1

zhangc

2025-04-14 7662f4db87c6e5510d4f2429900012f871497ed6

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

@@ -1,693 +1,69 @@
package com.zy.core.thread;

import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.entity.BasLiftOpt;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.BasLiftOptService;
import com.zy.asrs.service.BasLiftService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.LiftCommandModeType;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import com.zy.core.model.protocol.LiftStaProtocol;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;

/**
 * 提升机线程
 */
@Data
@Slf4j
public class LiftThread implements  Runnable, ThreadHandler {
public interface LiftThread extends ThreadHandler {

    private SiemensS7Net siemensS7Net;
    private LiftSlave slave;
    private LiftProtocol liftProtocol;
    private RedisUtil redisUtil;
    LiftProtocol getStatus();//获取提升机状态

    public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }
    LiftProtocol getStatus(boolean clone);//获取提升机状态

    @Override
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Lift, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        read();
                        break;
                    // 写入数据
                    case 2:
                        write((LiftCommand) task.getData());
                        break;
                    //分配任务
                    case 3:
                        assignWork((LiftAssignCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    List<LiftStaProtocol> getLiftStaProtocols();

    @Override
    public boolean connect() {
        boolean result = false;
        //-------------------------提升机连接方法------------------------//
        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        }
        siemensS7Net.ConnectClose();
        //-------------------------提升机连接方法------------------------//
        return result;
    }
    CommandResponse move(LiftCommand command);//升降移动

    @Override
    public void close() {
        siemensS7Net.ConnectClose();
    }
    CommandResponse palletInOut(LiftCommand command);//托盘出入

    private void read() {
        try {
            readStatus();
    CommandResponse lock(LiftCommand command);//锁定提升机

            //提升机处于运行状态，将标记置为true
            if (liftProtocol.getRunning()) {
                liftProtocol.setPakMk(true);
            }
    CommandResponse unlock(LiftCommand command);//解锁提升机

            //提升机处于未运行、就绪、标记true、有任务号
            if (!liftProtocol.getRunning()
                    && liftProtocol.getPakMk()
                    && liftProtocol.getTaskNo() != 0) {
                //还有未完成的命令
                executeWork(liftProtocol.getTaskNo());
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        }
    }
    CommandResponse reset(LiftCommand command);//复位

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensS7Net.Read("DB100.200", (short) 24);
            if (result.IsSuccess) {
                if (null == liftProtocol) {
                    liftProtocol = new LiftProtocol();
                    liftProtocol.setLiftNo(slave.getId().shortValue());
                }
    boolean isIdle();//是否空闲

                //----------读取提升机状态-----------
                //获取数据
//                byte[] content = result.Content;
//                //提升机锁定
//                liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
//                //位置到达反馈
//                liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
//
//
//                byte b1 = modbusTcpNet.getByteTransform().TransByte(content, 5);
//                byte b2 = modbusTcpNet.getByteTransform().TransByte(content, 4);
//                int[] datas1 = CommonUtils.byteToBits(b1);
//                int[] datas2 = CommonUtils.byteToBits(b2);
//                //准备就绪
//                liftProtocol.setReady(CommonUtils.intToBoolean(datas1[0]));
//                //运行中
//                liftProtocol.setRunning(CommonUtils.intToBoolean(datas1[1]));
//                //联机/单机
//                liftProtocol.setMode(CommonUtils.intToBoolean(datas1[2]));
//                //输送线前端光电有货
//                liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas1[3]));
//                //输送线正转反馈
//                liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas1[4]));
//                //输送线反转反馈
//                liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas1[5]));
//                //输送线电机过载
//                liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas1[6]));
//                //输送线末端光电有货
//                liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas1[7]));
//                //进输送线卡托盘报警
//                liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[0]));
//                //出输送线卡托盘报警
//                liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[1]));
//                //平台位置偏差报警
//                liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas2[2]));
//                //平台扭矩偏差报警
//                liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas2[3]));
//                //平台四向车检测
//                liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas2[4]));
//
//                //未就绪状态
//                liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
//                //伺服1错误
//                liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
//                //伺服2错误
//                liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
//                //伺服3错误
//                liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
//                //伺服4错误
//                liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14));
//                //提升机实际速度反馈
//                liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));
//
//                ///读取提升机状态-end
//
//                //将提升机状态保存至数据库
//                BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
//                BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
//                if (basLift == null) {
//                    basLift = new BasLift();
//                    //提升机号
//                    basLift.setLiftNo(slave.getId());
//                    liftService.insert(basLift);
//                }
//                basLift.setStatus(liftProtocol.getProtocolStatus());
//                basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
//                basLift.setUpdateTime(new Date());
//                basLift.setPakMk(liftProtocol.getPakMk());
//                basLift.setLiftLock(liftProtocol.getLiftLock());
//                basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
//                basLift.setReady(liftProtocol.getReady());
//                basLift.setRunning(liftProtocol.getRunning());
//                basLift.setMode(liftProtocol.getMode());
//                basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
//                basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
//                basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
//                basLift.setMotorOverload(liftProtocol.getMotorOverload());
//                basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
//                basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
//                basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
//                basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
//                basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
//                basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
//                basLift.setNotReady(liftProtocol.getNotReady().intValue());
//                basLift.setServoError1(liftProtocol.getServoError1().intValue());
//                basLift.setServoError2(liftProtocol.getServoError2().intValue());
//                basLift.setServoError3(liftProtocol.getServoError3().intValue());
//                basLift.setServoError4(liftProtocol.getServoError4().intValue());
//                basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
//                if (liftService.updateById(basLift)) {
//                    OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
////                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                }
    boolean isDeviceIdle();//设备是否空闲

