配置信息

zhangc

2025-03-14 2228c73293e419ed249a27c426c0d08ce95d517e

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

@@ -9,17 +9,13 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.CommandInfo;
import com.zy.asrs.entity.CommandInfoLog;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.service.*;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.DeviceErrorService;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CommandStatusType;
import com.zy.core.enums.IoModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
@@ -43,15 +39,52 @@
@Slf4j
public class SiemensDevpThread implements Runnable, DevpThread {

    public static final ArrayList<Integer> staNos1 = 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(1001);
        add(1002);
        add(1003);
        add(1004);
    }};
    /**
     * 入出库模式
     * 0：未知
     * 1：入库启动中
     * 2.入库模式
     * 3.出库启动中 （不能生成入库工作档）
     * 4.出库模式
     */
    public IoModeType ioModeOf2F = IoModeType.NONE;
    public IoModeType ioModeOf4F = IoModeType.NONE;
    private DevpSlave slave;
    private SiemensS7Net siemensS7Net;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
    private short heartBeatVal = 1;
    public static final ArrayList<Integer> staNos1 = 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);
    }};
    public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
    /*public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
        add(200);add(201);add(202);add(203);
        add(204);add(205);add(206);add(207);
        add(208);add(209);add(210);add(211);
@@ -69,40 +102,45 @@
    public static final ArrayList<Integer> staNos4 = new ArrayList<Integer>() {{
        add(400);add(401);add(402);add(403);
        add(404);add(405);add(406);add(407);
    }};

    }};*/
    private short heartBeatVal = 1;
    /**
     * 条码数量
     */
    private int barcodeSize = 7;
    private int barcodeSize = 1;

    /**
     * 入出库模式
     * 0：未知
     * 1：入库启动中
     * 2.入库模式
     * 3.出库启动中 （不能生成入库工作档）
     * 4.出库模式
     */
    public IoModeType ioModeOf2F = IoModeType.NONE;
//    public IoModeType ioMode = IoModeType.NONE;
    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
    }

    public static void main(String[] args) {
        ArrayList<Integer> staNos = staNos1;
        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);
    }


    private ArrayList<Integer> getStaNo() {
        switch (slave.getId()) {
            case 1:
                return staNos1;
            case 2:
            /*case 2:
                return staNos2;
            case 3:
                return staNos3;
            case 4:
                return staNos4;
                return staNos4;*/
            default:
                throw new CoolException("服务器异常");
        }
    }

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
    }

    @Override
@@ -123,10 +161,18 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        write((StaProtocol) task.getData());
                        read();
                        break;
                    case 3:
                    // 写数据 ID+目标站
                    case 4:
                        writeAgvOk((StaProtocol) task.getData());
                        read();
                        break;
                   /* case 3:
                        write2((StaProtocol)task.getData());
                        read();
                        break;*/
                    default:
                        break;
                }
@@ -174,12 +220,12 @@
        siemensS7Net.setRack(slave.getRack().byteValue());
        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
        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()));
            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());
        } 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()));
            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());
//            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//            deviceErrorService.addDeviceError("devp", slave.getId(), "输送线plc连接失败");
@@ -193,11 +239,11 @@
     * 读取状态 ====> 整块plc
     */
    private void read() throws InterruptedException {
//        // 更新入出库模式
//        updateIoMode();
        // 更新入出库模式
        updateIoMode();
        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.0", (short) (staNoSize*4));
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize * 8));
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
@@ -207,26 +253,18 @@
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4));     // 工作号
                staProtocol.setWorkNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, i * 8));     // 工作号

                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*4 + 2));   // 目标站
            }
        }
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 8 + 4));   // 目标站

        //Thread.sleep(200);
        OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB101.0", (short) (staNoSize*2));
        if (result1.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result1.Content, i*2, 1);
                StaProtocol staProtocol = station.get(siteId);
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i * 8 + 6, 2);
                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.setCar(status[6]);     // 是否有车
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
@@ -235,156 +273,118 @@
            }
        }

