一楼输送线出入库冲突控制

pang.jiabao

2026-04-26 7ed8a3db0115b19349cbdad55c91c353a0e8e300

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

@@ -7,20 +7,19 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.core.ThreadHandler;
import com.zy.core.RgvThread2;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.entity.BasRgv;
import com.zy.entity.BasRgvOpt;
import com.zy.service.BasRgvOptService;
import com.zy.service.BasRgvService;
import com.zy.utils.News;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

@@ -33,7 +32,7 @@
 */
@Data
@Slf4j
public class RgvThread implements Runnable, ThreadHandler {
public class RgvThread implements Runnable, RgvThread2 {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
@@ -46,6 +45,9 @@
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;

    //锁定标记
    private boolean PakMk = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -67,58 +69,53 @@
                    case 1:
                        readStatus();
                        break;
                    // 工位1、2写入数据
//                    // 工位1、2写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                        break;
//                    case 4:
//                        write1((RgvCommand) task.getData());
//                        break;
//                    //工位2写入数据
//                    case 5:
//                        write2((RgvCommand) task.getData());
//                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setAckFinish2((short) 1);  // 任务完成确认位
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short)0);     // 源站
                        command.setDestinationStaNo2((short)0);     // 目标站
                        command.setCommand((short)0);
                        write(command);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        break;
//                    case 3:
//                        RgvCommand command = (RgvCommand) task.getData();
//                        if (null == command) {
//                            command = new RgvCommand();
//                        }
//                        command.setRgvNo(slave.getId()); // RGV编号
//                        command.setTaskNo1((short) 0); // 工作号
//                        command.setAckFinish1((short) 1);  // 任务完成确认位
//                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
//                        command.setSourceStaNo1((short)0);     // 源站
//                        command.setDestinationStaNo1((short)0);     // 目标站
//                        command.setCommand((short)0);
//                        write1(command);
//                        break;
//                    // 回原点  避让
//                    case 9:
//                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
//                        if (null == commandAvoidanceXY) {
//                            commandAvoidanceXY = new RgvCommand();
//                        }
//                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
//                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
//                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
//                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
//                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
//                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
////                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
////                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
////                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
////                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
////                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
//                        commandAvoidanceXY.setCommand((short)0);
//                        write(commandAvoidanceXY);
//                        break;
                    default:
                        break;
                }
@@ -136,21 +133,25 @@
    private void initRgv() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
            rgvProtocol.setRgvNo(slave.getId());
        }
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
        rgvProtocol.setTaskNo2((short)0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2((short)0);
        rgvProtocol.setRgvPos(0);
        rgvProtocol.setStartSta((short)0);
        rgvProtocol.setEndSta((short)0);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        rgvProtocol.setStatus((short)-1);

//        rgvProtocol.setStatus1((short)-1);
//        rgvProtocol.setWalkPos((short)0);
//        rgvProtocol.setTaskNo2((short)0);
//        rgvProtocol.setStatus2((short)-1);
//        rgvProtocol.setLoaded2((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 0);
    }

    @Override
@@ -178,29 +179,32 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB1.0", (short) 34);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 22);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 6));
                rgvProtocol.setStartSta(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setEndSta(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo1((short) siemensNet.getByteTransform().TransInt32(result.Content, 14));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 20));

//                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
//                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
//                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
//                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
@@ -208,28 +212,28 @@
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1((short)1);
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }
//                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag1) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish1((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag1 = false;
//                        }
//                    }
//                }

                // 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2((short)1);
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }
//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag2) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish2((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag2 = false;
//                        }
//                    }
//                }

                try {
                    // 根据实时信息更新数据库
@@ -247,12 +251,12 @@
            } else {
                initRgv();
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV 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RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
//                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }
@@ -267,25 +271,36 @@
        }
//        convertRow(command);
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        short[] array = new short[3];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getDestinationStaNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        array[5] = command.getAckFinish2();
        array[6] = command.getTaskNo2();
        array[7] = command.getTaskMode2();
        array[8] = command.getSourceStaNo2();
        array[9] = command.getDestinationStaNo2();
        array[10] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result1 = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
            short commandFinish = 3;  //工位1、2任务同时写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        }
        OperateResult result2 = siemensNet.Write("DB100.6", command.getTaskNo1().intValue());

        Thread.sleep(100);
        OperateResult result3 = siemensNet.Write("DB100.10", command.getCommand());


//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
//        array[3] = command.getSourceStaNo1();
//        array[4] = command.getDestinationStaNo1();
//        array[5] = command.getAckFinish2();
//        array[6] = command.getTaskNo2();
//        array[7] = command.getTaskMode2();
//        array[8] = command.getSourceStaNo2();
//        array[9] = command.getDestinationStaNo2();
//        array[10] = command.getCommand();


//        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入
//            Thread.sleep(100L);
//            result = siemensNet.Write("DB100.20", commandFinish);
//        }

        try {
            // 日志记录
@@ -307,7 +322,7 @@
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
        if (result1 != null && result1.IsSuccess && result2 != null && result2.IsSuccess && result3 != null && result3.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
@@ -329,7 +344,27 @@
            return false;
        }

        siemensNet.Write("DB100.20", command.getCommand());
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB100.0", (short) 12);
        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result3.IsSuccess){
            RgvCommand one = new RgvCommand();
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
            one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
            one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
            one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));

            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result8 = siemensNet.Write("DB100.10", (short) 0);
        if (result8.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }

//        siemensNet.Write("DB100.20", command.getCommand());

        command.setRgvNo(slave.getId());
        short[] array = new short[5];
@@ -338,15 +373,95 @@
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        siemensNet.Write("DB100.20", command.getCommand());
        siemensNet.Write("DB100.10", command.getCommand());

        OperateResult result = siemensNet.Write("DB100.0", array);

        if (command.getAckFinish1() == 0) {
            short commandFinish = 1;  //工位1任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 12);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                if (
                    !command.getTaskNo1().equals(one.getTaskNo1()) ||
                        !command.getTaskMode1().equals(one.getTaskMode1()) ||
                        !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
                        !command.getDestinationStaNo1().equals(one.getDestinationStaNo1())
                ){
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1() == 0) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.10", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.10", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

//        if (command.getAckFinish1() == 0) {
//            short commandFinish = 1;  //工位1任务写入
//            Thread.sleep(200);
//            result = siemensNet.Write("DB100.10", commandFinish);
//        }

        try {
            // 日志记录
@@ -366,7 +481,9 @@
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
@@ -451,7 +568,7 @@
    public static void main(String[] args) throws InterruptedException {
        RgvSlave slave = new RgvSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setIp("10.10.10.53");
        slave.setRack(0);
        slave.setSlot(0);
        RgvThread rgvThread = new RgvThread(slave);
@@ -459,6 +576,14 @@
        rgvThread.readStatus();
        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
        Thread.sleep(3000L);
        RgvCommand command = new RgvCommand();
        command.setRgvNo(1);
        command.setSourceStaNo1((short)1120);
        command.setDestinationStaNo1((short)1101);
        command.setTaskNo1((short)1);
        command.setTaskMode1((short)3);
        command.setCommand((short)1);
        rgvThread.write(command);

    }