123

ZY

2025-05-14 ce641926a957d238b202aa0d9dac3b8f15aff153

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

@@ -39,6 +39,7 @@
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;
    private boolean resetFlagTwo = false;

    /**
     * 堆垛机是否在回原点运动中标记
@@ -79,12 +80,12 @@
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        command.setSourcePosX((short)0);     // 源库位排
                        command.setSourcePosY((short)0);     // 源库位列
                        command.setSourcePosZ((short)0);     // 源库位层
                        command.setDestinationPosX((short)0);     // 目标库位排
                        command.setDestinationPosY((short)0);     // 目标库位列
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        command.setSourcePosX((short) 0);     // 源库位排
                        command.setSourcePosY((short) 0);     // 源库位列
                        command.setSourcePosZ((short) 0);     // 源库位层
                        command.setDestinationPosX((short) 0);     // 目标库位排
                        command.setDestinationPosY((short) 0);     // 目标库位列
                        command.setDestinationPosZ((short) 0);     // 目标库位层
                        write(command);
                        break;
                    default:
@@ -107,14 +108,14 @@
        }
        crnProtocol.setMode((short) -1);
//        crnProtocol.setTaskNo((short)0);
        crnProtocol.setStatus((short)-1);
        crnProtocol.setBay((short)0);
        crnProtocol.setLevel((short)0);
        crnProtocol.setStatus((short) -1);
        crnProtocol.setBay((short) 0);
        crnProtocol.setLevel((short) 0);
        crnProtocol.setForkPos((short) -1);
        crnProtocol.setLiftPos((short) -1);
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setWalkPos((short) 0);
        crnProtocol.setLoaded((short) 0);
        crnProtocol.setAlarm((short) 0);
        crnProtocol.setxSpeed((short) 0);
        crnProtocol.setySpeed((short) 0);
        crnProtocol.setzSpeed((short) 0);
@@ -131,13 +132,13 @@
        siemensNet.setRack(slave.getRack().byteValue());
        siemensNet.setSlot(slave.getSlot().byteValue());
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
        if (connect.IsSuccess) {
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机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()));
            News.info("堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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()));
            News.info("SiemensCrn" + " - 1" + " - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机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()));
            News.error("堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            News.error("SiemensCrn" + " - 2" + " - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initCrn();
        }
//        siemensNet.ConnectClose();
@@ -147,72 +148,122 @@
    /**
     * 读取状态
     */
    private void readStatus(){
    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                //工位1
                crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                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.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
                crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                //工位2
                crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setStatusTwo(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setBayTwo(siemensNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setLevelTwo(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 24));

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setWalkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 30));
                crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 34));
                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 38));
                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 42));
                crnProtocol.setzSpeedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 46));
                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 50));
                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 54));
                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 58));
                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 62));

                // 复位信号
                if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));
                if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_ONE) {
                    // 复位信号
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlag = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }
                    }
                } else if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_TWO) {
                    // 复位信号
                    if (resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlagTwo = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }

                    }
                } else if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_All && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_All) {
                    // 复位信号
                    if (resetFlag && resetFlagTwo) {
                        if (crnProtocol.getTaskNo() == 9999) {
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlag = false;
                            resetFlagTwo = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }
                    }
                }


                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))){
                        log.error("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());
                    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 ignore){}
                } catch (Exception ignore) {
                }

            } else {
                initCrn();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                News.error("SiemensCrn" + " - 4" + " - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            News.error("SiemensCrn" + " - 5" + " - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
    }
@@ -231,31 +282,161 @@
     */
    private boolean write(CrnCommand command) throws InterruptedException {
        if (null == command) {
            log.error("堆垛机写入命令为空");
            News.error("SiemensCrn" + " - 6" + " - 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();
        short[] array = new short[16];
        array[0] = command.getTaskNo();
        array[1] = command.getTaskMode();
        array[2] = command.getSourcePosX();
        array[3] = command.getSourcePosY();
        array[4] = command.getSourcePosZ();
        array[5] = command.getDestinationPosX();
        array[6] = command.getDestinationPosY();
        array[7] = command.getDestinationPosZ();
        array[8] = command.getSourcePosXTwo();
        array[9] = command.getSourcePosYTwo();
        array[10] = command.getSourcePosZTwo();
        array[11] = command.getDestinationPosXTwo();
        array[12] = command.getDestinationPosYTwo();
        array[13] = command.getDestinationPosZTwo();
        array[14] = command.getCommand();
        array[15] = command.getAckFinish();