//        OperateResultExOne<byte[]> resultAgvAndPlc = siemensS7Net.Read("DB102.0", (short) 30);
//        if (resultAgvAndPlc.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                int sign =(i+2)/2-1;
//                if ((i+2)%2!=0){
//                    Integer siteId = staNos.get(i); // 站点编号
//                    StaProtocol staProtocol = station.get(siteId);
//                    if (null == staProtocol) {
//                        staProtocol = new StaProtocol();
//                        staProtocol.setSiteId(siteId);
//                        station.put(siteId, staProtocol);
//                    }
//                    staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6+4));     // 允许取货
//                    staProtocol.setAgvStartPlace((short)0);   // 允许放货
//                    continue;
//                }
//                Integer siteId = staNos.get(i); // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6));     // 允许取货
//                staProtocol.setAgvStartPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6 + 2));   // 允许放货
//            }
//        }

        if (slave.getId() == 1){
//        OperateResultExOne<byte[]> resultAgvAndPlcOk = siemensS7Net.Read("DB132.0", (short) 30);
//        if (resultAgvAndPlcOk.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                int sign =(i+2)/2-1;
//                if ((i+2)%2!=0){
//                    Integer siteId = staNos.get(i); // 站点编号
//                    StaProtocol staProtocol = station.get(siteId);
//                    if (null == staProtocol) {
//                        staProtocol = new StaProtocol();
//                        staProtocol.setSiteId(siteId);
//                        station.put(siteId, staProtocol);
//                    }
//                    staProtocol.setAgvTargetPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6+4));     // 允许取货
//                    staProtocol.setAgvTargetPlace((short)0);   // 允许放货
//                    continue;
//                }
//                Integer siteId = staNos.get(i); // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                try{
//                    staProtocol.setAgvTargetPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6));     // 取货完成
//                    if (staProtocol.getAgvTargetPick()!=0){
//                        System.out.println(staProtocol.getAgvTargetPick());
//                    }
//                    staProtocol.setAgvTargetPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6 + 2));   // 放货完成
//                    if (staProtocol.getAgvTargetPlace()!=0){
//                        System.out.println(staProtocol.getAgvTargetPlace());
//                    }
//                }catch (Exception e){
//                    log.error(""+e);
//                }
//            }
//        }


        if (slave.getId() == 1) {
            //条码
            //Thread.sleep(200);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.102",(short)60);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.848.0", (short) 8);
            if (result2.IsSuccess) {
                for (int i = 0; i < 6; i++) {
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*10,8, "UTF-8");
                for (int i = 0; i < 1; i++) {
                    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)) {
                    if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }
                }
            }

            // 外形检测 - 102
            //Thread.sleep(100);
            OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB101.160", (short)1);
            if (result4.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
                StaProtocol staProtocol = station.get(103);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 107
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB101.164", (short)1);
            if (result5.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result5.Content, 0, 1);
                StaProtocol staProtocol = station.get(107);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 111
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result6 = siemensS7Net.Read("DB101.168", (short)1);
            if (result6.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result6.Content, 0, 1);
                StaProtocol staProtocol = station.get(111);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 115
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result7 = siemensS7Net.Read("DB101.172", (short)1);
            if (result7.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result7.Content, 0, 1);
                StaProtocol staProtocol = station.get(115);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 119
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result8 = siemensS7Net.Read("DB101.176", (short)1);
            if (result8.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result8.Content, 0, 1);
                StaProtocol staProtocol = station.get(119);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 123
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result9 = siemensS7Net.Read("DB101.180", (short)1);
            if (result9.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result9.Content, 0, 1);
                StaProtocol staProtocol = station.get(123);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
        } else if (slave.getId() == 3) {
            //外形检测
            OperateResultExOne<byte[]> resultErr1 = siemensS7Net.Read("DB101.810.0", (short) (barcodeSize * 1));
            StaProtocol staProtocol1 = station.get(116);
            boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultErr1.Content, 0, 1);
            staProtocol1.setFrontErr(status1[0]);
            staProtocol1.setBackErr(status1[1]);
            staProtocol1.setHighErr(status1[2]);
            staProtocol1.setLeftErr(status1[3]);
            staProtocol1.setRightErr(status1[4]);
            staProtocol1.setWeightErr(status1[5]);
            staProtocol1.setBarcodeErr(status1[6]);

