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2024-09-04 bfc2fee36897a0e6ca4d77701cf4d8f6a7281aec

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

@@ -5,10 +5,15 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -20,11 +25,11 @@
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;

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

/**
 * 堆垛机线程
@@ -38,6 +43,22 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    @Value("${wms.url}")
    private String wmsUrl;
    public static final List<Short> rowOne = new ArrayList<Short>() {{
        add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
    }};
    public static final List<Short> rowTwo = new ArrayList<Short>() {{
        add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
    }};
    public static final List<Short> rowThree = new ArrayList<Short>() {{
        add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
    }};
    public static final List<Short> rowFour = new ArrayList<Short>() {{
        add((short) 4);add((short) 10);add((short) 14);add((short) 18);
    }};


    public SiemensCrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -62,7 +83,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        write5((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -81,6 +102,12 @@
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    case 4:
                        writeAuto((CrnCommand) task.getData());
                        break;
                    case 5:
                        write((CrnCommand) task.getData());
                        break;
                    default:
                        break;
@@ -127,7 +154,7 @@
//            deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败");
            initCrnProtocol();
        }
        siemensNet.ConnectClose();
//        siemensNet.ConnectClose();
        return result;
    }

@@ -150,7 +177,7 @@
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//            crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//            crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//            crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//            crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
@@ -163,180 +190,103 @@
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));