//        array[9] = command.getSourceStaNo();
//        array[10] = command.getDestinationStaNo();
        array[9] = command.getCommand();
        //array[9] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);


        log.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 writeCount = 1;
        do {
            try {
                if (!result.IsSuccess) {
                    log.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.toJSONString(command), writeCount);
                    result = siemensNet.Write("DB100.0", array);
                    Thread.sleep(100);
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 32);
                if (resultRead.IsSuccess) {
                    CrnCommand one = new CrnCommand();
                    one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                    one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                    one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                    one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                    one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                    one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                    one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                    one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                    one.setSourcePosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
                    one.setSourcePosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
                    one.setSourcePosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                    one.setDestinationPosXTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));
                    one.setDestinationPosYTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                    one.setDestinationPosZTwo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));
                    one.setCommand(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28));
                    one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                    if (command.getTaskMode() != 2) {
                        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.getCommand().equals(one.getCommand()) || !command.getAckFinish().equals(one.getAckFinish())
                        ) {
                            try {
                                log.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.toJSONString(command), JSON.toJSONString(one));
                            } catch (Exception e) {
                                try {
                                    log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(resultRead));
                                } catch (Exception e1) {
                                    log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
                                }
                            }
                            try {
                                Thread.sleep(100);
                            } catch (Exception e) {

                            }
                            log.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.toJSONString(command), writeCount);
                            result = siemensNet.Write("DB100.0", array);
                            writeCount++;
                            continue;
                        } else {
                            log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(one));
                            break;
                        }
                    } else {
                        if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
                                || !command.getSourcePosXTwo().equals(one.getSourcePosXTwo()) || !command.getSourcePosYTwo().equals(one.getSourcePosYTwo())
                                || !command.getSourcePosZTwo().equals(one.getSourcePosZTwo()) || !command.getDestinationPosXTwo().equals(one.getDestinationPosXTwo())
                                || !command.getDestinationPosYTwo().equals(one.getDestinationPosYTwo()) || !command.getDestinationPosZTwo().equals(one.getDestinationPosZTwo())
                                || !command.getCommand().equals(one.getCommand()) || !command.getAckFinish().equals(one.getAckFinish())
                        ) {
                            try {
                                log.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.toJSONString(command), JSON.toJSONString(one));
                            } catch (Exception e) {
                                try {
                                    log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(resultRead));
                                } catch (Exception e1) {
                                    log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSONString(command));
                                }
                            }
                            try {
                                Thread.sleep(100);
                            } catch (Exception e) {

                            }
                            log.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.toJSONString(command), writeCount);
                            result = siemensNet.Write("DB100.0", array);
                            writeCount++;
                            continue;
                        } else {
                            log.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSONString(command), JSON.toJSONString(one));
                            break;
                        }
                    }
                }
            } catch (Exception e) {
                log.error("堆垛机命令地址写入后回读出错,异常：" + e);
            }
            writeCount++;
        } while (writeCount < 6);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.18", commandFinish);
            result = siemensNet.Write("DB100.28", commandFinish);
            int signFinish = 1;
            while (signFinish < 5) {
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.28", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish) {
                    log.info("下发DB100.28  回读失败" + "commandFinish:" + commandFinish);
                    log.info("下发DB100.28  回读失败" + "array:" + JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.28", commandFinish);
                    signFinish++;
                } else {
                    log.info("下发DB100.28" + "commandFinish:" + commandFinish);
                    log.info("下发DB100.28" + "array:" + JSON.toJSONString(array));
                    break;
                }
            }
        }


//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            Thread.sleep(100L);
//            result = siemensNet.Write("DB100.18", commandFinish);
//        }

        try {
            // 日志记录
@@ -277,18 +458,19 @@
                    null,    // 修改时间
                    null    // 修改人员
            );
            bean.insert(basCrnOpt);
        } catch (Exception ignore) {}
            bean.save(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));
            News.info("SiemensCrn" + " - 7" + " - 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("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", 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());
            return false;
        }
    }