#

Junjie

1 天以前 64f4079a20eb4499845182a5b91abbbbcf1b44fc

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

@@ -8,8 +8,9 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.*;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -18,6 +19,7 @@
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.protocol.Cycle;
import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -41,15 +43,37 @@
    private SiemensS7Net siemensS7Net;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
    private short heartBeatVal = 1;
    public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
        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(201);add(202);add(203);add(204);add(205);add(206);add(207);add(208);add(209);add(210);add(211);add(212);
    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(101);add(102);add(103);add(104);
        add(105);add(106);add(107);add(108);
        add(201);add(202);add(203);add(204);add(205);
        add(206);add(207);add(208);add(209);add(210);
        add(211);add(212);
    }};
    /*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);
        add(212);add(213);add(214);add(215);
        add(216);add(217);add(218);add(219);
        add(220);add(221);add(222);add(223);
        add(224);add(225);add(226);add(227);
        add(228);add(229);add(230);add(231);
        add(232);add(233);add(234);add(235);
    }};
    public static final ArrayList<Integer> staNos3 = new ArrayList<Integer>() {{
        add(300);add(301);add(302);add(303);
        add(304);add(305);add(306);add(307);
    }};
    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);
    }};*/

    /**
     * 条码数量
     */
    private int barcodeSize = 3;
    private int barcodeSize = 1;

    /**
     * 入出库模式
@@ -61,6 +85,20 @@
     */
    public IoModeType ioModeOf2F = IoModeType.NONE;
//    public IoModeType ioMode = IoModeType.NONE;
    private ArrayList<Integer> getStaNo() {
        switch (slave.getId()) {
            case 1:
                return staNos1;
            /*case 2:
                return staNos2;
            case 3:
                return staNos3;
            case 4:
                return staNos4;*/
            default:
                throw new CoolException("服务器异常");
        }
    }

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
@@ -85,7 +123,17 @@
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        read();
                        break;
                    // 写数据 ID+目标站
                    case 4:
                        writeCycle((StaProtocol)task.getData());
                        read();
                        break;
                   /* case 3:
                        write2((StaProtocol)task.getData());
                        read();
                        break;*/
                    default:
                        break;
                }
@@ -96,6 +144,33 @@
                e.printStackTrace();
            }

        }
    }

    /**
     * 初始化站点状态
     */
    private void initSite() {
        ArrayList<Integer> staNos = getStaNo();
        // 站点编号
        for (Integer siteId : staNos) {
            StaProtocol staProtocol = station.get(siteId);
            if (null == staProtocol) {
                staProtocol = new StaProtocol();
                staProtocol.setSiteId(siteId);
                station.put(siteId, staProtocol);
            }
            staProtocol.setWorkNo((short) 0);    // ID
            staProtocol.setAutoing(false);      // 自动
            staProtocol.setLoading(false);      // 有物
            staProtocol.setInEnable(false);     // 可入
            staProtocol.setOutEnable(false);    // 可出
            staProtocol.setEmptyMk(false);      // 空板信号
            staProtocol.setStaNo((short) 0);     // 目标站

            if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                staProtocol.setPakMk(true);
            }
        }
    }

@@ -113,6 +188,9 @@
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]  [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//            deviceErrorService.addDeviceError("devp", slave.getId(), "输送线plc连接失败");
            initSite();
        }
        siemensS7Net.ConnectClose();
        return result;
@@ -124,8 +202,9 @@
    private void read() throws InterruptedException {
//        // 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
@@ -135,19 +214,11 @@
                    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("DB100.100", (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
@@ -163,44 +234,144 @@
            }
        }

//            //条码
//            Thread.sleep(200);
//            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.160",(short)4);
//            if (result2.IsSuccess) {
//                for (int i = 0; i < barcodeSize; 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)) {
//                        barcodeThread.setBarcode(barcode);
//        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
//            }
//        }

        //RGV台车位置
        Thread.sleep(200);
        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.160",(short)4);
        if (result3.IsSuccess) {
            for (int i = 0; i < 2; i++) {
                Integer siteId = i==0 ? 112 : 212; // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
//        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("DB101.848.0", (short) 8);
            if (result2.IsSuccess) {
                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)) {
                        barcodeThread.setBarcode(barcode);
                    }
                }
                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
//                String aa = staProtocol.getNearbySta();
//                System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
            }

            //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]);

            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]);

