#

Junjie

3 天以前 3c45d4f9f3aba5bc85a9577e43c0dffc71b93a22

 src/main/java/com/zy/core/thread/impl/LfdZyForkLiftSlaveThread.java

@@ -1,473 +1,475 @@
package com.zy.core.thread.impl;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.service.BasLiftService;
import com.zy.asrs.service.DeviceDataLogService;
import com.zy.asrs.utils.Utils;
import com.zy.common.ExecuteSupport;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.action.ForkLiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.ForkLiftCommand;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.thread.ForkLiftThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.*;

@Slf4j
@SuppressWarnings("all")
public class LfdZyForkLiftSlaveThread implements ForkLiftThread {

    private Integer masterId;
    private ForkLiftSlave slave;
    private ForkLiftProtocol forkLiftProtocol;
    private RedisUtil redisUtil;
    private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
    private LfdZyForkLiftMasterThread masterThread;

    public LfdZyForkLiftSlaveThread(ForkLiftSlave slave, RedisUtil redisUtil, Integer masterId) {
        this.slave = slave;
        this.redisUtil = redisUtil;
        this.masterId = masterId;
        //初始化站点
        for (ForkLiftSlave.Sta sta : this.slave.getSta()) {
            ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol();
            forkLiftStaProtocol.setStaNo(sta.getStaNo());//站点号
            forkLiftStaProtocol.setLev(sta.getLev());//站点楼层
            String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
            forkLiftStaProtocol.setLocNo(locNo);//站点库位号
            forkLiftStaProtocol.setLiftNo(sta.getLiftNo());//提升机号
            forkLiftStaProtocols.add(forkLiftStaProtocol);
        }
    }

    @Override
    public boolean connect() {
        boolean result = false;
        LfdZyForkLiftMasterThread masterThread = (LfdZyForkLiftMasterThread) SlaveConnection.get(SlaveType.ForkLiftMaster, masterId);
        if(masterThread != null) {
            result = true;
            this.masterThread = masterThread;
        }
        return result;
    }

    @Override
    public void close() {

    }

    @Override
    public void run() {
        News.info("{}号货叉提升机线程启动", slave.getId());
        this.connect();
        while (true) {
            try {
                if (this.masterThread == null) {
                    this.connect();
                    continue;
                }

                read();
                Thread.sleep(300);
                execute();
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }

    private void execute() {
        ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
        if (forkLiftAction == null) {
            return;
        }

        Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
        if (object == null) {
            return;
        }

        Integer taskNo = Integer.valueOf(String.valueOf(object));
        if (taskNo != 0) {
            //存在任务需要执行
            boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
        }
    }

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

            //提升机处于运行状态，将标记置为true
            if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP)
                    || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN)
                    || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) {
                forkLiftProtocol.setPakMk(true);
            }
        } catch (Exception e) {
            OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        }
    }

    private void readStatus() {
        try {
            //获取提升机数据
            OperateResultExOne<byte[]> result1 = this.masterThread.read(this.slave.getId(), "status");
            SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
            if (result1.IsSuccess) {
                if (null == forkLiftProtocol) {
                    forkLiftProtocol = new ForkLiftProtocol();
                    forkLiftProtocol.setLiftNo(slave.getId());
                    forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE);

                    InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend();
                }

                //----------读取提升机状态-----------
                //模式
                forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
                //PLC任务号
                forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
                //任务状态
                forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                //任务模式
                forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
                //取货数据
                forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
                //放货数据
                forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10));
                //出入库模式
                forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
                //故障码
                forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
                //当前层
                forkLiftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));

                //************补充扩展字段*************
                InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
                forkLiftProtocol.setExtend(forkLiftExtend);

            }else {
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
            }

            OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatusTray");
            if (result2.IsSuccess) {
                for (int i = 0; i < this.slave.getSta().size(); i++) {
                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
                    if (forkLiftStaProtocols.isEmpty()) {
                        continue;
                    }

                    short val = siemensS7Net.getByteTransform().TransInt16(result2.Content, i * 2);
                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
                    forkLiftStaProtocol.setHasTray(val == 1);
                }
            }