            // 异常
            crnProtocol.setAlarm1(0);
            crnProtocol.setAlarm2(0);
            crnProtocol.setAlarm3(0);
            crnProtocol.setAlarm4(0);
            boolean[] err1 = siemensNet.getByteTransform().TransBool(result.Content, 28, 1);    // 30
            if (err1[0]) { crnProtocol.setAlarm1(1); }
            if (err1[1]) { crnProtocol.setAlarm1(2); }
            if (err1[2]) { crnProtocol.setAlarm1(3); }
            boolean[] err2 = siemensNet.getByteTransform().TransBool(result.Content, 29, 1);    // 31
            if (err2[0]) { crnProtocol.setAlarm1(4); }
            if (err2[1]) { crnProtocol.setAlarm1(5); }
            if (err2[2]) { crnProtocol.setAlarm1(6); }
            boolean[] err3 = siemensNet.getByteTransform().TransBool(result.Content, 30, 1);    // 32
            if (err3[6]) { crnProtocol.setAlarm1(7); }
            if (err3[7]) { crnProtocol.setAlarm1(8); }
            boolean[] err4 = siemensNet.getByteTransform().TransBool(result.Content, 31, 1);    // 33
            if (err4[1]) { crnProtocol.setAlarm1(9); }
            if (err4[5]) { crnProtocol.setAlarm1(10); }
            if (err4[6]) { crnProtocol.setAlarm1(11); }
            if (err4[7]) { crnProtocol.setAlarm1(12); }
            boolean[] err5 = siemensNet.getByteTransform().TransBool(result.Content, 32, 1);    // 34
            if (err5[0]) { crnProtocol.setAlarm2(13); }
            if (err5[2]) { crnProtocol.setAlarm2(14); }
            if (err5[3]) { crnProtocol.setAlarm2(15); }
            if (err5[5]) { crnProtocol.setAlarm2(16); }
            if (err5[6]) { crnProtocol.setAlarm2(17); }
            if (err5[7]) { crnProtocol.setAlarm2(18); }
            boolean[] err6 = siemensNet.getByteTransform().TransBool(result.Content, 33, 1);    // 35
            if (err6[1]) { crnProtocol.setAlarm2(19); }
            if (err6[2]) { crnProtocol.setAlarm2(20); }
            if (err6[3]) { crnProtocol.setAlarm2(21); }
            if (err6[4]) { crnProtocol.setAlarm2(22); }
            boolean[] err7 = siemensNet.getByteTransform().TransBool(result.Content, 34, 1);    // 36
            if (err7[4]) { crnProtocol.setAlarm2(23); }
            if (err7[5]) { crnProtocol.setAlarm2(24); }
            if (err7[6]) { crnProtocol.setAlarm2(25); }
            boolean[] err8 = siemensNet.getByteTransform().TransBool(result.Content, 36, 1);    // 38
            if (err8[0]) { crnProtocol.setAlarm3(26); }
            if (err8[1]) { crnProtocol.setAlarm3(27); }
            if (err8[2]) { crnProtocol.setAlarm3(28); }
            if (err8[3]) { crnProtocol.setAlarm3(29); }
            if (err8[4]) { crnProtocol.setAlarm3(30); }
            if (err8[5]) { crnProtocol.setAlarm3(31); }
            if (err8[6]) { crnProtocol.setAlarm3(32); }
            if (err8[7]) { crnProtocol.setAlarm3(33); }
            boolean[] err9 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);    // 39
            if (err9[0]) { crnProtocol.setAlarm3(34); }
            if (err9[1]) { crnProtocol.setAlarm3(35); }
            if (err9[2]) { crnProtocol.setAlarm3(36); }
            if (err9[3]) { crnProtocol.setAlarm3(37); }
            if (err9[4]) { crnProtocol.setAlarm3(38); }
            if (err9[5]) { crnProtocol.setAlarm3(39); }
            if (err9[6]) { crnProtocol.setAlarm3(40); }
            if (err9[7]) { crnProtocol.setAlarm3(41); }
            boolean[] err10 = siemensNet.getByteTransform().TransBool(result.Content, 38, 1);    // 40
            if (err10[0]) { crnProtocol.setAlarm3(42); }
            if (err10[1]) { crnProtocol.setAlarm3(43); }
            if (err10[2]) { crnProtocol.setAlarm3(44); }
            if (err10[3]) { crnProtocol.setAlarm3(45); }
            if (err10[4]) { crnProtocol.setAlarm3(46); }
            boolean[] err11 = siemensNet.getByteTransform().TransBool(result.Content, 39, 1);    // 41
            if (err11[0]) { crnProtocol.setAlarm3(47); }
            if (err11[1]) { crnProtocol.setAlarm3(48); }
            if (err11[2]) { crnProtocol.setAlarm3(49); }
            boolean[] err12 = siemensNet.getByteTransform().TransBool(result.Content, 40, 1);    // 42
            if (err12[0]) { crnProtocol.setAlarm4(50); }
            if (err12[1]) { crnProtocol.setAlarm4(51); }
            if (err12[2]) { crnProtocol.setAlarm4(52); }
            if (err12[3]) { crnProtocol.setAlarm4(53); }
            if (err12[4]) { crnProtocol.setAlarm4(54); }
            if (err12[5]) { crnProtocol.setAlarm4(55); }
            boolean[] err13 = siemensNet.getByteTransform().TransBool(result.Content, 41, 1);    // 43
            if (err13[0]) { crnProtocol.setAlarm4(56); }
            if (err13[1]) { crnProtocol.setAlarm4(57); }
            if (err13[2]) { crnProtocol.setAlarm4(58); }
            if (err13[3]) { crnProtocol.setAlarm4(59); }
            boolean[] err14 = siemensNet.getByteTransform().TransBool(result.Content, 42, 1);    // 44
            if (err14[0]) { crnProtocol.setAlarm4(60); }
            if (err14[1]) { crnProtocol.setAlarm4(61); }
            if (err14[2]) { crnProtocol.setAlarm4(62); }
            if (err14[3]) { crnProtocol.setAlarm4(63); }
            if (err14[4]) { crnProtocol.setAlarm4(64); }
            if (err14[5]) { crnProtocol.setAlarm4(65); }
            if (err14[6]) { crnProtocol.setAlarm4(66); }
            if (err14[7]) { crnProtocol.setAlarm4(67); }
            boolean[] err15 = siemensNet.getByteTransform().TransBool(result.Content, 43, 1);    // 45
            if (err15[1]) { crnProtocol.setAlarm4(68); }
            if (err15[2]) { crnProtocol.setAlarm4(69); }
            if (err15[3]) { crnProtocol.setAlarm4(70); }
            if (err15[4]) { crnProtocol.setAlarm4(71); }
            if (err15[5]) { crnProtocol.setAlarm4(72); }
            if (err15[6]) { crnProtocol.setAlarm4(73); }

