Merge remote-tracking branch 'origin/glccwcs' into glccwcs

Administrator

3 天以前 aa33e56e37cd19b88ae8eea69c5ebc7c6da8b1d2

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

@@ -9,17 +9,13 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.CommandInfo;
import com.zy.asrs.entity.CommandInfoLog;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.service.*;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.DeviceErrorService;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CommandStatusType;
import com.zy.core.enums.IoModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
@@ -29,11 +25,9 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;

/**
 * 输送线线程
@@ -43,37 +37,25 @@
@Slf4j
public class SiemensDevpThread implements Runnable, DevpThread {

    private DevpSlave slave;
    private SiemensS7Net siemensS7Net;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
    private short heartBeatVal = 1;
    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(100);add(101);add(102);add(103);add(104);add(105);add(106);add(107);
        add(101);add(102);add(103);add(104);add(105);add(106);add(107);add(108);add(109);add(110);
        add(111);add(112);add(113);add(114);add(115);add(116); // 侧面从 index 16开始 长度12
        add(201);add(202);add(203);add(204);add(205);add(206);add(207);add(208);add(209);add(210);add(211);add(212);
    }};
    /*public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
        add(200);add(201);add(202);add(203);
        add(204);add(205);add(206);add(207);
        add(208);add(209);add(210);add(211);
        add(212);add(213);add(214);add(215);
        add(216);add(217);add(218);add(219);
        add(220);add(221);add(222);add(223);
        add(224);add(225);add(226);add(227);
        add(228);add(229);add(230);add(231);
        add(232);add(233);add(234);add(235);
    }};
    public static final ArrayList<Integer> staNos3 = new ArrayList<Integer>() {{
        add(300);add(301);add(302);add(303);
        add(304);add(305);add(306);add(307);
    }};
    public static final ArrayList<Integer> staNos4 = new ArrayList<Integer>() {{
        add(400);add(401);add(402);add(403);
        add(404);add(405);add(406);add(407);
    }};*/

    /**
     * 条码数量
     */
    private int barcodeSize = 7;
    public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
        add(301);add(302);add(303);add(304);add(305);add(306);add(307);add(308);
    }};

    // 正面5个条码扫描站
    public static final ArrayList<Integer> barcodeSite2 = new ArrayList<Integer>() {{
        add(102);add(105);add(108);add(111);add(114);
    }};

    // 侧面三个条码扫描站
    public static final ArrayList<Integer> barcodeSite = new ArrayList<Integer>() {{
        add(202);add(206);add(211);
    }};

    /**
     * 入出库模式
@@ -83,25 +65,39 @@
     * 3.出库启动中 （不能生成入库工作档）
     * 4.出库模式
     */
    public IoModeType ioModeOf2F = IoModeType.NONE;
//    public IoModeType ioMode = IoModeType.NONE;
    public IoModeType ioModeOf1F1 = IoModeType.NONE;
    public IoModeType ioModeOf1F2 = IoModeType.NONE;
    public IoModeType ioModeOf1F3 = IoModeType.NONE;
    public IoModeType ioModeOf1F4 = IoModeType.NONE;
    public IoModeType ioModeOf1F5 = IoModeType.NONE;

    public IoModeType ioModeOf2F1 = IoModeType.NONE;
    public IoModeType ioModeOf2F2 = IoModeType.NONE;
    public IoModeType ioModeOf2F3 = IoModeType.NONE;

    private DevpSlave slave;
    private SiemensS7Net siemensS7Net;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();

    /**
     * 条码数量
     */
    private int barcodeSize = 8;

