| | |
| | | import com.zy.core.model.command.CrnCommand; |
| | | import com.zy.core.model.command.LedCommand; |
| | | import com.zy.core.model.command.RgvCommand; |
| | | import com.zy.core.model.cpmmandParam.CrnCommandParam; |
| | | import com.zy.core.model.protocol.CrnProtocol; |
| | | import com.zy.core.model.protocol.RgvProtocol; |
| | | import com.zy.core.model.protocol.StaProtocol; |
| | |
| | | |
| | | @Value("${wms.url}") |
| | | private String wmsUrl; |
| | | private WrkMastSplitTwinServiceImpl wrkMastSplitTwinService; |
| | | @Autowired |
| | | private WrkMastSplitTwinService wrkMastSplitTwinService; |
| | | |
| | | /** |
| | | * 组托 |
| | |
| | | && crnProtocol.forkPosType == CrnForkPosType.HOME |
| | | && crnProtocol.getLoaded()==0) { |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业,请删除无效作业!!!",conStation,2,3); |
| | | if (wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",conStation,2,3); |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ |
| | |
| | | && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME |
| | | && crnProtocol.getLoadedTwo()==0) { |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业,请删除无效作业!!!",conStation,2,3); |
| | | if (wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",conStation,2,3); |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ |
| | |
| | | && crnProtocol.getTaskNo() == 0 |
| | | && crnProtocol.getLoaded() == 0 |
| | | && crnProtocol.getForkPos() == 0) { |
| | | // sign[0] = 1; |
| | | // sign[1] = 1; |
| | | /* |
| | | * 任务拆分特殊处理 |
| | | * */ |
| | |
| | | sign[0] = 1; |
| | | sign[1] = 1; |
| | | } |
| | | }else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE |
| | | && crnProtocol.getTaskNoTwo() == 0 |
| | | && crnProtocol.getLoadedTwo() == 0 |
| | | && crnProtocol.getForkPosTwo() == 0){ |
| | | sign[0] = 1; |
| | | sign[1] = 2; |
| | | } |
| | | } |
| | | |
| | | if (sign[0]==1 && sign[1] == 1){ |
| | | if (sign[0]==1){ |
| | | // 如果最近一次是入库模式 |
| | | if (crnProtocol.getLastIo().equals("I")) { |
| | | if (basCrnp.getInEnable().equals("Y")) { |
| | |
| | | // return; |
| | | } |
| | | |
| | | // 1.堆垛机开始移动 |
| | | CrnCommand crnCommand = new CrnCommand(); |
| | | crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 |
| | | crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 |
| | | crnCommand.setAckFinish((short) 0); // 任务完成确认位 |
| | | crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 |
| | | crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 |
| | | crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 |
| | | crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 |
| | | crnCommand.setDestinationPosX((short)0); // 目标库位排 |
| | | crnCommand.setDestinationPosY((short)0); // 目标库位列 |
| | | crnCommand.setDestinationPosZ((short)0); // 目标库位层 |
| | | if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { |
| | | log.error("堆垛机命令下发失败,堆垛机号={},任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); |
| | | } else { |
| | | // 修改工作档状态 11.生成出库ID => 12.吊车出库中 |
| | | Date now = new Date(); |
| | | wrkMast.setWrkSts(12L); |
| | | wrkMast.setCrnStrTime(now); |
| | | wrkMast.setModiTime(now); |
| | | WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); |
| | | wrkMastSplitTwin.setWrkSts(1); |
| | | wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); |
| | | wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); |
| | | wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); |
| | | wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); |
| | | wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); |
| | | wrkMastSplitTwin.setEndRow(crnStn.getRow()); |
| | | wrkMastSplitTwin.setEndBay(crnStn.getBay()); |
| | | wrkMastSplitTwin.setEndLev(crnStn.getLev()); |
| | | wrkMastSplitTwin.setWrkType(1); |
| | | wrkMastSplitTwin.setIoType(2); |
| | | if (wrkMastMapper.updateById(wrkMast) == 0) { |
| | | log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败!!,工作号={}", wrkMast.getWrkNo()); |
| | | } |
| | | if (true){ |
| | | // 1.堆垛机开始移动 |
| | | CrnCommand crnCommand = new CrnCommand(); |
| | | crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 |
| | | crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 |
| | | crnCommand.setAckFinish((short) 0); // 任务完成确认位 |
| | | crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 |
| | | crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 |
| | | crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 |
| | | crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 |
