*

lsh

2025-04-08 ddc9842f99172338bd7606de3c9a8cf520d7a0b4

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

@@ -154,7 +154,7 @@
//            deviceErrorService.addDeviceError("crn", slave.getId(), "堆垛机plc连接失败");
            initCrnProtocol();
        }
        siemensNet.ConnectClose();
//        siemensNet.ConnectClose();
        return result;
    }

@@ -227,7 +227,7 @@
                        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 || taskWrk.getIoType() == 3){
                        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){
@@ -242,6 +242,10 @@
                            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;
@@ -316,8 +320,23 @@
            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) 9999);
            command.setTaskNo((short) 999);
        }

        command.setCrnNo(slave.getId());
@@ -329,17 +348,251 @@
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();
        array[3] = command.getSourcePosZ();
        array[4] = command.getSourcePosX();
        array[5] = command.getSourcePosY();
        array[6] = command.getDestinationPosZ();
        array[7] = command.getDestinationPosX();
        array[8] = command.getDestinationPosY();
        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();
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
        try{
            Thread.sleep(100L);
        } catch (Exception e){}
        // 作业信息
        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
//            try{
//                Thread.sleep(100L);
//            } catch (Exception e){}
//            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{
//                    break;
//                }
//            }
//        }while(i<5);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            try{
                Thread.sleep(100L);
            } catch (Exception e){}
            result = siemensNet.Write("DB100.18", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }
        }
        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() == null ? null : command.getTaskModeType().toString(),    // 模式
                    command.getSourcePosZ().intValue(),    // 源排
                    command.getSourcePosX().intValue(),    // 源列
                    command.getSourcePosY().intValue(),    // 源层
                    null,    // 源站
                    command.getDestinationPosZ().intValue(),    // 目标排
                    command.getDestinationPosX().intValue(),    // 目标列
                    command.getDestinationPosY().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);
        }

        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;
        }


        try{
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(500);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                //one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!one.getTaskNo().equals(array[1]) || !one.getAckFinish().equals(array[0])
                        || !one.getSourcePosZ().equals(array[5]) ||  !one.getSourcePosX().equals(array[3])
                        || !one.getSourcePosY().equals(array[4])
                        || !one.getDestinationPosZ().equals(array[8]) ||  !one.getDestinationPosX().equals(array[6])
                        || !one.getDestinationPosY().equals(array[7])
                ){
                    log.error("传参==堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("实发==堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, crnCommand));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                } 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.toJSON(command),JSON.toJSON(one));
                    OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
                }
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
            log.error("堆垛机命令地址写入后回读出错:异常信息："+e);
        }
        return true;
    }

    /**
     * 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();
        OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
        try{
            Thread.sleep(100L);
        } catch (Exception e){}
        // 作业信息
        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
//            try{
//                Thread.sleep(100L);
//            } catch (Exception e){}
//            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{
//                    break;
//                }
//            }
//        }while(i<5);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            try{
                Thread.sleep(100L);
            } catch (Exception e){}
            result = siemensNet.Write("DB100.18", commandFinish);
            int signFinish = 1;
            while (signFinish<5){
                OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
                short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
                if (transInt16 != commandFinish){
                    log.info("下发DB100.18  回读失败" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18  回读失败" + "array:"+ JSON.toJSONString(array));
                    result = siemensNet.Write("DB100.18", commandFinish);
                    signFinish++;
                }else {
                    log.info("下发DB100.18" + "commandFinish:"+commandFinish);
                    log.info("下发DB100.18" + "array:"+ JSON.toJSONString(array));
                    break;
                }
            }
        }
        // 日志记录
        if (command.getAckFinish() != 1) {
            BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
            BasCrnOpt basCrnOpt = new BasCrnOpt(
@@ -361,71 +614,6 @@
            );
            bean.insert(basCrnOpt);
        }

        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 write2(CrnCommand command){
        if (null == command) {
            log.error("堆垛机写入命令为空");
            return false;
        }
        if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
            command.setTaskNo((short) 9999);
        }

        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.getSourcePosZ();
        array[4] = command.getSourcePosX();
        array[5] = command.getSourcePosY();
        array[6] = command.getDestinationPosZ();
        array[7] = command.getDestinationPosX();
        array[8] = command.getDestinationPosY();
        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() == null ? null : 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) {}

        //更新命令日志
@@ -458,11 +646,9 @@


        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)));
//            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));

            Date now = new Date();

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发成功");
            commandInfoLogService.insert(commandInfoLog);
@@ -483,7 +669,7 @@
                taskWrkService.updateById(taskWrk);
            }

            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());
@@ -493,6 +679,69 @@
            commandInfoLogService.insert(commandInfoLog);
            return false;
        }
        try{
            //堆垛机任务写入后，回读一次，看是否成功
            Thread.sleep(500);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            /*
            *
            *  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);
            * */
            if (resultRead.IsSuccess) {
                CrnCommand one = new CrnCommand();
                one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                //one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
                one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
                one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
//                one.setSourceStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 18));
//                one.setDestinationStaNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
                if (!one.getTaskNo().equals(array[1]) || !one.getAckFinish().equals(array[0])
                        || !one.getSourcePosZ().equals(array[5]) ||  !one.getSourcePosX().equals(array[3])
                        || !one.getSourcePosY().equals(array[4])
                        || !one.getDestinationPosZ().equals(array[8]) ||  !one.getDestinationPosX().equals(array[6])
                        || !one.getDestinationPosY().equals(array[7])
                ){
                    log.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    log.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(crnCommand));
                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(5, crnCommand));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                } 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.toJSON(command),JSON.toJSON(one));
                    OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
                }
            }
        }catch (Exception e){
            log.error("堆垛机命令地址写入后回读出错");
        }
        return true;
    }

    private boolean writeAuto(CrnCommand command){