提升机代码，四向穿梭车线程优化

Junjie

2023-03-31 87c4efe93e6fe31a9c989b4aa5cc0c8f559b845d

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

@@ -4,30 +4,37 @@
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.RadixTools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
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.ShuttleStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

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

/**
 * 四向穿梭车线程
@@ -39,10 +46,11 @@
    private ModbusTcpNet modbusTcpNet;
    private ShuttleSlave slave;
    private ShuttleProtocol shuttleProtocol;
    private SiemensS7Net siemensS7Net;
    private RedisUtil redisUtil;

    public ShuttleThread(ShuttleSlave slave) {
    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }

    @Override
@@ -63,6 +71,10 @@
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
                        break;
                    default:
                        break;
@@ -97,71 +109,135 @@

    @Override
    public void close() {

        modbusTcpNet.ConnectClose();
    }

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("0", (short) 17);
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
            if (result.IsSuccess) {
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                //----------设置四向穿梭车状态-----------
                //----------读取四向穿梭车状态-----------
                //获取数据
                byte[] content = result.Content;
                //小车忙状态位
                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
                //当前二维码
                shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
                //电池电量百分比
                shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
                //电池温度
                shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                //PLC输入状态
                shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
                //当前或者之前读到的二维码值
                shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
                //读到的二维码X方向偏移量
                shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
                //读到的二维码Y方向偏移量
                shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
                //当前的电压值
                shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
                //当前的模拟量值
                shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
                //当前的升降伺服速度
                shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
                //当前的行走伺服速度
                shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
                //当前的升降伺服负载率
                shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
                //当前的行走伺服负载率
                shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));

                //--------控制字--------
                //控制指令字
                shuttleProtocol.setCommandWord(modbusTcpNet.getByteTransform().TransUInt16(content, 0));
                //启始二维编号
                shuttleProtocol.setStartCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 2));
                //中间二维编号
                shuttleProtocol.setMiddleCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 4));
                //目标二维编号
                shuttleProtocol.setDistCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 6));
                //起点到目标点的距离长度
                shuttleProtocol.setStartToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 8));
                //中间点到目标点的距离长度
                shuttleProtocol.setMiddleToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 12));
                //小车运行方向
                shuttleProtocol.setRunDirection(modbusTcpNet.getByteTransform().TransUInt16(content, 16));
                //托盘顶升
                shuttleProtocol.setPalletLift(modbusTcpNet.getByteTransform().TransUInt16(content,18));
                //小车强制移动距离
                shuttleProtocol.setForceMoveDistance(modbusTcpNet.getByteTransform().TransInt32(content, 20));
                //充电开关
                shuttleProtocol.setChargeSwitch(modbusTcpNet.getByteTransform().TransUInt16(content,24));
                //小车IO控制
                shuttleProtocol.setIOControl(modbusTcpNet.getByteTransform().TransUInt16(content,26));
                //小车运行速度
                shuttleProtocol.setRunSpeed(modbusTcpNet.getByteTransform().TransUInt16(content,28));
                //小车雷达备用
                shuttleProtocol.setRadarTmp(modbusTcpNet.getByteTransform().TransUInt16(content,30));
                //指令结束位
                shuttleProtocol.setCommandEnd(modbusTcpNet.getByteTransform().TransUInt16(content,32));
                ///读取四向穿梭车状态-end

                //小车处于忙碌状态，将标记置为true
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }

                //---------状态字---------
//                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransUInt16(content,32));
                //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getPakMk()
                        && shuttleProtocol.getAssignCommand() != null) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                }

                ///设置四向穿梭车状态-end
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                //读取四向穿梭车设备信息，提供查询
                //.....


                // 根据实时信息更新数据库
                //.....

