*

lsh

8 天以前 8c0d2c49eb091aedd053d8f7a1be28b67ce8d0c3

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

@@ -8,10 +8,14 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnErrorLog;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasDevpErrorLog;
import com.zy.asrs.service.BasCrnErrorLogService;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasDevpErrorLogService;
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
@@ -126,6 +130,18 @@
        crnProtocol.setyDistance((short) 0);
        crnProtocol.setxDuration((short) 0);
        crnProtocol.setyDuration((short) 0);
        try{
            // 根据实时信息更新数据库
            BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
            BasCrnp basCrnp = new BasCrnp();
            basCrnp.setCrnNo(slave.getId());
            basCrnp.setCrnSts((int)crnProtocol.getMode());
            if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                News.error("SiemensCrn"+" - 3"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e){

        }
    }

    @Override
@@ -154,10 +170,12 @@
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> resultErr = siemensNet.Read("DB64.0", (short) 7);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());

                }
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
@@ -181,18 +199,80 @@
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));


                boolean[] statusSign = siemensNet.getByteTransform().TransBool(resultErr.Content, 0, 7);

                crnProtocol.setIbDriveFault(statusSign[0]);       // 行走变频器故障
                crnProtocol.setIbSupplyFault(statusSign[1]);      // 提供变频器故障
                crnProtocol.setIbForkDriveFault(statusSign[2]);   // 货叉变频器故障
                crnProtocol.setIbDriveCircuitFault(statusSign[3]); // 行走断路器故障
                crnProtocol.setIbLiftCircuitFault(statusSign[4]); // 提升断路器故障
                crnProtocol.setIbForkCircuitFault(statusSign[5]); // 货叉断路器故障
                crnProtocol.setIbForwardLimit(statusSign[6]);     // 前进限位
                crnProtocol.setIbReverseLimit(statusSign[7]);     // 后退限位
                crnProtocol.setIbDriveStart(statusSign[8]);       // 行走原点
                crnProtocol.setIbForwardBrakeSpeed(statusSign[9]); // 前进强制低速
                crnProtocol.setIbReverseBrakeSpeed(statusSign[10]); // 后退强制低速
                crnProtocol.setIbUpLimit(statusSign[11]);          // 上升限位
                crnProtocol.setIbDownLimit(statusSign[12]);        // 下限限位
                crnProtocol.setIbUpOrigin(statusSign[13]);         // 提升原点
                crnProtocol.setIbUpBrakeSpeed(statusSign[14]);     // 上升强制低速
                crnProtocol.setIbDownBrakeSpeed(statusSign[15]);   // 下降强制低速
                crnProtocol.setIbPlatformSignal(statusSign[16]);   // 载货台探货
                crnProtocol.setIbForkMidSignal(statusSign[17]);    // 货叉中位信号
                crnProtocol.setIbForkLeftLimit(statusSign[18]);    // 货叉左极限
                crnProtocol.setIbForkRightLimit(statusSign[19]);   // 货叉右极限
                crnProtocol.setIbFrontOverLimit(statusSign[20]);   // 前超限
                crnProtocol.setIbRearOverLimit(statusSign[21]);    // 后超限
                crnProtocol.setIbLeftOverLimit(statusSign[22]);    // 左超限
                crnProtocol.setIbRightOverLimit(statusSign[23]);   // 右超限
                crnProtocol.setIbHighOverLimit1(statusSign[24]);   // 高超限1
                crnProtocol.setIbHighOverLimit2(statusSign[25]);   // 高超限2
                crnProtocol.setIbHighOverLimit3(statusSign[26]);   // 高超限3
                crnProtocol.setIbOneExtendLeftLoad1(statusSign[27]); // 一伸左侧探货1
                crnProtocol.setIbOneExtendLeftLoad2(statusSign[28]); // 一伸左侧探货2
                crnProtocol.setIbOneExtendRightLoad1(statusSign[29]); // 一伸右侧探货1
                crnProtocol.setIbOneExtendRightLoad2(statusSign[30]); // 一伸右侧探货2
                crnProtocol.setIbTwoExtendLeftLoad1(statusSign[31]); // 二伸左侧探货1
                crnProtocol.setIbTwoExtendLeftLoad2(statusSign[32]); // 二伸左侧探货2
                crnProtocol.setIbTwoExtendRightLoad1(statusSign[33]); // 二伸右侧探货1
                crnProtocol.setIbTwoExtendRightLoad2(statusSign[34]); // 二伸右侧探货2
                crnProtocol.setIbSpeedSignal1(statusSign[35]);      // 超速信号1
                crnProtocol.setIbSpeedSignal2(statusSign[36]);      // 超速信号2
                crnProtocol.setIbOverweightSignal1(statusSign[37]); // 超重信号1
                crnProtocol.setIbOverweightSignal2(statusSign[38]); // 超重信号2
                crnProtocol.setIbRopeReleaseSignal1(statusSign[39]); // 松绳信号1
                crnProtocol.setIbRopeReleaseSignal2(statusSign[40]); // 松绳信号2
                crnProtocol.setIbSafetyClamp(statusSign[41]);       // 安全钳
                crnProtocol.setIbTightener(statusSign[42]);         // 张紧器
                crnProtocol.setIbSpeedLimiter(statusSign[43]);      // 限速器
                crnProtocol.setIbSafetyDoorOpen(statusSign[44]);    // 安全门打开