            OperateResultExOne<byte[]> result3 = this.masterThread.read(this.slave.getId(), "staStatusCar");
            if (result3.IsSuccess) {
                for (int i = 0; i < this.slave.getSta().size(); i++) {
                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
                    if (forkLiftStaProtocols.isEmpty()) {
                        continue;
                    }

                    short val = siemensS7Net.getByteTransform().TransInt16(result3.Content, i * 2);
                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
                    forkLiftStaProtocol.setHasCar(val == 1);
                }
            }

            if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
                deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol));
                deviceDataLog.setType("forkLift");
                deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
                deviceDataLog.setCreateTime(new Date());
                deviceDataLogService.insert(deviceDataLog);

                //保存数据记录
                DeviceDataLog deviceDataLog2 = new DeviceDataLog();
                deviceDataLog2.setOriginData(Base64.getEncoder().encodeToString(result2.Content));
                deviceDataLog2.setWcsData(JSON.toJSONString(forkLiftStaProtocols));
                deviceDataLog2.setType("forkLiftStaProtocols");
                deviceDataLog2.setDeviceNo(forkLiftProtocol.getLiftNo());
                deviceDataLog2.setCreateTime(new Date());
                deviceDataLogService.insert(deviceDataLog2);

                //更新采集时间
                forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
            }

            //将提升机状态保存至数据库
            BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
            BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>()
                    .eq("lift_no", slave.getId()));
            if (basLift == null) {
                basLift = new BasLift();
                //提升机号
                basLift.setLiftNo(forkLiftProtocol.getLiftNo());
                basLift.setStatus(1);
                basLiftService.insert(basLift);
            }
            //任务号
            basLift.setWrkNo(forkLiftProtocol.getTaskNo());
            //修改时间
            basLift.setUpdateTime(new Date());
            //设备状态
            basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
            if (basLiftService.updateById(basLift)) {
                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo()));
            }

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

    @Override
    public ForkLiftProtocol getStatus(boolean clone) {
        if (this.forkLiftProtocol == null) {
            return null;
        }
        return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol;
    }

    @Override
    public List<ForkLiftStaProtocol> getForkLiftStaProtocols() {
        return this.forkLiftStaProtocols;
    }

    @Override
    public ForkLiftProtocol getStatus() {
        return getStatus(true);
    }

    @Override
    public CommandResponse pickAndPut(ForkLiftCommand command) {
        CommandResponse response = new CommandResponse(false);

        short[] array = new short[4];
        array[0] = command.getTaskNo();//任务号
        array[1] = command.getMode();//任务模式
        array[2] = command.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
        if (result.IsSuccess) {
            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse shuttleSwitch(ForkLiftCommand command) {
        CommandResponse response = new CommandResponse(false);

        short[] array = new short[4];
        array[0] = command.getTaskNo();//任务号
        array[1] = command.getMode();//任务模式
        array[2] = command.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
        if (result.IsSuccess) {
            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse move(ForkLiftCommand command) {
        CommandResponse response = new CommandResponse(false);

        short[] array = new short[4];
        array[0] = command.getTaskNo();//任务号
        array[1] = command.getMode();//任务模式
        array[2] = command.getPick();//取货数据
        array[3] = command.getPut();//放货数据
        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
        if (result.IsSuccess) {
            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
            if (result2.IsSuccess) {
                response.setResult(true);
            }
        }
        return response;
    }

    @Override
    public CommandResponse reset() {
        CommandResponse response = new CommandResponse(false);
        OperateResult result = this.masterThread.write(this.slave.getId(), "confirm", (short) 1);
        if (result.IsSuccess) {
            News.info("货叉提升机确认命令下发成功，提升机号={}", forkLiftProtocol.getLiftNo());
            response.setResult(true);
        }
        return response;
    }

    @Override
    public boolean isIdle() {
        if (this.forkLiftProtocol.getTaskNo() == null
                || this.forkLiftProtocol.getProtocolStatus() == null
                || this.forkLiftProtocol.getModel() == null
                || this.forkLiftProtocol.getErrorCode() == null
        ) {
            return false;
        }

        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                && this.forkLiftProtocol.getWrkNo() == 0
                && this.forkLiftProtocol.getTaskNo() == 0
                && this.forkLiftProtocol.getModel() == 2
                && this.forkLiftProtocol.getErrorCode() == 0
                ;
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.forkLiftProtocol.getTaskNo() == null
                || this.forkLiftProtocol.getProtocolStatus() == null
                || this.forkLiftProtocol.getModel() == null
                || this.forkLiftProtocol.getErrorCode() == null
        ) {
            return false;
        }