| | | crnCommand.setDestinationPosX((short)0); // 目标库位排 |
| | | crnCommand.setDestinationPosY((short)0); // 目标库位列 |
| | | crnCommand.setDestinationPosZ((short)0); // 目标库位层 |
| | | if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { |
| | | log.error("堆垛机命令下发失败,堆垛机号={},任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); |
| | | } else { |
| | | // 修改工作档状态 11.生成出库ID => 12.吊车出库中 |
| | | Date now = new Date(); |
| | | wrkMast.setWrkSts(12L); |
| | | wrkMast.setCrnStrTime(now); |
| | | wrkMast.setModiTime(now); |
| | | WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); |
| | | wrkMastSplitTwin.setWrkSts(1); |
| | | wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); |
| | | wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); |
| | | wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); |
| | | wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); |
| | | wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); |
| | | wrkMastSplitTwin.setEndRow(crnStn.getRow()); |
| | | wrkMastSplitTwin.setEndBay(crnStn.getBay()); |
| | | wrkMastSplitTwin.setEndLev(crnStn.getLev()); |
| | | wrkMastSplitTwin.setWrkType(1); |
| | | wrkMastSplitTwin.setIoType(2); |
| | | if (wrkMastMapper.updateById(wrkMast) == 0) { |
| | | log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败!!,工作号={}", wrkMast.getWrkNo()); |
| | | } |
| | | |
| | | if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ |
| | | log.error("创建 堆垛机执行任务 失败!!,工作号={},堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); |
| | | if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ |
| | | log.error("创建 堆垛机执行任务 失败!!,工作号={},堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); |
| | | } |
| | | break; |
| | | } |
| | | break; |
| | | } |
| | | // else { |
| | | // // 1.堆垛机开始移动 |
| | | // CrnCommandParam crnCommandParam = new CrnCommandParam(); |
| | | // CrnCommand crnCommand = new CrnCommand(); |
| | | // crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 |
| | | // crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 |
| | | // crnCommand.setAckFinish((short) 0); // 任务完成确认位 |
| | | // crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 |
| | | // crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 |
| | | // crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 |
| | | // crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 |
| | | // crnCommand.setDestinationPosX((short)0); // 目标库位排 |
| | | // crnCommand.setDestinationPosY((short)0); // 目标库位列 |
| | | // crnCommand.setDestinationPosZ((short)0); // 目标库位层 |
| | | // if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { |
| | | // log.error("堆垛机命令下发失败,堆垛机号={},任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); |
| | | // } else { |
| | | // // 修改工作档状态 11.生成出库ID => 12.吊车出库中 |
| | | // Date now = new Date(); |
| | | // wrkMast.setWrkSts(12L); |
| | | // wrkMast.setCrnStrTime(now); |
| | | // wrkMast.setModiTime(now); |
| | | // WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); |
| | | // wrkMastSplitTwin.setWrkSts(1); |
| | | // wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); |
| | | // wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); |
| | | // wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); |
| | | // wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); |
| | | // wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); |
| | | // wrkMastSplitTwin.setEndRow(crnStn.getRow()); |
| | | // wrkMastSplitTwin.setEndBay(crnStn.getBay()); |
| | | // wrkMastSplitTwin.setEndLev(crnStn.getLev()); |
| | | // wrkMastSplitTwin.setWrkType(1); |
| | | // wrkMastSplitTwin.setIoType(2); |
| | | // if (wrkMastMapper.updateById(wrkMast) == 0) { |
| | | // log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败!!,工作号={}", wrkMast.getWrkNo()); |
| | | // } |
| | | // |
| | | // if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ |
| | | // log.error("创建 堆垛机执行任务 失败!!,工作号={},堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); |
| | | // } |
| | | // break; |
| | | // } |
| | | // } |
| | | } |
| | | } |
| | | |
| | |
| | | wrkMast.setModiTime(now); |
| | | // 堆垛机复位 |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",1,2,3); |
| | | if (wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",1,2,3); |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ |
| | |
| | | return true; |
| | | } else { |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",1,1,1); |
