#

luxiaotao1123

2022-09-20 f4cae4647f5439a3ca83b187e0bf7fd6a1ab313f

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

@@ -9,6 +9,7 @@
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.entity.BasSteOpt;
import com.zy.asrs.service.BasSteOptService;
import com.zy.asrs.service.BasSteService;
import com.zy.core.ThreadHandler;
@@ -41,10 +42,6 @@
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    private Integer lastRow;
    private Integer lastBay;
    private Integer lastLev;

    public SteThread(SteSlave slave) {
        this.slave = slave;
    }
@@ -73,7 +70,7 @@
                        break;
                }
                // 心跳
                heartbeat();
//                heartbeat();
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
@@ -89,23 +86,12 @@
        if (null == steProtocol) {
            steProtocol = new SteProtocol();
        }
//        steProtocol.setMode((short) -1);
//        steProtocol.setTaskNo((short)0);
//        steProtocol.setStatus((short)-1);
//        steProtocol.setBay((short)0);
//        steProtocol.setLevel((short)0);
//        steProtocol.setForkPos((short) -1);
//        steProtocol.setLiftPos((short) -1);
//        steProtocol.setWalkPos((short)0);
//        steProtocol.setLoaded((short)0);
//        steProtocol.setAlarm((short)0);
//        steProtocol.setXSpeed(0F);
//        steProtocol.setYSpeed(0F);
//        steProtocol.setZSpeed(0F);
//        steProtocol.setXDistance(0F);
//        steProtocol.setYDistance(0F);
//        steProtocol.setXDuration(0F);
//        steProtocol.setYDuration(0F);
        steProtocol.setSteNo(slave.getId().shortValue());
        steProtocol.setMode((short) 0);
        steProtocol.setStatus(SteStatusType.OFF_LINE);
        steProtocol.setTaskNo((short) 0);
        steProtocol.setExecute(false);
        steProtocol.setWaiting(false);
    }

    @Override
@@ -118,10 +104,10 @@
        OperateResult connect = siemensS7Net.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            OutputQueue.STE.offer(MessageFormat.format( "【{0}】穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            OutputQueue.STE.offer(MessageFormat.format("【{0}】穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }
@@ -134,52 +120,58 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensS7Net.Read("V20", (short) 70);
            OperateResultExOne<byte[]> result = siemensS7Net.Read("V800", (short) 70);
            if (result.IsSuccess) {
                if (null == steProtocol) {
                    steProtocol = new SteProtocol();
                }
//                steProtocol.setSteNo();
//                steProtocol.setMode();
//                steProtocol.setStatus();
//                steProtocol.setExecute();
//                steProtocol.setWaiting();
//                steProtocol.setAlarm();
//                steProtocol.setAlarm0();
//                steProtocol.setCharge();
                steProtocol.setSteNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 0));
                steProtocol.setMode(siemensS7Net.getByteTransform().TransInt16(result.Content, 2));
                steProtocol.setStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 4));
                OperateResultExOne<Boolean> executeRes = siemensS7Net.ReadBool("V2001.0");
                if (executeRes.IsSuccess) {
                    steProtocol.setExecute(executeRes.Content);
                }
                OperateResultExOne<Boolean> waitingRes = siemensS7Net.ReadBool("V2001.1");
                if (waitingRes.IsSuccess) {
                    steProtocol.setWaiting(waitingRes.Content);
                }
                steProtocol.setAlarm(siemensS7Net.getByteTransform().TransInt16(result.Content, 6));
                steProtocol.setAlarm0(siemensS7Net.getByteTransform().TransInt16(result.Content, 8));
                steProtocol.setCharge(siemensS7Net.getByteTransform().TransSingle(result.Content, 10));
//                steProtocol.setFullCharge();
//                steProtocol.setLowCharge();
//                steProtocol.setFeed();
//                steProtocol.setLoca();
                steProtocol.setFeed(siemensS7Net.getByteTransform().TransInt16(result.Content, 14));
                steProtocol.setLoca(siemensS7Net.getByteTransform().TransInt16(result.Content, 16));
//                steProtocol.setCloser();
//                steProtocol.setSpeed();
//                steProtocol.setPos();
//                steProtocol.setLoad();
//                steProtocol.setTrack();
//                steProtocol.setTaskNo();
//                steProtocol.setTaskType();
//                steProtocol.setRow();
//                steProtocol.setBay();
//                steProtocol.setLev();
//
//                steProtocol.setHisTaskNo();
//                steProtocol.setHisTaskStatus();
//                steProtocol.setCheckQty();
//                steProtocol.setReady();
//                steProtocol.setChargeNo();
//
//                steProtocol.setHeart();
//                steProtocol.setCrnStopRun();
//                steProtocol.setCrnStopFork();
//                steProtocol.setCrnAllowRun();
                steProtocol.setPos(siemensS7Net.getByteTransform().TransInt16(result.Content, 18));
                steProtocol.setLoad(siemensS7Net.getByteTransform().TransInt16(result.Content, 20));
                steProtocol.setTrack(siemensS7Net.getByteTransform().TransInt16(result.Content, 22));
                steProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 24));
                steProtocol.setTaskType(siemensS7Net.getByteTransform().TransInt16(result.Content, 28));
                steProtocol.setRow(siemensS7Net.getByteTransform().TransInt16(result.Content, 30));
                steProtocol.setBay(siemensS7Net.getByteTransform().TransInt16(result.Content, 32));
                steProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(result.Content, 34));

