清除下发确认位后延迟写入

pang.jiabao

2025-01-18 23e183b246cdb1d85319caa216aa84c5645aec42

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

@@ -5,13 +5,13 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Arith;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
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.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -40,6 +40,20 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    /**
     * 20230711 Add，判断是否允许下发堆垛机任务的命令标记，默认为true
     * 为了防止时间差导致的WCS连续下发多笔任务，WCS下发任务后，主线程轮询时还未读到堆垛机非空闲、有任务状态时，可能会重复下发
     * 主线程下发堆垛机任务的同时，cmdFlag置为false，当堆垛机处于等待确认状态并且resetFlag为true时，才复位cmdFlag为true
     * 所有堆垛机任务下发前，先判断cmdFlag为true后才能下发
     * 改动前，是通过判断工作档是否存在堆垛机执行中工作状态判断的，如果不生成工作档，或者是有充电、移车等任务漏判断了也会存在问题
     */
    private boolean cmdFlag = true;

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

    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -75,12 +89,12 @@
                        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:
@@ -94,144 +108,306 @@
        }
    }

    /**
     * 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
    public boolean connect() {
        boolean result = false;
        siemensNet = new SiemensS7Net(SiemensPLCS.S300, slave.getIp());
        siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
        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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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()));
            News.info("SiemensCrn" + " - 1" + " - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            News.error("SiemensCrn" + " - 2" + " - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initCrn();
        }
        siemensNet.ConnectClose();
//        siemensNet.ConnectClose();
        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        OperateResultExOne<byte[]> result = siemensNet.Read("DB8.18", (short) 62);
        if (result.IsSuccess) {
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 54);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
            } else {
                initCrn();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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()));
//                News.error("SiemensCrn" + " - 4" + " - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
            crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
            crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
            crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
            crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
            crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
            crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
            // 异常信息
            crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
            crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
            crnProtocol.setError3(siemensNet.getByteTransform().TransBool(result.Content, 26, 2));
            crnProtocol.setError4(siemensNet.getByteTransform().TransBool(result.Content, 28, 2));
            crnProtocol.setError5(siemensNet.getByteTransform().TransBool(result.Content, 30, 2));
            crnProtocol.setError6(siemensNet.getByteTransform().TransBool(result.Content, 32, 2));
            float xSpeed = siemensNet.getByteTransform().TransSingle(result.Content, 34);
            crnProtocol.setXSpeed((float) Arith.multiplys(3, xSpeed, 1.15));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 38));
            float zSpeed = siemensNet.getByteTransform().TransSingle(result.Content, 42);
            crnProtocol.setZSpeed((float) Arith.multiplys(3, zSpeed, 5));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 46));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 50));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 54));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 58));

            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;
                    }

            if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING) && resetFlag) {
//                News.error("-------------------------------------------第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
//                        slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");
                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.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:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());

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

            try {
                // 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());
                basCrnp.setCrnSts((int) crnProtocol.getMode());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) {
                    News.error("SiemensCrn" + " - 3" + " - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                }
            } catch (Exception ignore) {
            }

        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } 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()));
//            News.error("SiemensCrn" + " - 5" + " - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
    }

    private void convertRow(CrnCommand crnCommand) {
        if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) {
            crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4)));
        }
        if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) {
            crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4)));
        }
    }

    /**
     * 写入数据
     */
    private boolean write(CrnCommand command){
    private boolean write(CrnCommand command) throws InterruptedException {
        if (null == command) {
            log.error("堆垛机写入命令为空");
            News.error("SiemensCrn" + " - 6" + " - 堆垛机写入命令为空");
            return false;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        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();
        OperateResult result = siemensNet.Write("DB8.0", array);
        if (result.IsSuccess) {
        OperateResult result = null;
        // 写3号堆垛机
        if (slave.getId() == 3) {
            // 写任务完成确认
            if (command.getAckFinish() == 1) {
                result = siemensNet.Write("DB100.0", (short) 1);
            } else {
                // 先清除下发确认位
                siemensNet.Write("DB100.18",(short) 0);
                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 = siemensNet.Write("DB100.0", array);