            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
            crnProtocol.setConnStatus(bool1[0]);
            crnProtocol.setCorrection(bool1[3]);
            crnProtocol.setTuError(bool1[4]);
            crnProtocol.setNoneError(bool1[5]);
            crnProtocol.setStockError(bool1[6]);
            crnProtocol.setJobInvalid(bool1[7]);
            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
            crnProtocol.setIdle(bool2[0]);
            crnProtocol.setControl(bool2[1]);
            crnProtocol.setStopQuasi(bool2[2]);
            crnProtocol.setRunning(bool2[3]);
            crnProtocol.setFault(bool2[4]);
            crnProtocol.setForkHome(bool2[5]);
            crnProtocol.setForkSingleLeft(bool2[6]);
            crnProtocol.setForkSingleRight(bool2[7]);
            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
            crnProtocol.setForkDoubleLeft(bool3[0]);
            crnProtocol.setForkDoubleRight(bool3[1]);
            crnProtocol.setSingleHigh(bool3[2]);
            crnProtocol.setSingleLow(bool3[3]);
            crnProtocol.setDoubleHigh(bool3[4]);
            crnProtocol.setDoubleLow(bool3[5]);
            crnProtocol.setPlatformHigh(bool3[6]);
            crnProtocol.setPlatformLow(bool3[7]);
            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物

            // 速度
            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
            // 累计里程、时长
            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102

            // 增强
            if (crnProtocol.getForkHome()) {
                crnProtocol.setForkPos(CrnForkPosType.HOME);
            }
            if (crnProtocol.getForkSingleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType.LEFT);
            }
            if (crnProtocol.getForkSingleRight()) {
                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
            }
            if (crnProtocol.getForkDoubleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType._LEFT);
            }
            if (crnProtocol.getForkDoubleRight()) {
                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
            }
            if (crnProtocol.getSingleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType.UP);
            }
            if (crnProtocol.getSingleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
            }
            if (crnProtocol.getDoubleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType._UP);
            }
            if (crnProtocol.getDoubleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
            }
            if (crnProtocol.getIdle()) {
                crnProtocol.setStatus(CrnStatusType.IDLE);
            }

            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 (crnProtocol.getTaskFinish() == 1) {
            if (crnProtocol.getTaskFinish() == 0) {
                if (resetFlag) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
                    if (write(crnCommand)) {
                        resetFlag = false;

                        //堆垛机任务完成后访问wms请求任务完成 locationDone 货位处理完成
                        TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
                        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()));
                        String tasktype = null;
                        switch (taskWrk.getIoType()){
                            case 1:
                                tasktype= "RK";
                                break;
                            case 2:
                                tasktype= "CK";
                                break;
                            case 3:
                                tasktype= "YK";
                                break;
                            default:
                                tasktype= "未知";
                        }
                        Map<String, Object> map = new HashMap<>();
                        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
                        TaskOverToWms taskOverToWms = new TaskOverToWms();
                        taskOverToWms.setFeedbackFrom("WCS"); //来源
                        taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
                        taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
                        taskOverToWms.setTaskType(tasktype); // 任务类型
                        taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
                        if (taskWrk.getIoType() ==1){
                            taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
                            taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
                        }else if (taskWrk.getIoType() ==2){
                            Map<Integer,String> map1 = new HashMap<>();
                            map1.put(102,"J-1101");
                            map1.put(106,"J-1103");
                            map1.put(110,"J-1105");
                            map1.put(114,"J-1107");
                            map1.put(118,"J-1109");
                            map1.put(122,"J-1111");
                            map1.put(305,"H-1101");
                            map1.put(405,"G-1101");
                            taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
                            taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
                        } else if (taskWrk.getIoType() == 3) {
                            taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
                            taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint());
                            taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
                        }
                        taskOverToWms.setTaskStatus("location_done"); //任务状态
                        String response = null;
                        try {
                            response = new HttpHandler.Builder()
                                    .setHeaders(map)
                                    .setUri("10.32.53.195:8080")
                                    .setPath("wcsManager/wcsInterface/taskStatusFeedback")
                                    .setJson(JSON.toJSONString(taskOverToWms))
                                    .build()
                                    .doPost();
                        }catch (Exception e){
                            log.error("堆垛机任务完成，请求wms任务完成接口失败");
                        }
                        ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
                        apiLogService.save("Wms任务完成接口"
                                ,"10.32.53.195:8080"+"/wcsManager/wcsInterface/taskStatusFeedback"
                                ,null
                                ,"127.0.0.1"
                                ,JSON.toJSONString(taskOverToWms)
                                ,response
                                ,true
                        );
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)){
                            if (taskWrk.getIoType() == 3){
                                taskWrk.setWrkSts(4);
                            }
                            taskWrk.setStatus(5);
                            if (!taskWrkService.update(taskWrk,new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()))){
                                log.error("堆垛机任务完成，改变任务状态失败");
                            }