            //条码
            //Thread.sleep(200);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.18",(short)10);
            if (result2.IsSuccess) {
            OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.922.0", (short) (staNoSize * 4));
            if (resultErr.IsSuccess) {
                for (int i = 0; i < staNoSize; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i * 4, 1);
                    StaProtocol staProtocol = station.get(siteId);
                    staProtocol.setBreakerErr(status[0]);
                    staProtocol.setInfraredErr(status[1]);
                    staProtocol.setOutTimeErr(status[2]);
                    staProtocol.setSeizeSeatErr(status[3]);
                    staProtocol.setWrkYgoodsN(status[4]);
                    staProtocol.setInverterErr(status[5]);
                    staProtocol.setContactErr(status[6]);
                    staProtocol.setUpcontactErr(status[7]);

                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,0,8, "UTF-8");
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 7);
                    if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }

                }
            }
            // 外形检测 - 111
            //Thread.sleep(50);
            OperateResultExOne<byte[]> result10 = siemensS7Net.Read("DB101.26", (short)1);
            if (result10.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result10.Content, 0, 1);
                StaProtocol staProtocol = station.get(301);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);

            }
        }


        OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB13.2", (short) (staNoSize*4));
        if (resultErr.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4, 1);
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setBreakerErr(status[0]);
                staProtocol.setInfraredErr(status[1]);
                staProtocol.setOutTimeErr(status[2]);
                staProtocol.setSeizeSeatErr(status[3]);
                staProtocol.setWrkYgoodsN(status[4]);
                staProtocol.setInverterErr(status[5]);
                staProtocol.setContactErr(status[6]);
                staProtocol.setUpcontactErr(status[7]);

            }
        }




//        //RGV台车位置
@@ -410,9 +410,9 @@
//            this.ioMode = IoModeType.get(result2.Content);
//        }

        if (result.IsSuccess && result1.IsSuccess) {
        if (result.IsSuccess) {

            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            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
            try {
@@ -445,6 +445,88 @@
    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void writeAgvOk(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());
        if (staProtocol.getAgvTypeSign() == 0 || staProtocol.getAgvTypeSign() == 2) {  //0取货
            switch (staProtocol.getSiteId()) {
                case 100:
                    index = 32;
                    break;
                case 101:
                    index = 34;
                    break;
                case 102:
                    index = 38;
                    break;
                case 103:
                    index = 40;
                    break;
                case 104:
                    index = 44;
                    break;
                case 105:
                    index = 46;
                    break;
                case 106:
                    index = 50;
                    break;
                case 107:
                    index = 52;
                    break;
                default:
                    return;
            }
        } else {
            switch (staProtocol.getSiteId()) {
                case 100:
                    index = 30;
                    break;
                case 102:
                    index = 36;
                    break;
                case 104:
                    index = 42;
                    break;
                case 106:
                    index = 48;
                    break;
                default:
                    return;
            }
        }

        OperateResult write = null;
        //任务下发次数
        int writeCount = 0;
        do {
            short textWrite = 1;// 任务完成
            if (staProtocol.getAgvTypeSign() > 1) {
                textWrite = 0;// 任务复位
            }
            write = siemensS7Net.Write("DB102." + index, textWrite);
            if (write.IsSuccess) {
                writeCount = 6;
            } else {
                writeCount++;
                log.error("写入输送线取放货完成命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
        } while (writeCount < 5);

        if (!write.IsSuccess) {
            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("写入输送线取放货完成站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
        } 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("输送线取放货完成命令下发码垛完成  给输送线写任务完成 [id:{}] >>>>> 命令下发： {}", slave.getId(), JSON.toJSON(staProtocol));
        }