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                BasShuttle basShuttle = shuttleService.selectById(shuttleProtocol.getShuttleNo());
                if (basShuttle == null) {
                    basShuttle = new BasShuttle();
                    //四向穿梭车号
                    basShuttle.setShuttleNo(slave.getId());
                    shuttleService.insert(basShuttle);
                }
                //小车忙状态位
                basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
                //当前二维码
                basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
                //电池电量百分比
                basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
                //电池温度
                basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
                //错误编号
                basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
                //Plc输出状态IO
                basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
                //错误信息码
                basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
                //PLC输入状态
                basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
                //当前或者之前读到的二维码值
                basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
                //读到的二维码X方向偏移量
                basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
                //读到的二维码Y方向偏移量
                basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
                //当前的电压值
                basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
                //当前的模拟量值
                basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
                //当前的升降伺服速度
                basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
                //当前的行走伺服速度
                basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
                //当前的升降伺服负载率
                basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
                //当前的行走伺服负载率
                basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
                //当前小车状态（内部自我维护）
                basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
                //任务号
                basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //作业标记
                basShuttle.setPakMk(shuttleProtocol.getPakMk());
                if (shuttleService.updateById(basShuttle)) {
                    OutputQueue.SHUTTLE.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()));
                }

            }else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "四向穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initShuttle();
        }
@@ -173,34 +249,82 @@
            return false;
        }

        //判断小车是否在充电
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        if (devpThread.charge1){

        command.setShuttleNo(slave.getId().shortValue());
        // 开始任务
        short[] array = new short[17];
        //控制指令字
        array[0] = command.getCommandWord();
        if (command.getStartCodeNum() != null) {
            //启始二维编号
            array[1] = command.getStartCodeNum();
        }

        command.setShuttleNo(slave.getId());
        OperateResult result = null;
        // 开始任务
        //...
        if (command.getMiddleCodeNum() != null) {
            //中间二维编号
            array[2] = command.getMiddleCodeNum();
        }

        if (command.getDistCodeNum() != null) {
            //目标二维编号
            array[3] = command.getDistCodeNum();
        }

        try {
            // 日志记录
            if (!command.getComplete() && command.getTaskMode() != 0) {
                //日志记录保存到数据库中
                //.....
            }
        } catch (Exception ignore) {}
        if (command.getStartToDistDistance() != null) {
            //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
            array[4] = startToDistDistances[0];
            array[5] = startToDistDistances[1];
        }

        if (command.getMiddleToDistDistance() != null) {
            //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
            array[6] = middleToDistDistances[0];
            array[7] = middleToDistDistances[1];
        }

        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
        }

        if (command.getPalletLift() != null) {
            //托盘顶升
            array[9] = command.getPalletLift();
        }

        if (command.getForceMoveDistance() != null) {
            //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
            array[10] = forceMoveDistances[0];
            array[11] = forceMoveDistances[1];
        }

        if (command.getChargeSwitch() != null) {
            //充电开关
            array[12] = command.getChargeSwitch();
        }

        if (command.getIOControl() != null) {
            //小车IO控制
            array[13] = command.getIOControl();
        }

        if (command.getRunSpeed() != null) {
            //小车运行速度
            array[14] = command.getRunSpeed();
        }

        if (command.getRadarTmp() != null) {
            //小车雷达备用
            array[15] = command.getRadarTmp();
        }

        //指令结束位
        array[16] = command.getCommandEnd();

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            // 维护数据库排列层
//            if (!steProtocol.getWaiting()) {
//                if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) {
//                    this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());
//                }
//            }

            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
@@ -218,9 +342,188 @@
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
        shuttleProtocol.setShuttleNo(slave.getId().shortValue());
        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
        shuttleProtocol.setCurrentCode("0");
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
                || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
            //入库或出库模式，计算路径
            //计算路径
            List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), assignCommand.getTaskMode().intValue());
            if (calc != null) {
                //获取分段路径
                ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
                //路径数据
                map.put("path", data);
                //路径次数
                map.put("pathSize", data.size());
            }else {
                if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
                    //属于入库出库，必须要计算路径，则抛出异常
                    throw new Exception("未能找到运行路径");
                }
            }
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
        shuttleProtocol.setAssignCommand(assignCommand);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        //执行下发任务
        executeWork(assignCommand);
    }

    //执行下发的指令
    private boolean executeWork(ShuttleAssignCommand assignCommand) {
        //读取redis数据
        if (assignCommand == null) {
            return false;
        }