                            log.info("堆垛机任务完成，请求wms任务完成接口成功");
                        }else {
                            log.error("堆垛机任务完成，请求wms任务完成接口完成，但返回失败");
                        }

                    }



                }
            }
@@ -370,91 +320,200 @@
            log.error("堆垛机写入命令为空");
            return false;
        }
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0) {
            command.setTaskNo((short) 9999);
        //转换前克隆一份
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(command.getCrnNo());
        crnCommand.setAckFinish(command.getAckFinish());
        crnCommand.setTaskNo(command.getTaskNo());
        crnCommand.setTaskMode(command.getTaskMode());
        crnCommand.setSourcePosX(command.getSourcePosX());
        crnCommand.setSourcePosY(command.getSourcePosY());
        crnCommand.setSourcePosZ(command.getSourcePosZ());
        crnCommand.setDestinationPosX(command.getDestinationPosX());
        crnCommand.setDestinationPosY(command.getDestinationPosY());
        crnCommand.setDestinationPosZ(command.getDestinationPosZ());
//        crnCommand.setSourceStaNo(command.getSourceStaNo());
//        crnCommand.setDestinationStaNo(command.getDestinationStaNo());
        crnCommand.setCommand(command.getCommand());
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
            command.setTaskNo((short) 999);
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[9];
        if (command.getAckFinish() == 0) {
            array[0] = 5;
        } else {
            array[0] = 0;
        }

        if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)1){
            array[1] = (short)0;
            array[2] = (short)0;
        }else if (command.getSourcePosZ()==(short)1 && command.getSourcePosY()==(short)41){
            array[1] = (short)0;
            array[2] = (short)42;
        }else {
            array[1] = command.getSourcePosZ();
            array[2] = command.getSourcePosY();
        }

        if (command.getSourcePosX()==(short)3){
            array[3] = (short)1;
        }else if (command.getSourcePosX()==(short)4){
            array[3] = (short)2;
        }else {
            array[3] = command.getSourcePosX();
        }

        if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)1){
            array[4] = (short)0;
            array[5] = (short)0;
        }else if (command.getDestinationPosZ()==(short)1 && command.getDestinationPosY()==(short)41){
            array[4] = (short)0;
            array[5] = (short)42;
        }else {
            array[4] = command.getDestinationPosZ();
            array[5] = command.getDestinationPosY();
        }

        if (command.getDestinationPosX()==(short)3){
            array[6] = (short)1;
        }else if (command.getDestinationPosX()==(short)4){
            array[6] = (short)2;
        }else {
            array[6] = command.getDestinationPosX();
        }
        if ((array[1]==(short)0 && array[2] == (short)0) || (array[1]==(short)0 && array[2] == (short)42)){
            array[7]=(short)1;
        }else {
            array[7]=(short)0;
        }
//        array[7] = command.getSourceStaNo();

        if ((array[4]==(short)0 && array[5] == (short)0) || (array[4]==(short)0 && array[5] == (short)42)){
            array[8]=(short)1;
        }else {
            array[8]=(short)0;
        }
//        array[8] = command.getDestinationStaNo();
        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.getCommand();

        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
        // 任务号 + 完成位
        short[] array2 = new short[2];
        array2[0] = command.getTaskNo();
        array2[1] = command.getAckFinish();
        OperateResult result1 = siemensNet.Write("DB10.24", array2);

        // 结束位
        if (command.getAckFinish() == 0) {
            OperateResult result2 = siemensNet.Write("DB10.28.1", true);