                if(crnProtocol.getStatus() == 99){
                    crnProtocol.setErrorMk(true);//若存在异常触发写入
                }else{
                    crnProtocol.setWriteMk(true);//无异常后才能继续写入
                    crnProtocol.setErrorMk(false);
                }


                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",
                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        Short wrkNo = crnProtocol.getTaskNo();
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",
                                    slave.getId(), wrkNo, resetFlag);
                        }
                    }
                }
@@ -203,10 +283,24 @@
                    BasCrnp basCrnp = new BasCrnp();
                    basCrnp.setCrnNo(slave.getId());
                    basCrnp.setCrnSts((int)crnProtocol.getMode());
                    if(crnProtocol.isWriteMk() && crnProtocol.isErrorMk()){
                        try {
                            // 日志记录异常情况
                            BasCrnErrorLog basCrnErrorLogs;
                            basCrnErrorLogs = crnProtocol.toSqlModelError();
                            BasCrnErrorLogService basCrnErrorLogService = SpringUtils.getBean(BasCrnErrorLogService.class);
                            basCrnErrorLogService.insert(basCrnErrorLogs);
                            crnProtocol.setWriteMk(false);
                        } catch (Exception ignore) {
                            log.error(ignore.getMessage());
                        }
                    }
                    if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                        News.error("SiemensCrn"+" - 3"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){}
                } catch (Exception ignore){

                }

            } else {
                initCrn();
@@ -235,31 +329,159 @@
     */
    private boolean write(CrnCommand command) throws InterruptedException {
        if (null == command) {
            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");
            News.error("堆垛机写入命令为空");
            return false;
        }
        // 向堆垛机发任务前的堆垛机状态
        try{
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                ){
//                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                } else {
//                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("堆垛机命令地址写入后回读出错");
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
//        short[] array = new short[10];
        short[] array = new short[10];
        array[0] = command.getAckFinish();
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosX();
        array[4] = command.getSourcePosY();
        array[5] = command.getSourcePosZ();
        array[6] = command.getDestinationPosX();
        array[7] = command.getDestinationPosY();
        array[8] = command.getDestinationPosZ();
//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[0] = command.getAckFinish(); // 任务完成确认位
        array[1] = command.getTaskNo();  // 任务号
        array[2] = command.getTaskMode();  // 模式
        array[3] = command.getSourcePosX(); // 源位置排号
        array[4] = command.getSourcePosY(); // 源位置列号
        array[5] = command.getSourcePosZ(); // 源位置层号
        array[6] = command.getDestinationPosX();  // 目标位置排号
        array[7] = command.getDestinationPosY(); // 目标位置列号
        array[8] = command.getDestinationPosZ(); // 目标位置层号
        array[9] = command.getCommand();
//        array[10] = 0;   //备用1

        boolean[] array2 = new boolean[1];
        array2[0] = command.isTraySize();
        OperateResult result = siemensNet.Write("DB100.0", array);
        OperateResult result2 = siemensNet.Write("DB100.22", array2);
        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);

        //堆垛机任务写入后，回读一次，看是否成功
        Thread.sleep(200);
        int writeCount1 = 1;

        do {
            try{
                if(!result.IsSuccess || !result2.IsSuccess){
                    News.error("写入堆垛机plc数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount1);
//                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                    result = siemensNet.Write("DB100.0", array);
                    result2 = siemensNet.Write("DB100.22", array2);
                    Thread.sleep(100);
                    writeCount1++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                    one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                    one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                    one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                    one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                    one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
                    if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                            || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
                            || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
                            || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
                            || !command.isTraySize() == one.isTraySize()
                    ){
                        try{
                            News.error("堆垛机命令地址写入后回读失败==>不一致[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));
                            }
                        }

                        try{
                            Thread.sleep(100);
                        }catch (Exception e){

                        }

//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
                        News.error("写入堆垛机plc数据失败，重新下发任务  回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount1);
                        result = siemensNet.Write("DB100.0", array);
                        result2 = siemensNet.Write("DB100.22", array2);
                        writeCount1++;
                        continue;

                    } else {
                        News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                        break;
                    }
                }
            }catch (Exception e){
                News.error("堆垛机命令地址写入后回读出错,异常："+e);
            }
            writeCount1++;
        } while (writeCount1<6);