    }

    private void write(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
@@ -452,283 +534,70 @@
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, array);

        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(staProtocol.getCommandId());
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);
//        CommandInfoLog commandInfoLog = new CommandInfoLog();
//        if (commandInfo != null) {
//            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//            commandInfoLog.setId(null);
//        }else {
//            Date now = new Date();
//            commandInfoLog.setCommand(JSON.toJSONString(staProtocol));
//            commandInfoLog.setCommandStatus(3);
//            commandInfoLog.setStartTime(now);
//            commandInfoLog.setExecuteTime(now);
//            commandInfoLog.setCompleteTime(now);
//            commandInfoLog.setDevice(SlaveType.Devp.toString());
//            commandInfoLog.setWrkNo(9999);
//            commandInfoLog.setTaskNo("9999");
//            commandInfoLog.setCommandDesc("手动命令");
//        }

        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){
        while (writeCount < 5) {
            OperateResult writeResult1 = siemensS7Net.Write("DB100." + index * 6, staProtocol.getWorkNo().intValue());    // 工作号
            OperateResult writeResult2 = siemensS7Net.Write("DB100." + (index * 6 + 4), staProtocol.getStaNo());    // 目标站
            if (writeResult1.IsSuccess && writeResult2.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)){
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index * 6, (short) 6);
                if (readResult.IsSuccess) {
                    Integer workNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 4);
                    if (workNo.equals(staProtocol.getWorkNo().intValue()) && 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);

                        Date now = new Date();

                        //更新指令状态
                        commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//输送线直接完成状态
                        commandInfo.setExecuteTime(now);
                        commandInfo.setCompleteTime(now);
                        commandInfoService.updateById(commandInfo);

                        //更新指令日志
                        commandInfoLog.setDeviceLog("指令下发成功");
                        commandInfoLog.setCommandStatus(CommandStatusType.COMPLETE.id);//输送线直接完成状态
                        commandInfoLog.setExecuteTime(now);
                        commandInfoLog.setCompleteTime(now);
                        commandInfoLogService.insert(commandInfoLog);

                        //更新任务步序
                        TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
                        TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo().intValue());
                        if (taskWrk != null) {
                            taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                            taskWrkService.updateById(taskWrk);
                        }

                        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));
                                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);
                        //更新指令日志
                        commandInfoLog.setDeviceLog("指令下发失败");
                        commandInfoLogService.insert(commandInfoLog);
                    }
                } 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);

                    //更新指令日志
                    commandInfoLog.setDeviceLog("指令下发失败");
                    commandInfoLogService.insert(commandInfoLog);
                }
            } 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));
                        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);

                //更新指令日志
                commandInfoLog.setDeviceLog("指令下发失败");
                commandInfoLogService.insert(commandInfoLog);
            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
        if (!writeFlag) {
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
            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(2, staProtocol));
            read();//读取1次设备状态
            return;
//            //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
        } 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));
            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);
            }

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo().intValue());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }
//            Integer siteId = staProtocol.getSiteId();
//            staProtocol = station.get(siteId);
//            if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
//                staProtocol.setPakMk(true);
//            }
        }

    }
    private void write2(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, array);

        //更新命令日志
//        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
//        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
//        CommandInfo commandInfo = commandInfoService.selectById(staProtocol.getCommandId());
//        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//        commandInfoLog.setId(null);
//        CommandInfoLog commandInfoLog = new CommandInfoLog();
//        if (commandInfo != null) {
//            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//            commandInfoLog.setId(null);
//        }else {
//            Date now = new Date();
//            commandInfoLog.setCommand(JSON.toJSONString(staProtocol));
//            commandInfoLog.setCommandStatus(3);
//            commandInfoLog.setStartTime(now);
//            commandInfoLog.setExecuteTime(now);
//            commandInfoLog.setCompleteTime(now);
//            commandInfoLog.setDevice(SlaveType.Devp.toString());
//            commandInfoLog.setWrkNo(9999);
//            commandInfoLog.setTaskNo("9999");
//            commandInfoLog.setCommandDesc("手动命令");
//        }