        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            return false;
        }
    }

    /**
     * 写入数据
     */
    private boolean write5(CrnCommand command) throws InterruptedException {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setCrnNo(slave.getId());
        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[9] = command.getCommand();

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

        int i=0;
        do{
            //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("DB100.0", (short) 20);
            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())
                ){
                    i++;
                    log.error("堆垛机命令地址写入后回读失败[id:{}]>>>>重写[{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
                    result = siemensNet.Write("DB100.0", array);
                }else{
                    i=5;
                }
            }
        }while(i<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();
            log.info(methodName + ":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()));
            log.error(methodName + ":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 write2(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        //转换前克隆一份
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(command.getCrnNo());
        crnCommand.setAckFinish(command.getAckFinish());
        crnCommand.setTaskNo(command.getTaskNo());
        crnCommand.setTaskMode(command.getTaskMode());
        crnCommand.setSourcePosX(command.getSourcePosX());
        crnCommand.setSourcePosY(command.getSourcePosY());
        crnCommand.setSourcePosZ(command.getSourcePosZ());
        crnCommand.setDestinationPosX(command.getDestinationPosX());
        crnCommand.setDestinationPosY(command.getDestinationPosY());
        crnCommand.setDestinationPosZ(command.getDestinationPosZ());
//        crnCommand.setSourceStaNo(command.getSourceStaNo());
//        crnCommand.setDestinationStaNo(command.getDestinationStaNo());
        crnCommand.setCommand(command.getCommand());
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
            command.setTaskNo((short) 999);
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[10];
        if (Cools.isEmpty(command.getAckFinish())) {
            array[0] = 5;
        } else {
            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.getCommand();
        // 作业信息
        OperateResult result = siemensNet.Write("DB100.0", array);
        // 日志记录
        try {
            if (command.getAckFinish() != 1) {
                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.getTaskModeType() == null ? null : command.getTaskModeType().toString(),    // 模式
                        command.getSourcePosX().intValue(),    // 源排
                        command.getSourcePosY().intValue(),    // 源列
                        command.getSourcePosZ().intValue(),    // 源层
@@ -469,22 +528,32 @@
                );
                bean.insert(basCrnOpt);
            }
        } catch (Exception ignore) {}
//        } catch (Exception ignore) {}

        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
        if (Cools.isEmpty(commandInfo)){
            commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
                    .eq("wrk_no",crnProtocol.getTaskNo())
                    .eq("device","Crn"));
        }
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);

        if (result.IsSuccess && result1.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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)));

        if (result.IsSuccess) {
            Date now = new Date();
            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发成功");
            commandInfoLogService.insert(commandInfoLog);

            //线程暂存指令ID
            crnProtocol.setCommandId(command.getCommandId());

            //更新指令状态
            commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//执行中
            commandInfo.setExecuteTime(now);
            commandInfoService.updateById(commandInfo);

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
@@ -494,14 +563,54 @@
                taskWrkService.updateById(taskWrk);
            }


        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [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("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }
        return true;
    }

    private boolean writeAuto(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        OperateResult result = new OperateResult();
        short[] array = new short[1];
        array[0] = command.getAuto();
        if(command.getAuto() !=0){
            array[0] = command.getAuto();
            result = siemensNet.Write("DB103.0", array);
        }else if (command.getOnlineWrk1() != 0){
            array[0] = command.getOnlineWrk1();
            result = siemensNet.Write("DB103.2", array);
        }else if (command.getOnlineWrk2() !=0){
            array[0] = command.getOnlineWrk2();
            result = siemensNet.Write("DB103.4", array);
        }else if (command.getOnlineWrk3() != 0){
            array[0] = command.getOnlineWrk3();
            result = siemensNet.Write("DB103.6", array);
        }else if (command.getOnlineWrk4() != 0){
            array[0] = command.getOnlineWrk4();
            result = siemensNet.Write("DB103.8", array);
        } else if (command.getReset() != 0) {
            array[0] = command.getReset();
            result = siemensNet.Write("DB103.10", array);
        }


        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), 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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发失败");
            commandInfoLogService.insert(commandInfoLog);
            return false;
        }
    }