| | | if (wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",1,1,1); |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | Date now = new Date(); |
| | |
| | | wrkMast.setModiTime(now); |
| | | // 堆垛机复位 |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",2,2,3); |
| | | if (wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",2,2,3); |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ |
| | |
| | | crnThread.setResetFlagTwo(true); |
| | | } else { |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",2,1,1); |
| | | if (wrkMastSplitTwinList.size()!=1){ |
| | | log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",2,1,1); |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | Date now = new Date(); |
| | |
| | | /** |
| | | * 入出库 ===>> 堆垛机入出库作业下发 |
| | | */ |
| | | public synchronized void crnIoExecuteTwoExecute() { |
| | | public synchronized void crnIoExecuteTwoExecute(Integer i) { |
| | | for (CrnSlave crn : slaveProperties.getCrn()) { |
| | | try{ |
| | | switch (crn.getId()){ |
| | | case 3: |
| | | case 4: |
| | | case 5: |
| | | crnWrkMastSplitTwinExecute(crn); |
| | | crnWrkMastSplitTwinExecute(crn,i); |
| | | continue; |
| | | default: |
| | | continue; |
| | |
| | | } |
| | | |
| | | |
| | | public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn){ |
| | | public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){ |
| | | try{ |
| | | // 获取堆垛机信息 |
| | | CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); |
| | |
| | | // 只有当堆垛机自动时才继续执行 |
| | | if (crnProtocol.getModeType() == CrnModeType.AUTO) { |
| | | // 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行 |
| | | if (crnProtocol.getStatusType() == CrnStatusType.IDLE |
| | | && crnProtocol.getTaskNo() == 0 |
| | | && crnProtocol.getLoaded() == 0 |
| | | && crnProtocol.getForkPos() == 0) { |
| | | sign[0] = 1; |
| | | sign[1] = 1; |
| | | } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE |
| | | && crnProtocol.getTaskNoTwo() == 0 |
| | | && crnProtocol.getLoadedTwo() == 0 |
| | | && crnProtocol.getForkPosTwo() == 0){ |
| | | sign[0] = 1; |
| | | sign[1] = 2; |
| | | } else if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE |
| | | && crnProtocol.getTaskNo() == 0 |
| | | && crnProtocol.getLoaded() == 1 |
| | | && crnProtocol.getForkPos() == 0) { |
| | | sign[0] = 2; |
| | | sign[1] = 1; |
| | | } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE |
| | | && crnProtocol.getTaskNoTwo() == 0 |
| | | && crnProtocol.getLoadedTwo() == 1 |
| | | && crnProtocol.getForkPosTwo() == 0){ |
| | | sign[0] = 2; |
| | | sign[1] = 2; |
| | | switch (i){ |
| | | case 1: |
| | | if (crnProtocol.getStatusType() == CrnStatusType.IDLE |
| | | && crnProtocol.getTaskNo() == 0 |
| | | && crnProtocol.getLoaded() == 0 |
| | | && crnProtocol.getForkPos() == 0) { |
| | | sign[0] = 1; |
| | | sign[1] = 1; |
| | | } |
| | | break; |
| | | case 2: |
| | | if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE |
| | | && crnProtocol.getTaskNo() == 0 |
| | | && crnProtocol.getLoaded() == 1 |
| | | && crnProtocol.getForkPos() == 0) { |
| | | sign[0] = 2; |
| | | sign[1] = 1; |
| | | } |
| | | break; |
| | | case 3: |
| | | if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE |
| | | && crnProtocol.getTaskNoTwo() == 0 |
| | | && crnProtocol.getLoadedTwo() == 0 |
| | | && crnProtocol.getForkPosTwo() == 0){ |
| | | sign[0] = 1; |
| | | sign[1] = 2; |
| | | } |
| | | break; |
| | | case 4: |
| | | if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE |
| | | && crnProtocol.getTaskNoTwo() == 0 |
| | | && crnProtocol.getLoadedTwo() == 1 |
| | | && crnProtocol.getForkPosTwo() == 0){ |
| | | sign[0] = 2; |
| | | sign[1] = 2; |
| | | } |
| | | break; |
| | | default: |
| | | } |
| | | } |
| | | |
| | | if (sign[0]!=0){ |
| | | List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0); |
| | | if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){ |
| | | if (wrkMastSplitTwinList.size()>1){ |
| | | log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",sign[1],sign[0]); |
| | | return false; |
| | | } |
| | | for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ |
| | | return sign[0] == 1? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]); |
| | | boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]); |
| | | if (ack){ |
| | | wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3); |
| | | wrkMastSplitTwinService.updateById(wrkMastSplitTwin); |
| | | }else { |
| | | log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为:"+ack); |
| | | } |
| | | } |
| | | } |
| | | }catch (Exception e){ |