#

zjj

2023-12-17 f1b1ba2ea0373b9b74884b57f5cc5d6408f12345

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

@@ -5,11 +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;
@@ -21,11 +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
@@ -39,6 +43,9 @@
    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);
    }};
@@ -76,7 +83,7 @@
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        write2((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
@@ -167,7 +174,7 @@
            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));
@@ -180,169 +187,7 @@
            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()));

@@ -353,7 +198,88 @@
                    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 || taskWrk.getIoType() == 3){
                            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
                        }
                        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");
                        }

                    }



                }
            }
@@ -392,7 +318,7 @@
        }

        command.setCrnNo(slave.getId());
        short[] array = new short[12];
        short[] array = new short[10];
        if (Cools.isEmpty(command.getAckFinish())) {
            array[0] = 5;
        } else {
@@ -400,53 +326,80 @@
        }
        array[1] = command.getTaskNo();
        array[2] = command.getTaskMode();

        array[3] = command.getSourcePosZ();
//        if (rowOne.contains(command.getSourcePosX())){
//            array[4] = (short)1;
//        }else if (rowTwo.contains(command.getSourcePosX())){
//            array[4] = (short)2;
//        }else if (rowThree.contains(command.getSourcePosX())){
//            array[4] = (short)3;
//        }else if (rowFour.contains(command.getSourcePosX())){
//            array[4] = (short)4;
//        }else {
            array[4] = command.getSourcePosX();
//        }
        array[5] = command.getDestinationPosY();

        array[4] = command.getSourcePosX();
        array[5] = command.getSourcePosY();
        array[6] = command.getDestinationPosZ();
//        if (rowOne.contains(command.getDestinationPosX())){
//            array[7] = (short)1;
//        }else if (rowTwo.contains(command.getDestinationPosX())){
//            array[7] = (short)2;
//        }else if (rowThree.contains(command.getDestinationPosX())){
//            array[7] = (short)3;
//        }else if (rowFour.contains(command.getDestinationPosX())){
//            array[7] = (short)4;
//        }else {
            array[7] = command.getDestinationPosX();
//        }
        array[7] = command.getDestinationPosX();
        array[8] = command.getDestinationPosY();
        array[9] = command.getCommand();
        if (!Cools.isEmpty(command.getAuto())){
            array[10] = command.getAuto();
        }


        // 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 (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);
        }

        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) {
@@ -455,7 +408,7 @@
                        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
@@ -476,31 +429,48 @@
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
        CommandInfoLog commandInfoLog = new CommandInfoLog();
        if (commandInfo != null) {
            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
            commandInfoLog.setId(null);
        }else {
            Date now = new Date();
            commandInfoLog.setCommand(JSON.toJSONString(command));
            commandInfoLog.setCommandStatus(3);
            commandInfoLog.setStartTime(now);
            commandInfoLog.setExecuteTime(now);
            commandInfoLog.setCompleteTime(now);
            commandInfoLog.setDevice(SlaveType.Devp.toString());
            commandInfoLog.setWrkNo(9999);
            commandInfoLog.setTaskNo("9999");
            commandInfoLog.setCommandDesc("手动命令");
        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);
//        CommandInfoLog commandInfoLog = new CommandInfoLog();
//        if (commandInfo != null) {
//            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
//            commandInfoLog.setId(null);
//        }else {
//            Date now = new Date();
//            commandInfoLog.setCommand(JSON.toJSONString(command));
//            commandInfoLog.setCommandStatus(3);
//            commandInfoLog.setStartTime(now);
//            commandInfoLog.setExecuteTime(now);
//            commandInfoLog.setCompleteTime(now);
//            commandInfoLog.setDevice(SlaveType.Devp.toString());
//            commandInfoLog.setWrkNo(9999);
//            commandInfoLog.setTaskNo("9999");
//            commandInfoLog.setCommandDesc("手动命令");
//        }


        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)));

            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);
@@ -527,41 +497,41 @@
            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();
        OperateResult result = siemensNet.Write("DB100.20", array);
        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);
        }

        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);

        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)));

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发成功");
            commandInfoLogService.insert(commandInfoLog);

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                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());

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