        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
                && this.forkLiftProtocol.getWrkNo() == 0
                && this.forkLiftProtocol.getModel() == 2
                && this.forkLiftProtocol.getErrorCode() == 0
                ;
        return res;
    }

    @Override
    public boolean setProtocolStatus(ForkLiftProtocolStatusType status) {
        return false;
    }

    @Override
    public boolean setSyncTaskNo(Integer taskNo) {
        this.forkLiftProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public boolean switchIOMode(ForkLiftIoModeType type) {
        OperateResult result = this.masterThread.write(this.slave.getId(), "switchIOMode", type.id.shortValue());
        if (result.IsSuccess) {
            return true;
        }
        return false;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
        return taskNo;
    }

    @Override
    public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
        Integer realPick = pick % 1000;
        Integer realPut = put % 1000;

        List<ForkLiftCommand> commands = new ArrayList<>();
        ForkLiftCommand command = new ForkLiftCommand();
        command.setLiftNo(slave.getId());
        command.setTaskNo(taskNo.shortValue());
        command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);
        return commands;
    }

    @Override
    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
        Integer realPick = pick % 1000;
        Integer realPut = put % 1000;

        List<ForkLiftCommand> commands = new ArrayList<>();
        ForkLiftCommand command = new ForkLiftCommand();
        command.setLiftNo(slave.getId());
        command.setTaskNo(taskNo.shortValue());
        command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);
        return commands;
    }

    @Override
    public List<ForkLiftCommand> getMoveCommand(Integer taskNo, Integer pick, Integer put) {
        Integer realPick = pick % 1000;
        Integer realPut = put % 1000;

        List<ForkLiftCommand> commands = new ArrayList<>();
        ForkLiftCommand command = new ForkLiftCommand();
        command.setLiftNo(slave.getId());
        command.setTaskNo(taskNo.shortValue());
        command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue());
        command.setPick(realPick.shortValue());
        command.setPut(realPut.shortValue());
        command.setConfirm((short) 1);