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
    }


    private ArrayList<Integer> getStaNo() {
        switch (slave.getId()) {
            case 1:
                return staNos1;
            /*case 2:
            case 2:
                return staNos2;
            case 3:
                return staNos3;
            case 4:
                return staNos4;*/
            default:
                throw new CoolException("服务器异常");
        }
    }

    public SiemensDevpThread(DevpSlave slave) {
        this.slave = slave;
    }

    @Override
@@ -122,18 +118,12 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol)task.getData());
                        write((StaProtocol) task.getData());
                        read();
                        break;
                   /* case 3:
                        write2((StaProtocol)task.getData());
                        read();
                        break;*/
                    default:
                        break;
                }
                // 心跳
//                heartbeat();
                Thread.sleep(400);
            } catch (Exception e) {
                e.printStackTrace();
@@ -176,12 +166,12 @@
        siemensS7Net.setRack(slave.getRack().byteValue());
        siemensS7Net.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
        if (connect.IsSuccess) {
            result = true;
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送线plc连接成功 ===>> [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.info("输送线plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format( "【{0}】输送线plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]  [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】输送线plc连接失败！！！ ===>> [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("输送线plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
//            deviceErrorService.addDeviceError("devp", slave.getId(), "输送线plc连接失败");
@@ -195,59 +185,192 @@
     * 读取状态 ====> 整块plc
     */
    private void read() throws InterruptedException {
//        // 更新入出库模式
//        updateIoMode();

        ArrayList<Integer> staNos = getStaNo();
        int staNoSize = staNos.size();
        OperateResultExOne<byte[]> result = siemensS7Net.Read("DB101.0", (short) (staNoSize*8));
        if (result.IsSuccess) {
            for (int i = 0; i < staNoSize; i++) {
                Integer siteId = staNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo((short)siemensS7Net.getByteTransform().TransInt32(result.Content, i*8));     // 工作号
        OperateResultExOne<byte[]> result;
        if (slave.getId() == 1) {
            // 读正面货位信息反馈
            result = siemensS7Net.Read("DB101.0", (short) (16 * 8));
            if (result.IsSuccess) {
                for (int i = 0; i < 16; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    if (null == staProtocol) {
                        staProtocol = new StaProtocol();
                        staProtocol.setSiteId(siteId);
                        station.put(siteId, staProtocol);
                    }
                    staProtocol.setWorkNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, i * 8));     // 工作号

                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i*8 + 4));   // 目标站
                    staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 8 + 4));   // 目标站

                boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i*8 + 6, 2);
                staProtocol.setAutoing(status[0]);  // 自动
                staProtocol.setLoading(status[1]);  // 有物
                staProtocol.setInEnable(status[2]); // 可入
                staProtocol.setOutEnable(status[3]);// 可出
                staProtocol.setEmptyMk(status[4]);  // 空板信号
                staProtocol.setFullPlt(status[5]);  // 满托盘
                staProtocol.setHigh(status[6]);     // 高库位
                staProtocol.setLow(status[7]);      // 低库位
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i * 8 + 6, 2);
                    staProtocol.setAutoing(status[0]);  // 自动
                    staProtocol.setLoading(status[1]);  // 有物
                    staProtocol.setInEnable(status[2]); // 可入
                    staProtocol.setOutEnable(status[3]);// 可出
                    staProtocol.setEmptyMk(status[4]);  // 空板信号
                    staProtocol.setFullPlt(status[5]);  // 满托盘
                    staProtocol.setHigh(status[6]);     // 高库位
                    staProtocol.setLow(status[7]);      // 低库位

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                    if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                        staProtocol.setPakMk(true);
                    }
                }
            }
        }
            // 读侧面货位信息反馈
            OperateResultExOne<byte[]> resultCm = siemensS7Net.Read("DB101.800", (short) (12 * 8));
            if (resultCm.IsSuccess) {
                for (int i = 16; i < staNoSize; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    if (null == staProtocol) {
                        staProtocol = new StaProtocol();
                        staProtocol.setSiteId(siteId);
                        station.put(siteId, staProtocol);
                    }
                    staProtocol.setWorkNo((short) siemensS7Net.getByteTransform().TransInt32(resultCm.Content, (i - 16) * 8));     // 工作号

                    staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(resultCm.Content, (i - 16) * 8 + 4));   // 目标站