                }
            }

        }


//        //RGV台车位置
//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.0",(short)4);
//        if (result3.IsSuccess) {
//            for (int i = 0; i < 2; i++) {
//                Integer siteId = i==0 ? 1 : 2; // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
////                String aa = staProtocol.getNearbySta();
////                System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
//            }
//        }

//        OperateResultExOne<Short> result2 = siemensS7Net.ReadInt16("DB200.0");
//        if (result2.IsSuccess) {
//            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()));

@@ -222,41 +393,398 @@
                log.error("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }

            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.deleteDeviceError("devp", slave.getId());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
//            log.error("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.addDeviceError("devp", slave.getId(), "读取输送线plc状态信息失败");
        }
    }

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

        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());

        if (index == -1) {
            log.error("站点编号 {} 不在已知列表中，无法写入任务！", staProtocol.getSiteId());
            return;
        }

        int writeCount = 0; // 任务下发尝试次数
        boolean writeFlag = false; // 任务下发成功标记
        String plcAddressWorkNo = "DB100." + index * 6;
        String plcAddressStaNo = "DB100." + (index * 6 + 4);

        while (writeCount < 5) {
            // **读取当前PLC状态，避免不必要的写入**
            OperateResultExOne<byte[]> readResult = siemensS7Net.Read(plcAddressWorkNo, (short) 6);
            if (readResult.IsSuccess) {
                int currentWorkNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
                short currentStaNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 4);

                if (currentWorkNo == staProtocol.getWorkNo().intValue() && currentStaNo == staProtocol.getStaNo()) {
                    log.info("站点 {} 当前状态已匹配，无需重复写入", staProtocol.getSiteId());
                    return;
                }
            }

            // **清零并确认**
            if (!clearPLCData(plcAddressWorkNo, plcAddressStaNo, staProtocol.getSiteId())) {
                writeCount++;
                continue; // 重新尝试清零
            }

            // **写入新任务**
            if (writeTaskToPLC(plcAddressWorkNo, plcAddressStaNo, staProtocol)) {
                writeFlag = true;
                log.info("输送线命令写入成功，PLC编号={}，站点数据={}，尝试次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                break;
            }

            log.warn("输送线命令写入失败，PLC编号={}，站点数据={}，尝试次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            writeCount++;
        }

        // **写入失败处理**
        handleWriteFailure(staProtocol, writeFlag);
    }

    private void writeCycle(StaProtocol staProtocol) throws InterruptedException {
        if (staProtocol == null) {
            return;
        }

        ArrayList<Integer> staNos = getStaNo();
        int index = staNos.indexOf(staProtocol.getSiteId());

        if (index == -1) {
            log.error("站点编号 {} 不在已知列表中，无法写入任务！", staProtocol.getSiteId());
            return;
        }

        int writeCount = 0; // 任务下发尝试次数
        boolean writeFlag = false; // 任务下发成功标记
        String plcAddressWorkNo = "";
        String plcAddressStaNo = "" ;
        switch (staProtocol.getSiteId()){
            case 105:
                plcAddressWorkNo = "DB73." + 0;
                plcAddressStaNo = "DB73." + 4;
                break;
            case 106:
                plcAddressWorkNo = "DB73." + 6;
                plcAddressStaNo = "DB73." + (6 + 4);
                break;
            case 108:
                plcAddressWorkNo = "DB73." + 2 * 6;
                plcAddressStaNo = "DB73." + (2 * 6 + 4);
                break;
            case 110:
                plcAddressWorkNo = "DB73." + 3 * 6;
                plcAddressStaNo = "DB73." + (3 * 6 + 4);
                break;
            case 112:
                plcAddressWorkNo = "DB73." + 4 * 6;
                plcAddressStaNo = "DB73." + (4 * 6 + 4);
                break;
        }


        // **写入新任务**
        if (writeTaskToPLC(plcAddressWorkNo, plcAddressStaNo, staProtocol)) {
            writeFlag = true;
            log.info("输送线命令写入成功，PLC编号={}，站点数据={}，尝试次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
        }

        // **写入失败处理**
        handleWriteFailure(staProtocol, writeFlag);
    }

    /**
     * 清零 PLC 数据并验证清零是否成功
     */
    private boolean clearPLCData(String plcAddressWorkNo, String plcAddressStaNo, int siteId) throws InterruptedException {
        siemensS7Net.Write(plcAddressWorkNo, 0);
        siemensS7Net.Write(plcAddressStaNo, (short) 0);
        Thread.sleep(100); // 等待PLC识别