        commands.add(command);
        return commands;
    }

    /**
     * 扩展字段
     */
    @Data
    private class InnerForkLiftExtend {

    }
}
//package com.zy.core.thread.impl;
//
//import HslCommunication.Core.Types.OperateResult;
//import HslCommunication.Core.Types.OperateResultExOne;
//import HslCommunication.Profinet.Siemens.SiemensPLCS;
//import HslCommunication.Profinet.Siemens.SiemensS7Net;
//import com.alibaba.fastjson.JSON;
//import com.baomidou.mybatisplus.mapper.EntityWrapper;
//import com.core.common.DateUtils;
//import com.core.common.SpringUtils;
//import com.zy.asrs.entity.BasLift;
//import com.zy.asrs.entity.DeviceDataLog;
//import com.zy.asrs.service.BasLiftService;
//import com.zy.asrs.service.DeviceDataLogService;
//import com.zy.asrs.utils.Utils;
//import com.zy.common.ExecuteSupport;
//import com.zy.common.utils.RedisUtil;
//import com.zy.core.News;
//import com.zy.core.action.ForkLiftAction;
//import com.zy.core.cache.OutputQueue;
//import com.zy.core.cache.SlaveConnection;
//import com.zy.core.enums.*;
//import com.zy.core.model.CommandResponse;
//import com.zy.core.model.ForkLiftSlave;
//import com.zy.core.model.command.ForkLiftCommand;
//import com.zy.core.model.protocol.ForkLiftProtocol;
//import com.zy.core.model.protocol.ForkLiftStaProtocol;
//import com.zy.core.thread.ForkLiftThread;
//import lombok.Data;
//import lombok.extern.slf4j.Slf4j;
//
//import java.text.MessageFormat;
//import java.util.*;
//
//@Slf4j
//@SuppressWarnings("all")
//public class LfdZyForkLiftSlaveThread implements ForkLiftThread {
//
//    private Integer masterId;
//    private ForkLiftSlave slave;
//    private ForkLiftProtocol forkLiftProtocol;
//    private RedisUtil redisUtil;
//    private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
//    private LfdZyForkLiftMasterThread masterThread;
//
//    public LfdZyForkLiftSlaveThread(ForkLiftSlave slave, RedisUtil redisUtil, Integer masterId) {
//        this.slave = slave;
//        this.redisUtil = redisUtil;
//        this.masterId = masterId;
//        //初始化站点
//        for (ForkLiftSlave.Sta sta : this.slave.getSta()) {
//            ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol();
//            forkLiftStaProtocol.setStaNo(sta.getStaNo());//站点号
//            forkLiftStaProtocol.setLev(sta.getLev());//站点楼层
//            String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
//            forkLiftStaProtocol.setLocNo(locNo);//站点库位号
//            forkLiftStaProtocol.setLiftNo(sta.getLiftNo());//提升机号
//            forkLiftStaProtocols.add(forkLiftStaProtocol);
//        }
//    }
//
//    @Override
//    public boolean connect() {
//        boolean result = false;
//        LfdZyForkLiftMasterThread masterThread = (LfdZyForkLiftMasterThread) SlaveConnection.get(SlaveType.ForkLiftMaster, masterId);
//        if(masterThread != null) {
//            result = true;
//            this.masterThread = masterThread;
//        }
//        return result;
//    }
//
//    @Override
//    public void close() {
//
//    }
//
//    @Override
//    public void run() {
//        News.info("{}号货叉提升机线程启动", slave.getId());
//        this.connect();
//        while (true) {
//            try {
//                if (this.masterThread == null) {
//                    this.connect();
//                    continue;
//                }
//
//                read();
//                Thread.sleep(300);
//                execute();
//            } catch (Exception e) {
//                e.printStackTrace();
//            }
//        }
//    }
//
//    private void execute() {
//        ForkLiftAction forkLiftAction = null;
//        try {
//            forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
//        }catch (Exception e){}
//        if (forkLiftAction == null) {
//            return;
//        }
//
//        Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
//        if (object == null) {
//            return;
//        }
//
//        Integer taskNo = Integer.valueOf(String.valueOf(object));
//        if (taskNo != 0) {
//            //存在任务需要执行
//            boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
//        }
//    }
//
//    private void read() {
//        try {
//            readStatus();
//
//            //提升机处于运行状态，将标记置为true
//            if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP)
//                    || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN)
//                    || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) {
//                forkLiftProtocol.setPakMk(true);
//            }
//        } catch (Exception e) {
//            OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//        }
//    }
//
//    private void readStatus() {
//        try {
//            //获取提升机数据
//            OperateResultExOne<byte[]> result1 = this.masterThread.read(this.slave.getId(), "status");
//            SiemensS7Net siemensS7Net = this.masterThread.getSiemensS7Net();
//            if (result1.IsSuccess) {
//                if (null == forkLiftProtocol) {
//                    forkLiftProtocol = new ForkLiftProtocol();
//                    forkLiftProtocol.setLiftNo(slave.getId());
//                    forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE);
//
//                    InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend();
//                }
//
//                //----------读取提升机状态-----------
//                //模式
//                forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
//                //PLC任务号
//                forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
//                //任务状态
//                forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
//                //任务模式
//                forkLiftProtocol.setTaskMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
//                //取货数据
//                forkLiftProtocol.setPick((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
//                //放货数据
//                forkLiftProtocol.setPut((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 10));