        if (slave.getId() == 1) {
            //条码
            //Thread.sleep(200);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840.0", (short) 32);
            if (result2.IsSuccess) {
                for (int i = 0; i < 4; i++) {
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultCm.Content, (i - 16) * 8 + 6, 2);
                    staProtocol.setAutoing(status[0]);  // 自动
                    staProtocol.setLoading(status[1]);  // 有物
                    staProtocol.setInEnable(status[2]); // 可入
                    staProtocol.setOutEnable(status[3]);// 可出
                    staProtocol.setEmptyMk(status[4]);  // 空板信号
                    staProtocol.setFullPlt(status[5]);  // 满托盘
                    staProtocol.setHigh(status[6]);     // 高库位
                    staProtocol.setLow(status[7]);      // 低库位

                    if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                        staProtocol.setPakMk(true);
                    }
                }
            }

            // 读取正面条码
            OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB103.0", (short) (5 * 40));
            if (result3.IsSuccess) {
                for (int i = 0; i < 5; i++) {
                    String barcode = siemensS7Net.getByteTransform().TransString(result3.Content, i * 40, 40, "UTF-8");
                    if(!Cools.isEmpty()){
                        barcode = barcode.trim();
                    }
                    List<String> barcodeList = Arrays.stream(barcode.split(";")).collect(Collectors.toList());
                    Iterator<String> iterator = barcodeList.iterator();
                    while (iterator.hasNext()){
                        String next = iterator.next();
                        if(next.length() == 6) {
                            barcode = next;
                            iterator.remove();
                            break;
                        }
                    }

                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i+1);
                    if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }
                    StaProtocol staProtocol = station.get(barcodeSite2.get(i));
                    if (staProtocol != null) {
                        staProtocol.setMatIdList(barcodeList);
                    }
                }
            }

            // 读取正面条码
//            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.1404", (short) (16 * 8));
//            if (result2.IsSuccess) {
//                for (int i = 0; i < 16; i++) {
//                    int barcodeId = 0;
//                    switch (i) {
//                        case 1:
//                            barcodeId = 1;
//                            break;
//                        case 4:
//                            barcodeId = 2;
//                            break;
//                        case 7:
//                            barcodeId = 3;
//                            break;
//                        case 10:
//                            barcodeId = 4;
//                            break;
//                        case 13:
//                            barcodeId = 5;
//                            break;
//                        default:
//                    }
//                    if (barcodeId != 0) {
//                        String barcode = siemensS7Net.getByteTransform().TransString(result2.Content, i * 8, 6, "UTF-8");
//                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
//                        if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
//                            barcodeThread.setBarcode(barcode);
//                        }
//                    }
//                }
//            }

            // 读取侧面条码
            OperateResultExOne<byte[]> resultCM2 = siemensS7Net.Read("DB101.2574", (short) (3 * 4 * 6));
            if (resultCM2.IsSuccess) {
                for (int i = 8; i >= 6; i--) {
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i);
                    List<String> barcodes = new ArrayList<>();
                    for (int j = 0; j < 4; j++) {
                        String barcode1 = siemensS7Net.getByteTransform().TransString(resultCM2.Content, (8 - i) * 24 + j * 6, 6, "UTF-8");
                        if (!Cools.isEmpty(barcode1) && !barcode1.equals("000000") && !barcode1.equals("NoRead")) {
                            barcodes.add(barcode1);
                        }
                    }
                    String barcode = String.join("#", barcodes);
                    if (!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }
                }
            }

            // 读取正面外形检测
            OperateResultExOne<byte[]> resultErr1 = siemensS7Net.Read("DB101.936", (short) (16 * 8));
            if (resultErr1.IsSuccess) {
                for (int i = 0; i < 16; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultErr1.Content, i * 2, 1);
                    staProtocol.setFrontErr(status1[0]);
                    staProtocol.setBackErr(status1[1]);
                    staProtocol.setHighErr(status1[2]);
                    staProtocol.setLeftErr(status1[3]);
                    staProtocol.setRightErr(status1[4]);
                    staProtocol.setWeightErr(status1[5]);
                    staProtocol.setBarcodeErr(status1[6]);
                }
            }

            OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB13.2", (short) (staNoSize * 4));
            // 读取侧面外形检测
            OperateResultExOne<byte[]> resultErrCM1 = siemensS7Net.Read("DB101.1336", (short) (12 * 8));
            if (resultErrCM1.IsSuccess) {
                for (int i = 16; i < staNoSize; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultErrCM1.Content, (i - 16) * 2, 1);
                    staProtocol.setFrontErr(status1[0]);
                    staProtocol.setBackErr(status1[1]);
                    staProtocol.setHighErr(status1[2]);
                    staProtocol.setLeftErr(status1[3]);
                    staProtocol.setRightErr(status1[4]);
                    staProtocol.setWeightErr(status1[5]);
                    staProtocol.setBarcodeErr(status1[6]);
                }
            }

            // 读正面故障反馈
            OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.922.0", (short) (16 * 4));
            if (resultErr.IsSuccess) {
                for (int i = 0; i < staNoSize; i++) {
                for (int i = 0; i < 16; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i * 4, 1);
                    StaProtocol staProtocol = station.get(siteId);
@@ -263,35 +386,60 @@
                }
            }

            // 读侧面故障反馈
            OperateResultExOne<byte[]> resultErrCM = siemensS7Net.Read("DB101.2540.0", (short) (12 * 4));
            if (resultErrCM.IsSuccess) {
                for (int i = 16; i < staNoSize; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErrCM.Content, (i - 16) * 4, 1);
                    StaProtocol staProtocol = station.get(siteId);
                    staProtocol.setBreakerErr(status[0]);
                    staProtocol.setInfraredErr(status[1]);
                    staProtocol.setOutTimeErr(status[2]);
                    staProtocol.setSeizeSeatErr(status[3]);
                    staProtocol.setWrkYgoodsN(status[4]);
                    staProtocol.setInverterErr(status[5]);
                    staProtocol.setContactErr(status[6]);
                    staProtocol.setUpcontactErr(status[7]);

                }
            }
        } else {
            // 读外置输送线货位信息反馈
            result = siemensS7Net.Read("DB101.0", (short) (staNoSize * 8));
            if (result.IsSuccess) {
                for (int i = 0; i < staNoSize; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    StaProtocol staProtocol = station.get(siteId);
                    if (null == staProtocol) {
                        staProtocol = new StaProtocol();
                        staProtocol.setSiteId(siteId);
                        station.put(siteId, staProtocol);
                    }
                    staProtocol.setWorkNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, i * 8));     // 工作号

                    staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 8 + 4));   // 目标站

                    boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, i * 8 + 6, 2);
                    staProtocol.setAutoing(status[0]);  // 自动
                    staProtocol.setLoading(status[1]);  // 有物
                    staProtocol.setInEnable(status[2]); // 可入
                    staProtocol.setOutEnable(status[3]);// 可出
                    staProtocol.setEmptyMk(status[4]);  // 空板信号
                    staProtocol.setFullPlt(status[5]);  // 满托盘
                    staProtocol.setHigh(status[6]);     // 高库位
                    staProtocol.setLow(status[7]);      // 低库位

                    if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                        staProtocol.setPakMk(true);
                    }
                }
            }
        }

        if (result.IsSuccess) {

//        //RGV台车位置
//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.0",(short)4);
//        if (result3.IsSuccess) {
//            for (int i = 0; i < 2; i++) {
//                Integer siteId = i==0 ? 1 : 2; // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
////                String aa = staProtocol.getNearbySta();
////                System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
//            }
//        }