        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.18", commandFinish);
                    if(result.IsSuccess){
                        //堆垛机任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                News.error("堆垛机任务确认位"+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("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }


        try {
            // 日志记录
@@ -287,16 +509,203 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            News.info("SiemensCrn"+" - 7"+" - 堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("SiemensCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 写入数据
     */
//    private boolean write(CrnCommand command) throws InterruptedException {
//        if (null == command) {
//            News.error("堆垛机写入命令为空");
//            return false;
//        }
//        // 向堆垛机发任务前的堆垛机状态
//        try{
//            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
//            if (resultRead.IsSuccess) {
//                CrnCommand one = new CrnCommand();
//                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
//                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
//                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
//                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
//                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
//                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
//                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
//                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
//                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
//                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
//                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
//                ){
////                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
//                } else {
////                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
//                }
//            }
//        }catch (Exception e){
//            News.error("堆垛机命令地址写入后回读出错");
//        }
////        convertRow(command);
//        command.setCrnNo(slave.getId());
////        short[] array = new short[10];
//        short[] array = new short[10];
//        array[0] = command.getAckFinish(); // 任务完成确认位
//        array[1] = command.getTaskNo();  // 任务号
//        array[2] = command.getTaskMode();  // 模式
//        array[3] = command.getSourcePosX(); // 源位置排号
//        array[4] = command.getSourcePosY(); // 源位置列号
//        array[5] = command.getSourcePosZ(); // 源位置层号
//        array[6] = command.getDestinationPosX();  // 目标位置排号
//        array[7] = command.getDestinationPosY(); // 目标位置列号
//        array[8] = command.getDestinationPosZ(); // 目标位置层号
//        array[9] = command.getCommand();
////        array[10] = 0;   //备用1
//
//        boolean[] array2 = new boolean[1];
//        array2[0] = command.isTraySize();
//        OperateResult result = siemensNet.Write("DB100.0", array);
//        OperateResult result2 = siemensNet.Write("DB100.22", array2);
//        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);
//
//        if(!result.IsSuccess || !result2.IsSuccess){
//            News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
//            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));

//                    if(!resetFlag) {
//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
//                    }
//            Thread.sleep(100);
//            readStatus();
//            return false;
//        }
//
//        //堆垛机任务写入后，回读一次，看是否成功
//        Thread.sleep(200);
//        try{
//            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
//            if (resultRead.IsSuccess) {
//                CrnCommand one = new CrnCommand();
//                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
//                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
//                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
//                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
//                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
//                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
//                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
//                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
//                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
//                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
//                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
//                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
//                        || !command.isTraySize() == one.isTraySize()
//                ){
//                    try{
////                        News.error("堆垛机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));
//                        }
//                    }
//
//                    if(!resetFlag) {
//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);
//                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));
//                    }
//
//                    Thread.sleep(100);
//                    readStatus();
//                    return false;
//                } else {
//                    News.info("堆垛机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("堆垛机命令地址写入后回读出错");
//        }
//
//
//        if (command.getAckFinish() == 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("DB100.18", commandFinish);
//                    if(result.IsSuccess){
//                        //堆垛机任务写入后，回读一次，看是否成功
//                        Thread.sleep(200);
//                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);
//                        if (resultRead.IsSuccess) {
//                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
//                            if (commandFinish != 1){
//                                News.error("堆垛机任务确认位"+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("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
//                                break;
//                            }
//                        }else {
//                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
//                        }
//                    } else {
//                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
//                    }
//                }while (writeCount2<5);
//            }
//        }
//
//
//        try {
//            // 日志记录
//            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
//            BasCrnOpt basCrnOpt = new BasCrnOpt(
//                    command.getTaskNo().intValue(),    // 任务号
//                    command.getCrnNo(),    // 堆垛机[非空]
//                    new Date(),    // 下发时间
//                    command.getTaskModeType().toString(),    // 模式
//                    command.getSourcePosX().intValue(),    // 源排
//                    command.getSourcePosY().intValue(),    // 源列
//                    command.getSourcePosZ().intValue(),    // 源层
//                    null,    // 源站
//                    command.getDestinationPosX().intValue(),    // 目标排
//                    command.getDestinationPosY().intValue(),    // 目标列
//                    command.getDestinationPosZ().intValue(),    // 目标层
//                    null,    // 目标站
//                    null,    // 响应结果
//                    null,    // 修改时间
//                    null    // 修改人员
//            );
//            bean.insert(basCrnOpt);
//        } catch (Exception ignore) {}
//
//        if (result != null && result.IsSuccess) {
//            Thread.sleep(200);
//            this.readStatus();
////            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
//    }

    public void requestStop() {
        isRunning = false;
    }