//                //出入库模式
//                forkLiftProtocol.setIOMode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 12));
//                //故障码
//                forkLiftProtocol.setErrorCode((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 14));
//                //当前层
//                forkLiftProtocol.setLev((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 16));
//
//                //************补充扩展字段*************
//                InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
//                forkLiftProtocol.setExtend(forkLiftExtend);
//
//            }else {
//                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】{1}读取货叉提升机状态信息失败", DateUtils.convert(new Date()), slave.getId()));
//            }
//
//            OperateResultExOne<byte[]> result2 = this.masterThread.read(this.slave.getId(), "staStatusTray");
//            if (result2.IsSuccess) {
//                for (int i = 0; i < this.slave.getSta().size(); i++) {
//                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
//                    if (forkLiftStaProtocols.isEmpty()) {
//                        continue;
//                    }
//
//                    short val = siemensS7Net.getByteTransform().TransInt16(result2.Content, i * 2);
//                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
//                    forkLiftStaProtocol.setHasTray(val == 1);
//                }
//            }
//
//            OperateResultExOne<byte[]> result3 = this.masterThread.read(this.slave.getId(), "staStatusCar");
//            if (result3.IsSuccess) {
//                for (int i = 0; i < this.slave.getSta().size(); i++) {
//                    ForkLiftSlave.Sta sta = this.slave.getSta().get(i);
//                    if (forkLiftStaProtocols.isEmpty()) {
//                        continue;
//                    }
//
//                    short val = siemensS7Net.getByteTransform().TransInt16(result3.Content, i * 2);
//                    ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
//                    forkLiftStaProtocol.setHasCar(val == 1);
//                }
//            }
//
//            if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
//                //采集时间超过5s，保存一次数据记录
//                //保存数据记录
//                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
//                DeviceDataLog deviceDataLog = new DeviceDataLog();
//                deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
//                deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol));
//                deviceDataLog.setType("forkLift");
//                deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
//                deviceDataLog.setCreateTime(new Date());
//                deviceDataLogService.insert(deviceDataLog);
//
//                //保存数据记录
//                DeviceDataLog deviceDataLog2 = new DeviceDataLog();
//                deviceDataLog2.setOriginData(Base64.getEncoder().encodeToString(result2.Content));
//                deviceDataLog2.setWcsData(JSON.toJSONString(forkLiftStaProtocols));
//                deviceDataLog2.setType("forkLiftStaProtocols");
//                deviceDataLog2.setDeviceNo(forkLiftProtocol.getLiftNo());
//                deviceDataLog2.setCreateTime(new Date());
//                deviceDataLogService.insert(deviceDataLog2);
//
//                //更新采集时间
//                forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
//            }
//
//            //将提升机状态保存至数据库
//            BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
//            BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>()
//                    .eq("lift_no", slave.getId()));
//            if (basLift == null) {
//                basLift = new BasLift();
//                //提升机号
//                basLift.setLiftNo(forkLiftProtocol.getLiftNo());
//                basLift.setStatus(1);
//                basLiftService.insert(basLift);
//            }
//            //任务号
//            basLift.setWrkNo(forkLiftProtocol.getTaskNo());
//            //修改时间
//            basLift.setUpdateTime(new Date());
//            //设备状态
//            basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
//            if (basLiftService.updateById(basLift)) {
//                OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo()));
//            }
//
//        } catch (Exception e) {
//            OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取货叉提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//        }
//    }
//
//    @Override
//    public ForkLiftProtocol getStatus(boolean clone) {
//        if (this.forkLiftProtocol == null) {
//            return null;
//        }
//        return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol;
//    }
//
//    @Override
//    public List<ForkLiftStaProtocol> getForkLiftStaProtocols() {
//        return this.forkLiftStaProtocols;
//    }
//
//    @Override
//    public ForkLiftProtocol getStatus() {
//        return getStatus(true);
//    }
//
//    @Override
//    public CommandResponse pickAndPut(ForkLiftCommand command) {
//        CommandResponse response = new CommandResponse(false);
//
//        short[] array = new short[4];
//        array[0] = command.getTaskNo();//任务号
//        array[1] = command.getMode();//任务模式
//        array[2] = command.getPick();//取货数据
//        array[3] = command.getPut();//放货数据
//        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
//        if (result.IsSuccess) {
//            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
//            if (result2.IsSuccess) {
//                response.setResult(true);
//            }
//        }
//        return response;
//    }
//
//    @Override
//    public CommandResponse shuttleSwitch(ForkLiftCommand command) {
//        CommandResponse response = new CommandResponse(false);
//
//        short[] array = new short[4];
//        array[0] = command.getTaskNo();//任务号
//        array[1] = command.getMode();//任务模式
//        array[2] = command.getPick();//取货数据