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

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        //path路径数目
        int size = 0;
        //下发命令
        ShuttleCommand command = new ShuttleCommand();
        switch (assignCommand.getTaskMode()) {
            case 1://入库
            case 2://出库
                //当前路径数据
                Object data = map.get("path");
                ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
                //取第一条路径
                Object o1 = pathList.get(commandStep);
                ArrayList objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
                ArrayList<NavigateNode> path = new ArrayList<>();
                for (Object o2 : objectPath) {
                    NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
                    path.add(navigateNode);
                }
                Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//计算当前路径行走总距离

                size = Integer.parseInt(map.get("pathSize").toString());
                //开始路径
                NavigateNode startPath = path.get(0);
                //目标路径
                NavigateNode endPath = path.get(path.size() - 1);

                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
                command.setMiddleCodeNum((short) 0);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
                command.setStartToDistDistance(allDistance);
                command.setMiddleToDistDistance(1000);
                command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                command.setPalletLift((short) 1);
                command.setForceMoveDistance(1000);
                command.setChargeSwitch((short) 2);
                command.setIOControl((short) 0);
                command.setRunSpeed((short) 1000);
                command.setRadarTmp((short) 0);

                break;
            case 3://托盘顶升
            case 4://托盘下降
                command.setCommandWord((short) 2);
                command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
                command.setCommandEnd((short) 1);
                break;
            case 5://强制左移
            case 6://强制右移
            case 7://强制上移
            case 8://强制下移
                command.setCommandWord((short) 3);
                command.setForceMoveDistance(1000);
                command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                command.setCommandEnd((short) 1);
                break;
            case 9://状态复位
                command.setCommandWord((short) 0);
                //设置四向穿梭车为空闲状态
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);
                //标记复位
                shuttleProtocol.setPakMk(true);
                //任务指令清零
                shuttleProtocol.setAssignCommand(null);
                break;
            default:
        }

        command.setCommandEnd((short) 1);
        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            return false;
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            //判断数据是否执行完成
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
                if (shuttleOptService != null) {
                    BasShuttleOpt opt = new BasShuttleOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getShuttleNo().intValue(),
                            new Date(),
                            ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                            assignCommand.getSourceLocNo(),
                            assignCommand.getLocNo(),
                            null,
                            null,
                            null,
                            JSON.toJSONString(assignCommand)
                    );
                    shuttleOptService.insert(opt);
                }
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                if (!assignCommand.getAuto()) {
                    //手动模式不抛出等待状态，直接复位
                    News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }else {
                    //对主线程抛出等待确认状态waiting
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                    News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }

            }

        }
        return true;
    }

    /******************************************************************************************/
@@ -231,44 +534,25 @@
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
        ShuttleThread thread = new ShuttleThread(slave);
        thread.connect();
        thread.readStatus();
        System.out.println(JSON.toJSONString(thread.shuttleProtocol));

        // 任务作业
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        Random random = new Random();
//        int taskNo = random.nextInt(9090);
//        command.setTaskNo(taskNo); // 工作号
//        command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 任务模式
//        thread.write(command);

        // 任务完成
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        command.setComplete(Boolean.TRUE); // 任务模式
//        thread.write(command);

        // 控制模式
//        SteCommand command = new SteCommand();
//        command.setControlMode((short) 1);
//        thread.write(command);

        // 复位信号
//        SteCommand command = new SteCommand();
//        command.setReset(Boolean.TRUE);
//        thread.write(command);

        // 删除指令
//        SteCommand command = new SteCommand();
//        command.setDelete(Boolean.TRUE);
//        thread.write(command);

        // 穿梭车运行禁止
//        SteCommand command = new SteCommand();
//        command.setRun((short)0);
//        ShuttleThread thread = new ShuttleThread(slave);
//        thread.connect();
//        thread.readStatus();
//
//        ShuttleCommand command = new ShuttleCommand();
//        command.setCommandWord((short) 0);
//        command.setStartCodeNum((short) 12323);
//        command.setMiddleCodeNum((short) 22323);
//        command.setDistCodeNum((short) 29999);
//        command.setStartToDistDistance(109999);
//        command.setMiddleToDistDistance(5000);
//        command.setRunDirection((short) 1);
//        command.setPalletLift((short) 2);
//        command.setForceMoveDistance(3000);
//        command.setChargeSwitch((short) 2);
//        command.setIOControl((short) 0);
//        command.setRunSpeed((short) 0);
//        command.setRadarTmp((short) 0);
//        command.setCommandEnd((short) 1);
//        thread.write(command);

    }