            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) {}
                //堆垛机任务写入后，回读一次，看是否成功
                Thread.sleep(200);
                try{
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
                    if (resultRead.IsSuccess) {
                        CrnCommand one = new CrnCommand();
                        one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                        one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                        one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                        one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                        one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                        one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                        one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                        one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                        if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                                || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                                || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                                || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                        ){
                            try{
                                News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                            }catch (Exception e){
                                try{
                                    News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                                }catch (Exception e1){
                                    News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                                }
                            }
                            if(!resetFlag){
                                News.error("堆垛机命令回读失败后，重新添加任务到队列2 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                                MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                            }
                            Thread.sleep(100);
                            readStatus();
                            return false;
                        } else {
//                            News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                        }
                    }
                }catch (Exception e){
                    News.error("堆垛机命令地址写入后回读出错");
                }
            }
        } else {
            // 写任务完成确认
            if (command.getAckFinish() == 1) {
                result = siemensNet.Write("DB100.0", (short) 1);
            } else {
                // 先清除下发确认位
                siemensNet.Write("DB100.18",(short) 0);
                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();
                Thread.sleep(200); // 延迟写入
                result = siemensNet.Write("DB100.0", array);
                log.info(JSON.toJSONString(array));

            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
                //堆垛机任务写入后，回读一次，看是否成功
                Thread.sleep(200);
                try{
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
                    if (resultRead.IsSuccess) {
                        CrnCommand one = new CrnCommand();
                        one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                        one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                        one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                        one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                        one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                        one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                        one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                        one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                        if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                                || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                                || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                                || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                        ){
                            try{
                                News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                            }catch (Exception e){
                                try{
                                    News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                                }catch (Exception e1){
                                    News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                                }
                            }
                            if(!resetFlag){
                                News.error("堆垛机命令回读失败后，重新添加任务到队列2 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                                MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                            }
                            Thread.sleep(100);
                            readStatus();
                            return false;
                        } else {
                            News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                        }
                    }
                }catch (Exception e){
                    News.error("堆垛机命令地址写入后回读出错");
                }
            }
        }

        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) {
            Thread.sleep(200);
            this.readStatus();
            News.info("SiemensCrn" + " - 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            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()));
            News.error("SiemensCrn" + " - 8" + " - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }


    @Override
    public void close() {
@@ -243,8 +419,9 @@
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        CrnSlave slave = new CrnSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setId(2);
        slave.setIp("10.10.10.20");
        slave.setPort(0);
        slave.setRack(0);
        slave.setSlot(0);
        SiemensCrnThread crnThread = new SiemensCrnThread(slave);
@@ -254,18 +431,19 @@
        Thread.sleep(3000L);

        // 1.入库 源和目标都发
//        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.PAKIN); // 任务模式
//        command.setSourcePosX((short) 1);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 1);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 3);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);
        CrnCommand command = new CrnCommand();
//        command.setCrnNo(3); // 堆垛机编号
        command.setTaskNo((short) 4676); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
        command.setSourcePosX((short) 5);     // 源库位排
        command.setSourcePosY((short) 1);     // 源库位列
        command.setSourcePosZ((short) 1);     // 源库位层
        command.setDestinationPosX((short) 4);     // 目标库位排
        command.setDestinationPosY((short) 2);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        command.setCommand((short) 1);
        crnThread.write(command);

        // 2.出库 源和目标都发
//        CrnCommand command = new CrnCommand();
@@ -282,18 +460,19 @@
//        crnThread.write(command);


//        // 3.库位移转   源和目标都发 pass
        // 3.库位移转   源和目标都发 pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
////        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 3); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)2);     // 源库位排
//        command.setSourcePosX((short)4);     // 源库位排
//        command.setSourcePosY((short)2);     // 源库位列
//        command.setSourcePosZ((short)3);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)4);     // 目标库位列
//        command.setDestinationPosZ((short)4);     // 目标库位层
//        command.setSourcePosZ((short)10);     // 源库位层
//        command.setDestinationPosX((short)4);     // 目标库位排
//        command.setDestinationPosY((short)1);     // 目标库位列
//        command.setDestinationPosZ((short)9);     // 目标库位层
//        command.setCommand((short)1);
//        crnThread.write(command);

        // 4.站位移转   源和目标都发