            }else {
                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}提升机plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "提升机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        }
    }
    boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲

    private boolean write(LiftCommand command){
        if (null == command) {
            News.error("提升机写入命令为空");
            return false;
        }
    boolean setProtocolStatus(LiftProtocolStatusType status);//设置工作状态

//        command.setLiftNo(slave.getId().shortValue());
//        short[] array = getCommandArr(command);//获取命令报文
//
//        try {
//            Thread.sleep(500);//命令下发前休眠
//        } catch (InterruptedException e) {
//            throw new RuntimeException(e);
//        }
//
//        OperateResult result = modbusTcpNet.Write("41088", array);
//        if (result != null && result.IsSuccess) {
//            News.info("提升机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//
//            try {
//                Thread.sleep(500);//命令下发后休眠
//            } catch (InterruptedException e) {
//                throw new RuntimeException(e);
//            }
//
//            for (int i = 0; i < 5; i++) {
//                if (command.getRun().intValue() == 4 || command.getRun().intValue() == 5) {
//                    break;//系统复位和链条停止转动不需要重发
//                }
//                readStatus();//重新读取状态
//                if (liftProtocol.getRunning()) {
//                    break;
//                }
//
//                //判断是否运行中，如不运行，重新下发命令
//                result = modbusTcpNet.Write("41088", array);
//                News.info("提升机命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
//                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
//                try {
//                    Thread.sleep(300);//命令下发后休眠
//                } catch (InterruptedException e) {
//                    throw new RuntimeException(e);
//                }
//            }
//            return true;
//        } else {
//            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
    boolean setSyncTaskNo(Integer taskNo);//设置工作号

        return true;
    }
    boolean isLock(ExecuteSupport support);

    //获取命令报文
    private short[] getCommandArr(LiftCommand command) {
        // 开始任务
        short[] array = new short[30];
        //开始运行
        array[0] = command.getRun();
        if (command.getDistPosition() != null) {
            //目标位置
            array[1] = command.getDistPosition();
        }
        if (command.getSpeed() != null) {
            //运行速度
            array[2] = command.getSpeed();
        }
        if (command.getHeight2() != null) {
            //二层高度设定
            array[3] = command.getHeight2();
        }
        if (command.getHeight3() != null) {
            //三层高度设定
            array[4] = command.getHeight3();
        }
        if (command.getHeight4() != null) {
            //四层高度设定
            array[5] = command.getHeight4();
        }
        if (command.getHeight5() != null) {
            //四层高度设定
            array[6] = command.getHeight5();
        }
        if (command.getLiftLockShortValue() != null) {
            //提升机锁定
            array[29] = command.getLiftLockShortValue();
        }
    int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type);//生成硬件设备工作号

        if (array[2] == 0) {
            // 开始任务
            short[] tmp = new short[2];
            tmp[0] = array[0];
            tmp[1] = array[1];
            array = tmp;
        }
        return array;
    }
    String getLiftLocNo(int lev);//获取提升机位置

