){
                    short rollback = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    if (staProtocol.getRollback102() == (int) rollback) {
                        //任务命令写入成功
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        return;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol), writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                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);
            }
            Thread.sleep(200);
        }
    }

@@ -249,7 +524,7 @@
        }
        OperateResult write = siemensS7Net.Write("DB100.50", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
            News.error("输送线plc编号={} 心跳失败", slave.getId());
        }
    }

@@ -264,21 +539,38 @@
        }
    }

    /**
     * 充电控制
     * @param index 充电桩序号 0 开始
     * @param open true 开始充电；false 结束充电
     */
    public boolean charge(int index, boolean open) {
        OperateResult write = siemensS7Net.Write("DB102.50." + (index + 3), open);
        if (!write.IsSuccess) {
            News.error("输送线plc编号={} {}号充电桩{}控制失败", slave.getId(), index + 1, open?"打开":"关闭");
            return false;
        } else {
            News.error("输送线plc编号={} {}号充电桩{}控制成功", slave.getId(), index + 1, open?"打开":"关闭");
        }
        return true;
    }

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

    public static void main(String[] args) {
//        System.out.println(staNos.indexOf(129));
        System.out.println(staNos.size());
        for (int i = 0; i<staNos.size(); i++) {
//            System.out.println(i*2);
//            System.out.println(i*2 + 200);
//            System.out.println(i);
        }
        int index = staNos.indexOf(128);
        System.out.println(index*2);
        System.out.println(index*2 + 200);
//        int index = staNos.indexOf(128);
//        System.out.println(index*2);
//        System.out.println(index*2 + 200);
    }

//    public static void main(String[] args) throws Exception {