//        OperateResultExOne<Short> result2 = siemensS7Net.ReadInt16("DB200.0");
//        if (result2.IsSuccess) {
//            this.ioMode = IoModeType.get(result2.Content);
//        }

        if (result.IsSuccess ) {

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

            // 根据实时信息更新数据库
            try {
@@ -321,9 +469,7 @@
        }
    }

    /**
     * 写入 ID+目标站 =====> 单站点写入
     */

    private void write(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
@@ -331,112 +477,84 @@
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();
//        OperateResult write = siemensS7Net.Write("DB100." + index*4, array);
        // 任务号地址
        String workNoAddress;
        // 目标站地址
        String staNoAddress;
        // 高度类型地址
        String heightAddress;
        if (index < 16) {
            workNoAddress = "DB100." + index * 4;
            staNoAddress = "DB100." + (index * 4 + 2);
            heightAddress = "DB104." + (index * 4 + 2);
        } else {
            workNoAddress = "DB100." + (400 + (index-16) * 4);
            staNoAddress = "DB100." + (400 + (index-16) * 4 + 2);
        }

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        OperateResult writeResult1 = siemensS7Net.Write("DB100." + index*6, (int) staProtocol.getWorkNo());    // 工作号
        OperateResult writeResult2 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo());    // 目标站
        if(writeResult1.IsSuccess&&writeResult2.IsSuccess){
            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo((int) staProtocol.getWorkNo());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }else{
                log.error("输送线写入失败"+staProtocol+"++++++++++++++++++++++++++++++++++++++");
            }
        }


    }
    private void write2(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        while(writeCount < 5){
            writeResult = siemensS7Net.Write("DB100." + index*4, array);    // 工作号、目标站

            if(writeResult.IsSuccess){
        while (writeCount < 5) {
            OperateResult writeResult1 = siemensS7Net.Write(workNoAddress, staProtocol.getWorkNo());    // 工作号
            OperateResult writeResult2 = siemensS7Net.Write(staNoAddress, staProtocol.getStaNo());    // 目标站
            if (writeResult1.IsSuccess && writeResult2.IsSuccess) {
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index*4, (short)4);
                if(readResult.IsSuccess){
                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 2);
                    if(staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)){
                        //任务命令写入成功
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index * 4, (short) 2);
                if (readResult.IsSuccess) {
//                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
//                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 2);
//                    if (staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)) {
//                        //任务命令写入成功
                        writeFlag = true;
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                        Date now = new Date();
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                    }
//                    } else {//返回结果是成功了，但是真实值不相同
//                        writeCount++;
//                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
//                                slave.getId(), JSON.toJSON(staProtocol), writeCount));
//                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
//                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        slave.getId(), JSON.toJSON(staProtocol), writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
        if (!writeFlag) {
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() == 0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(3, staProtocol));
            read();//读取1次设备状态
            return;
//            //重新添加数据到任务队列
//            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(2, staProtocol));
//            read();//读取1次设备状态
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            //log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}", slave.getId(), JSON.toJSON(staProtocol));

            Integer siteId = staProtocol.getSiteId();
            staProtocol = station.get(siteId);
            if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
                staProtocol.setPakMk(true);
            }

//            Integer siteId = staProtocol.getSiteId();
//            staProtocol = station.get(siteId);
//            if ((siteId == 101 || siteId == 201)&&(staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0)) {
//                staProtocol.setPakMk(true);
//            }
        }


    }

@@ -476,30 +594,118 @@
//        }
//    }

    private void write2(StaProtocol staProtocol) throws InterruptedException {
        if (null == staProtocol) {
            return;
        }
        ArrayList<Integer> staNos = getStaNo();

        int index = staNos.indexOf(staProtocol.getSiteId());
        short[] array = new short[2];
        array[0] = staProtocol.getWorkNo();
        array[1] = staProtocol.getStaNo();

        OperateResult writeResult;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;
        while (writeCount < 5) {
            writeResult = siemensS7Net.Write("DB100." + index * 4, array);    // 工作号、目标站

            if (writeResult.IsSuccess) {
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read("DB100." + index * 4, (short) 4);
                if (readResult.IsSuccess) {
                    short workNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    short staNo = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 2);
                    if (staProtocol.getWorkNo().equals(workNo) && staProtocol.getStaNo().equals(staNo)) {
                        //任务命令写入成功
                        writeFlag = true;
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                        Date now = new Date();
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol), writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol), writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);