        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);

                        Date now = new Date();

//                        //更新指令状态
//                        commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//输送线直接完成状态
//                        commandInfo.setExecuteTime(now);
//                        commandInfo.setCompleteTime(now);
//                        commandInfoService.updateById(commandInfo);
//
//                        //更新指令日志
//                        commandInfoLog.setDeviceLog("指令下发成功");
//                        commandInfoLog.setCommandStatus(CommandStatusType.COMPLETE.id);//输送线直接完成状态
//                        commandInfoLog.setExecuteTime(now);
//                        commandInfoLog.setCompleteTime(now);
//                        commandInfoLogService.insert(commandInfoLog);

                        //更新任务步序
//                        TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
//                        TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo().intValue());
//                        if (taskWrk != null) {
//                            taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
//                            taskWrkService.updateById(taskWrk);
//                        }

                        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);
//                        //更新指令日志
//                        commandInfoLog.setDeviceLog("指令下发失败");
//                        commandInfoLogService.insert(commandInfoLog);
                    }
                } 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);

//                    //更新指令日志
//                    commandInfoLog.setDeviceLog("指令下发失败");
//                    commandInfoLogService.insert(commandInfoLog);
                }
            } 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);

//                //更新指令日志
//                commandInfoLog.setDeviceLog("指令下发失败");
//                commandInfoLogService.insert(commandInfoLog);
            }
            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(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);
            }

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo().intValue());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }
        }

    }

@@ -768,12 +637,114 @@
//        }
//    }

    private void write2(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();

        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);

                        Date now = new Date();
                        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));

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

        }

    }


    // 更新入出库模式
    private void updateIoMode() throws InterruptedException {
        if (this.ioModeOf2F != IoModeType.NONE) {
            if (!siemensS7Net.Write("DB100.180", this.ioModeOf2F.id).IsSuccess) {
                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()));
                log.error("写入输送线2F入出库模式失败。输送线plc编号={}", slave.getId());
        if (slave.getId() == 2 && this.ioModeOf2F != null) {
            if (!siemensS7Net.Write("DB4.2", this.ioModeOf2F.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线21F1入出库模式失败。输送线plc编号={2}", slave.getId()));
                log.error("写入输送线2F1入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
        if (slave.getId() == 2 && this.ioModeOf2F != null) {
            if (!siemensS7Net.Write("DB4.4", this.ioModeOf2F.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线2F2入出库模式失败。输送线plc编号={3}", slave.getId()));
                log.error("写入输送线2F2入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
        if (slave.getId() == 3 && this.ioModeOf2F != null) {
            if (!siemensS7Net.Write("DB4.2", this.ioModeOf2F.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线3F1入出库模式失败。输送线plc编号={2}", slave.getId()));
                log.error("写入输送线3F1入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
        if (slave.getId() == 3 && this.ioModeOf2F != null) {
            if (!siemensS7Net.Write("DB4.4", this.ioModeOf2F.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线3F2入出库模式失败。输送线plc编号={3}", slave.getId()));
                log.error("写入输送线3F2入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
    }
@@ -781,7 +752,7 @@
    /**
     * 心跳
     */
    private void heartbeat(){
    private void heartbeat() {
        if (heartBeatVal == 1) {
            heartBeatVal = 2;
        } else {
@@ -807,20 +778,6 @@
    @Override
    public void close() {
        siemensS7Net.ConnectClose();
    }

    public static void main(String[] args) {
        ArrayList<Integer> staNos = staNos1;
        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);
    }

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