    //分配任务
    private void assignWork(LiftAssignCommand assignCommand) {
        //手动模式指令
        if (!assignCommand.getAuto()) {
            LiftCommand command = new LiftCommand();
            //提升机当前楼层
            Short lev = liftProtocol.getLev();
            List<LiftCommand> commands = assignCommand.getCommands();
            if (commands == null) {
                commands = new ArrayList<LiftCommand>();
            }
            liftProtocol.setTaskNo(assignCommand.getTaskNo());
            switch (assignCommand.getTaskMode()) {
                case 1://移动提升机
                    command = getLiftUpDownCommand(assignCommand.getLev());//获取提升机上升下降命令
                    break;
                case 3://无货正转
                    command = getLiftTurnCommand(3);//获取提升机转动命令
                    break;
                case 4://无货反转
                    command = getLiftTurnCommand(4);//获取提升机转动命令
                    break;
                case 5://有货正转
                    command = getLiftTurnCommand(1);//获取提升机转动命令
                    break;
                case 6://有货反转
                    command = getLiftTurnCommand(2);//获取提升机转动命令
                    break;
                case 7://链条停止
                    command = getLiftTurnCommand(5);//获取提升机转动命令
                    break;
                case 0://复位
                    command = getResetCommand();//获取复位命令
                    break;
                default:
            }
            commands.add(command);
            assignCommand.setCommands(commands);
        }
    String getLiftStandByLocNo(int lev, boolean in);//获取提升机待机位

        LiftRedisCommand redisCommand = new LiftRedisCommand();
        redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号
        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        liftProtocol.setAssignCommand(assignCommand);
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
        //执行下发任务
        executeWork(assignCommand.getTaskNo());
    }
    List<NavigateNode> getLiftStaNodes(int lev);

    //执行任务
    private boolean executeWork(Short wrkNo) {
        //读取redis数据
        if (wrkNo == null) {
            return false;
        }
    Integer getLevToStaNo(int lev);

        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = redisCommand.getCommandStep();
        //总步序
        int size = commands.size();
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
    //***************获取命令*****************
    List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//提升机移动

        if (commandStep != 0) {
            //判断上一条指令是否完成
            LiftCommand command = commands.get(commandStep - 1);
            if (command.getRun().intValue() == 1) {
                //提升机升降命令
                if (command.getDistPosition().intValue() == liftProtocol.getPositionArrivalFeedback().intValue()) {
                    //提升机目标楼层和实际楼层相同，则认定命令完成
                    command.setComplete(true);
                }
            } else if (command.getRun().intValue() == 2 || command.getRun().intValue() == 3) {
                //无货正转，有货正转
                if (!liftProtocol.getForwardRotationFeedback()) {
                    //输送线正转反馈不在运行中，认定命令完成
                    command.setComplete(true);
                }
            } else if (command.getRun().intValue() == 6 || command.getRun().intValue() == 7) {
                //有货反转，无货反转
                if (!liftProtocol.getReverseFeedback()) {
                    //输送线反转反馈不在运行中，认定命令完成
                    command.setComplete(true);
                }
            } else if (command.getRun().intValue() == 4) {
                //输送线停止
                if (!liftProtocol.getForwardRotationFeedback() && !liftProtocol.getReverseFeedback()) {
                    //输送线正转反转都不在运行中，认定命令完成
                    command.setComplete(true);
                }
            }
            //任务数据保存到redis
            redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
    List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//载车移动

            if (!command.getComplete()) {
                //上一条任务未完成，禁止下发命令
                return false;
            }
        }
    List<LiftCommand> getPalletInCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//托盘入

        //取出命令
        LiftCommand command = commands.get(commandStep);
        if (command.getOperaStaNo() != null && command.getDevpId() != null) {
            //站点和输送线ID不为null，需要下发站点指令调度指定站点进行链条转动
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
            StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue());
            staProtocol = staProtocol.clone();
            if (!staProtocol.isLiftArrival()) {//链条转动条件，需要有提升机到位信号
                liftProtocol.setPakMk(true);
                return false;
            }
            staProtocol.setWorkNo(wrkNo);//设置任务号
            if (command.getStaNo() != null) {
                staProtocol.setStaNo(command.getStaNo());//设置目标站
            }
    List<LiftCommand> getPalletOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//托盘出

            if (command.getRotationDire() != null) {
                staProtocol.setRotationDire(command.getRotationDire());//站点链条转动信号
            }
            Integer devpId = command.getDevpId();
            boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//下发命令使输送线链条运转
        }
    List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock);//锁定/解锁提升机

        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
        if (wrkMast != null) {
            if (wrkMast.getWrkSts() == 28) {//28.提升机搬运中
                if (command.getRun().intValue() == 1 && command.getDistPosition().intValue() == LiftLevType.TWO.lev) {
                    //提升机移动且位置是到输送线楼层，需要判断站点货物是否无物，提升机是否有物
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
                    //工作档源库位楼层
                    int wrkMastLocNoLey = Utils.getLev(wrkMast.getSourceLocNo());
                    StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
                    //判断输送站点是否有物，只有无物情况才能继续调度提升机
                    if (staProtocol.isLoading()) {
                        //有物禁止调度
                        return false;
                    }
                }
            }
        }