            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if (!writeFlag) {
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() == 0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(3, staProtocol));
            read();//读取1次设备状态
            return;
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            //log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

            Integer siteId = staProtocol.getSiteId();
            staProtocol = station.get(siteId);
            if ((siteId == 101 || siteId == 201) && (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() == 0)) {
                staProtocol.setPakMk(true);
            }

        }

    }


    // 更新入出库模式
    private void updateIoMode() throws InterruptedException {
        if (this.ioModeOf2F != IoModeType.NONE) {
            if (!siemensS7Net.Write("DB100.180", this.ioModeOf2F.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线2F入出库模式失败。输送线plc编号={1}", slave.getId()));
                log.error("写入输送线2F入出库模式失败。输送线plc编号={}", slave.getId());
        if (slave.getId() == 1 && this.ioModeOf1F1 != null) {
            if (!siemensS7Net.Write("DB4.2", this.ioModeOf1F1.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线21F1入出库模式失败。输送线plc编号={2}", slave.getId()));
                log.error("写入输送线2F1入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
        if (slave.getId() == 1 && this.ioModeOf1F2 != null) {
            if (!siemensS7Net.Write("DB4.4", this.ioModeOf1F2.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线2F2入出库模式失败。输送线plc编号={3}", slave.getId()));
                log.error("写入输送线2F2入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
        if (slave.getId() == 1 && this.ioModeOf1F2 != null) {
            if (!siemensS7Net.Write("DB4.2", this.ioModeOf1F2.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线3F1入出库模式失败。输送线plc编号={2}", slave.getId()));
                log.error("写入输送线3F1入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
        if (slave.getId() == 1 && this.ioModeOf1F2 != null) {
            if (!siemensS7Net.Write("DB4.4", this.ioModeOf1F2.id).IsSuccess) {
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线3F2入出库模式失败。输送线plc编号={3}", slave.getId()));
                log.error("写入输送线3F2入出库模式失败。输送线plc编号={}", slave.getId());
            }
        }
    }

    /**
     * 心跳
     */
    private void heartbeat(){
        if (heartBeatVal == 1) {
            heartBeatVal = 2;
        } else {
            heartBeatVal = 1;
        }
        OperateResult write = siemensS7Net.Write("DB100.50", heartBeatVal);
        if (!write.IsSuccess) {
            log.error("输送线plc编号={} 心跳失败", slave.getId());
        }
    }

    /**
     * 设置入库标记
@@ -517,39 +723,5 @@
        siemensS7Net.ConnectClose();
    }

    public static void main(String[] args) {
        ArrayList<Integer> staNos = staNos1;
        System.out.println(staNos.indexOf(129));
        System.out.println(staNos.size());
        for (int i = 0; i<staNos.size(); i++) {
//            System.out.println(i*2);
//            System.out.println(i*2 + 200);
//            System.out.println(i);
        }
        int index = staNos.indexOf(128);
        System.out.println(index*2);
        System.out.println(index*2 + 200);
    }

//    public static void main(String[] args) throws Exception {
//        DevpSlave slave = new DevpSlave();
//        slave.setIp("192.168.2.125");
//        SiemensDevpThread devpThread = new SiemensDevpThread(slave);
//        devpThread.connect();
//        devpThread.read();
//        // 写
//        StaProtocol staProtocol = devpThread.getStation().get(1);
//        staProtocol.setWorkNo((short) 232);
//        staProtocol.setStaNo((short) 6);
//        staProtocol.setAutoing(true);
//        staProtocol.setEmptyMk(true);
//        staProtocol.setInEnable(true);
//        devpThread.write(staProtocol);
//        System.out.println("----------------------------------------");
//        // 读
//        devpThread.read();
//        System.out.println(JSON.toJSONString(devpThread.station));
//
//    }

}