//        array[3] = command.getPut();//放货数据
//        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
//        if (result.IsSuccess) {
//            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
//            if (result2.IsSuccess) {
//                response.setResult(true);
//            }
//        }
//        return response;
//    }
//
//    @Override
//    public CommandResponse move(ForkLiftCommand command) {
//        CommandResponse response = new CommandResponse(false);
//
//        short[] array = new short[4];
//        array[0] = command.getTaskNo();//任务号
//        array[1] = command.getMode();//任务模式
//        array[2] = command.getPut();//放货数据
//        OperateResult result = this.masterThread.write(this.slave.getId(), "write", array);
//        if (result.IsSuccess) {
//            OperateResult result2 = this.masterThread.write(this.slave.getId(), "writeConfirm", command.getConfirm());
//            if (result2.IsSuccess) {
//                response.setResult(true);
//            }
//        }
//        return response;
//    }
//
//    @Override
//    public CommandResponse reset() {
//        CommandResponse response = new CommandResponse(false);
//        OperateResult result = this.masterThread.write(this.slave.getId(), "confirm", (short) 1);
//        if (result.IsSuccess) {
//            News.info("货叉提升机确认命令下发成功，提升机号={}", forkLiftProtocol.getLiftNo());
//            response.setResult(true);
//        }
//        return response;
//    }
//
//    @Override
//    public boolean isIdle() {
//        if (this.forkLiftProtocol.getTaskNo() == null
//                || this.forkLiftProtocol.getProtocolStatus() == null
//                || this.forkLiftProtocol.getModel() == null
//                || this.forkLiftProtocol.getErrorCode() == null
//        ) {
//            return false;
//        }
//
//        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
//                && this.forkLiftProtocol.getWrkNo() == 0
//                && this.forkLiftProtocol.getTaskNo() == 0
//                && this.forkLiftProtocol.getModel() == 2
//                && this.forkLiftProtocol.getErrorCode() == 0
//                ;
//        return res;
//    }
//
//    @Override
//    public boolean isDeviceIdle() {
//        return isDeviceIdle(null);
//    }
//
//    @Override
//    public boolean isDeviceIdle(ExecuteSupport support) {
//        if (null != support) {
//            Boolean judgement = support.judgement();
//            if (judgement != null && !judgement) {
//                return true;
//            }
//        }
//
//        if (this.forkLiftProtocol.getTaskNo() == null
//                || this.forkLiftProtocol.getProtocolStatus() == null
//                || this.forkLiftProtocol.getModel() == null
//                || this.forkLiftProtocol.getErrorCode() == null
//        ) {
//            return false;
//        }
//
//        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
//                && this.forkLiftProtocol.getWrkNo() == 0
//                && this.forkLiftProtocol.getModel() == 2
//                && this.forkLiftProtocol.getErrorCode() == 0
//                ;
//        return res;
//    }
//
//    @Override
//    public boolean setProtocolStatus(ForkLiftProtocolStatusType status) {
//        return false;
//    }
//
//    @Override
//    public boolean setSyncTaskNo(Integer taskNo) {
//        this.forkLiftProtocol.setSyncTaskNo(taskNo);
//        return true;
//    }
//
//    @Override
//    public boolean switchIOMode(ForkLiftIoModeType type) {
//        OperateResult result = this.masterThread.write(this.slave.getId(), "switchIOMode", type.id.shortValue());
//        if (result.IsSuccess) {
//            return true;
//        }
//        return false;
//    }
//
//    @Override
//    public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
//        return taskNo;
//    }
//
//    @Override
//    public List<ForkLiftCommand> getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
//        Integer realPick = pick % 1000;
//        Integer realPut = put % 1000;
//
//        List<ForkLiftCommand> commands = new ArrayList<>();
//        ForkLiftCommand command = new ForkLiftCommand();
//        command.setLiftNo(slave.getId());
//        command.setTaskNo(taskNo.shortValue());
//        command.setMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
//        command.setPick(realPick.shortValue());
//        command.setPut(realPut.shortValue());
//        command.setConfirm((short) 1);
//
//        commands.add(command);
//        return commands;
//    }
//
//    @Override
//    public List<ForkLiftCommand> getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
//        Integer realPick = pick % 1000;
//        Integer realPut = put % 1000;
//
//        List<ForkLiftCommand> commands = new ArrayList<>();
//        ForkLiftCommand command = new ForkLiftCommand();
//        command.setLiftNo(slave.getId());
//        command.setTaskNo(taskNo.shortValue());
//        command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
//        command.setPick(realPick.shortValue());
//        command.setPut(realPut.shortValue());
//        command.setConfirm((short) 1);
//
//        commands.add(command);
//        return commands;
//    }
//
//    @Override
//    public List<ForkLiftCommand> getMoveCommand(Integer taskNo, Integer pick, Integer put) {
//        Integer realPick = pick % 1000;
//        Integer realPut = put % 1000;
//
//        List<ForkLiftCommand> commands = new ArrayList<>();
//        ForkLiftCommand command = new ForkLiftCommand();
//        command.setLiftNo(slave.getId());
//        command.setTaskNo(taskNo.shortValue());
//        command.setMode(ForkLiftTaskModeType.MOVE.id.shortValue());
//        command.setPick(realPick.shortValue());
//        command.setPut(realPut.shortValue());
//        command.setConfirm((short) 1);
//
//        commands.add(command);
//        return commands;
//    }
//
//    /**
//     * 扩展字段
//     */
//    @Data
//    private class InnerForkLiftExtend {
//
//    }
//}