        //下发命令
        if (!write(command)) {
            News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            return false;
        }else {
            News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            liftProtocol.setWrkTime(new Date());//更新工作时间

            //将标记置为false(防止重发)
            liftProtocol.setPakMk(false);

            //保存数据到数据库做流水
            BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
            if (liftOptService != null) {
                short[] commandArr = getCommandArr(command);//获取命令报文
                BasLiftOpt opt = new BasLiftOpt(
                        redisCommand.getWrkNo().intValue(),
                        redisCommand.getLiftNo().intValue(),
                        new Date(),
                        null,
                        null,
                        null,
                        JSON.toJSONString(command),
                        JSON.toJSONString(commandArr)
                );
                liftOptService.insert(opt);
            }

            //判断数据是否执行完成
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;
                redisCommand.setCommandStep(commandStep);
                //任务数据保存到redis
                redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成
                //删除redis
                redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());

                //对主线程抛出等待确认状态waiting
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
                News.info("提升机任务执行下发完成等待执行结束，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            }
        }

        return true;
    }

    /**
     * 获取提升机解锁命令
     */
    public LiftCommand getUnlockCommand(Short liftNo) {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 0);
        command.setLiftNo(liftNo);
        command.setLiftLock(false);
        return command;
    }

    /**
     * 获取复位命令
     */
    public LiftCommand getResetCommand() {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 5);
        command.setLiftLock(false);
        return command;
    }

    /**
     * 获取提升机上升下降命令
     */
    public LiftCommand getLiftUpDownCommand(Integer lev) {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 1);//升降
        Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值
        command.setDistPosition(position);
//        command.setSpeed((short) 200);
//        command.setHeight2((short) 180);
//        command.setHeight3((short) 1645);
//        command.setHeight4((short) (2 * 1645));
//        command.setHeight5((short) (3 * 1645));
        return command;
    }

    /**
     * 获取提升机上升下降命令
     */
    public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) {
        LiftCommand command = new LiftCommand();
        Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值
        command.setRun((short) 1);//升降
        command.setLiftNo(liftNo);//提升机号
        command.setTaskNo(taskNo);//任务号
        command.setDistPosition(position);//目标楼层
//        command.setSpeed((short) 200);
//        command.setHeight2((short) 180);
//        command.setHeight3((short) 1645);
//        command.setHeight4((short) 3290);
//        command.setHeight5((short) 4945);
        return command;
    }

    /**
     * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转，3=>无货正转，4=>无货反转
     */
    public LiftCommand getLiftTurnCommand(Integer direction) {
        LiftCommand command = new LiftCommand();
        Short run = 0;
        switch (direction) {
            case 1:
                run = 6;//有货正转
                break;
            case 2:
                run = 3;//有货反转
                break;
            case 3:
                run = 2;//无货正转
                break;
            case 4:
                run = 7;//无货反转
                break;
            case 5:
                run = 4;//链条停止
        }
        command.setRun(run);
        return command;
    }

    /**
     * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转
     */
    public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
        LiftCommand command = new LiftCommand();
        Short run = 0;
        switch (direction) {
            case 1:
                run = 6;//有货正转
                break;
            case 2:
                run = 3;//有货反转
                break;
            case 3:
                run = 2;//无货正转
                break;
            case 4:
                run = 7;//无货反转
                break;
            case 5:
                run = 4;//链条停止
        }
        command.setRun(run);
        command.setLiftNo(liftNo);//提升机号
        command.setTaskNo(taskNo);//任务号
        return command;
    }

    /**
     * 初始化提升机
     */
    private void initLift() {
        this.connect();
        if (null == liftProtocol) {
            liftProtocol = new LiftProtocol();
        }
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        LiftSlave slave = new LiftSlave();
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
//        LiftThread thread = new LiftThread(slave,);
//        thread.connect();
//        thread.readStatus();
//
//        LiftCommand command = new LiftCommand();
//        command.setRun((short) 1);
//        command.setDistPosition((short) 12);
//        command.setSpeed((short) 300);
//        command.setHeight2((short) 100);
//        command.setHeight3((short) 200);
//        command.setHeight4((short) 303);
//        command.setLiftLock(true);
//        thread.write(command);

    }
    List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal);//小车已到位/已驶离信号

}