        OperateResultExOne<byte[]> readResult = siemensS7Net.Read(plcAddressWorkNo, (short) 6);
        if (readResult.IsSuccess) {
            int readWorkNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
            short readStaNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 4);
            if (readWorkNo == 0 && readStaNo == 0) {
                return true; // 清零成功
            }
        }

        log.warn("站点 {} 清零失败，尝试重新清零...", siteId);
        return false;
    }

    /**
     * 写入新任务到 PLC 并验证是否成功
     */
    private boolean writeTaskToPLC(String plcAddressWorkNo, String plcAddressStaNo, StaProtocol staProtocol) throws InterruptedException {
        OperateResult writeResult2 = siemensS7Net.Write(plcAddressStaNo, staProtocol.getStaNo());

        OperateResult writeResult1 = siemensS7Net.Write(plcAddressWorkNo, staProtocol.getWorkNo().intValue());

        if (writeResult1.IsSuccess && writeResult2.IsSuccess) {
            Thread.sleep(200); // 等待 PLC 识别新值
            OperateResultExOne<byte[]> readResult = siemensS7Net.Read(plcAddressWorkNo, (short) 6);
            if (readResult.IsSuccess) {
                int workNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
                short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 4);
                return workNo == staProtocol.getWorkNo().intValue() && staNo == staProtocol.getStaNo();
            }
        }
        return false;
    }

    private boolean writeTaskToPLC(String plcAddressWorkNo, String plcAddressStaNo, Cycle cycle) throws InterruptedException {
        OperateResult writeResult1 = siemensS7Net.Write(plcAddressWorkNo, cycle.getWorkNo().intValue());
        OperateResult writeResult2 = siemensS7Net.Write(plcAddressStaNo, cycle.getStaNo());

        if (writeResult1.IsSuccess && writeResult2.IsSuccess) {
            Thread.sleep(200); // 等待 PLC 识别新值
            OperateResultExOne<byte[]> readResult = siemensS7Net.Read(plcAddressWorkNo, (short) 6);
            if (readResult.IsSuccess) {
                int workNo = siemensS7Net.getByteTransform().TransInt32(readResult.Content, 0);
                short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 4);
                return workNo == cycle.getWorkNo().intValue() && staNo == cycle.getStaNo();
            }
        }
        return false;
    }

    /**
     * 处理写入失败的情况
     */
    private void handleWriteFailure(StaProtocol staProtocol, boolean writeFlag) {
        if (!writeFlag) {
            StaProtocol currentStaProtocol = station.get(staProtocol.getSiteId());
            if (currentStaProtocol.getWorkNo() == 0 && currentStaProtocol.getStaNo() == 0) {
                currentStaProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送线命令尝试5次失败。PLC编号={1}，站点数据={2}",
                    slave.getId(), JSON.toJSON(currentStaProtocol)));
            log.error("输送线命令尝试5次失败，PLC编号={}，站点数据={}", slave.getId(), JSON.toJSON(currentStaProtocol));
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送线命令成功 [id:{1}] >>>>> {2}",
                    DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令成功 [id:{}] >>>>> {}", slave.getId(), JSON.toJSON(staProtocol));
        }
    }


    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);

//        OperateResult write = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo());    // 工作号
//        Thread.sleep(500);
//        OperateResult write1 = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo());    // 目标站
        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        while(writeCount < 5){
            writeResult = siemensS7Net.Write("DB100." + index*4, array);    // 工作号、目标站

        if (!write.IsSuccess) {
            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}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

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

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

        }

    }

//    /**
//     * 写入 ID+目标站 =====> 单站点写入
//     */
//    private void write(StaProtocol staProtocol) throws InterruptedException {
//        if (null == staProtocol) {
//            return;
//        }
//        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);
//
////        OperateResult write = siemensS7Net.Write("DB100." + index*2, staProtocol.getWorkNo());    // 工作号
////        Thread.sleep(500);
////        OperateResult write1 = siemensS7Net.Write("DB101." + index*2, staProtocol.getStaNo());    // 目标站
//
//        if (!write.IsSuccess) {
//            staProtocol = station.get(staProtocol.getSiteId());
//            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
//                staProtocol.setPakMk(true);
//            }
//            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
//            log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
//        } else {
//            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
//            log.info("输送线命令下发 [id:{}] >>>>> 命令下发： {}",  slave.getId(), JSON.toJSON(staProtocol));
//
//            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 {
@@ -300,6 +828,7 @@
    }

    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++) {