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                steProtocol.setHisTaskNo(siemensS7Net.getByteTransform().TransInt32(result.Content, 58));
//                steProtocol.setHisTaskStatus(siemensS7Net.getByteTransform().TransInt16(result.Content, 62));
//                steProtocol.setCheckQty(siemensS7Net.getByteTransform().TransInt16(result.Content, 64));
                steProtocol.setReady(siemensS7Net.getByteTransform().TransInt16(result.Content, 36));
//                steProtocol.setChargeNo(siemensS7Net.getByteTransform().TransInt16(result.Content, 68));

//                steProtocol.setHeart(siemensS7Net.getByteTransform().TransInt16(result.Content, 72));
                steProtocol.setCrnStopRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 38));
                steProtocol.setCrnStopFork(siemensS7Net.getByteTransform().TransInt16(result.Content, 40));
                steProtocol.setCrnAllowRun(siemensS7Net.getByteTransform().TransInt16(result.Content, 42));

                OutputQueue.STE.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 (steProtocol.getStatusType().equals(SteStatusType.WAITING)) {
                if (steProtocol.getWaiting()) {
                    if (resetFlag) {
                        SteCommand steCommand = new SteCommand();
//                        steCommand.setAckFinish((short)1);
                        steCommand.setComplete(true);
                        if (write(steCommand) && confirmPos()) {
                            resetFlag = false;
                        }
@@ -190,6 +182,12 @@
                // 根据实时信息更新数据库
                BasSteService service = SpringUtils.getBean(BasSteService.class);
                if (null != service) {
                    // 同步pakMk
                    BasSte one = service.selectById(slave.getId());
                    if (one != null) {
                        steProtocol.setPakMk(one.getPakMk());
                    }

                    BasSte basSte = new BasSte();
                    basSte.setSteNo(slave.getId());
                    if (!service.updateById(steProtocol.toSqlModel(basSte))){
@@ -198,13 +196,13 @@

                }
            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}穿梭车plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                OutputQueue.STE.offer(MessageFormat.format("【{0}】{1}穿梭车plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取穿梭车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("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            e.printStackTrace();
            OutputQueue.STE.offer(MessageFormat.format("【{0}】读取穿梭车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("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }

@@ -219,90 +217,136 @@
            return false;
        }
        command.setSteNo(slave.getId());
        OperateResult result;
        OperateResult result = null;
        // 开始任务
        if (!command.getWaiting()) {
            OperateResult result0 = siemensS7Net.Write("D0", command.getTaskNo());
            short[] array = new short[10];
            array[0] = command.getTaskMode();
//        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 result1 = siemensS7Net.Write("D0", array);
            // 确认开始任务
            result = siemensS7Net.Write("D0", true);
        if (!command.getComplete()) {
            // 1.任务号
            OperateResult result0 = siemensS7Net.Write("V998", command.getTaskNo().shortValue());
            try {
                Thread.sleep(200);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
            // 作业
            if (command.getTaskMode() != 0) {
                // 2.作业
                OperateResult result1 = siemensS7Net.Write("V1000", command.getTaskMode());
                // 3.确认开始任务
                if (result0.IsSuccess && result1.IsSuccess) {
                    result = siemensS7Net.Write("V2000.0", true);
                }

            // 其他指令
            } else {
                // 控制模式
                if (command.getControlMode() != null) {
                    result =  siemensS7Net.Write("V1010", command.getControlMode());
                // 复位信号
                } else if (command.getReset() != null) {
                    result =  siemensS7Net.Write("V2000.2", command.getReset());
                // 删除指令
                } else if (command.getDelete() != null) {
                    result =  siemensS7Net.Write("V2000.3", command.getDelete());
                // 无效指令
                } else if (command.getRun() != null) {
                    result =  siemensS7Net.Write("V1016", command.getRun());
                    // 无效指令
                }else {
                    return false;
                }
            }

        // 任务完成
        } else {
            result = siemensS7Net.Write("D0", true);
            siemensS7Net.Write("V998", (short) 0);
            siemensS7Net.Write("V1000", (short) 0);
            result = siemensS7Net.Write("V2000.1", true);
        }

        try {
            // 日志记录
            BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
//            BasSteOpt basSteOpt = new BasSteOpt(
//                    command.getTaskNo(),    // 任务号
//                    command.getSteNo(),    // 穿梭车[非空]
//                    new Date(),    // 下发时间
//                    command.getTaskModeType().desc,    // 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(basSteOpt);
            if (!command.getComplete() && command.getTaskMode() != 0) {
                BasSteOptService bean = SpringUtils.getBean(BasSteOptService.class);
                if (null != bean) {
                    BasSteOpt basSteOpt = new BasSteOpt(
                            command.getTaskNo(),    // 任务号
                            command.getSteNo(),    // 穿梭车
                            new Date(),    // 下发时间
                            command.getTaskModeType().desc,    // 作业
                            null,    // 源排
                            null,    // 源列
                            null,    // 源层
                            null,    // 源站
                            null,    // 目标排
                            null,    // 目标列
                            null,    // 目标层
                            null,    // 目标站
                            null,    // 响应结果
                            null,    // 修改时间
                            null,    // 修改人员
                            null    // 备注
                    );
                    bean.insert(basSteOpt);
                }
            }

        } catch (Exception ignore) {}

        if (result.IsSuccess) {
        if (result != null && result.IsSuccess) {
            // 维护数据库排列层
//            this.modifyPos();
            if (!steProtocol.getWaiting()) {
                this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());
            }

            log.info("穿梭车命令下发[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)));
            OutputQueue.STE.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}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            OutputQueue.STE.offer(MessageFormat.format("【{0}】写入穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    public void modifyPos(Integer row, Integer bay, Integer lev) {
        this.lastRow = row;
        this.lastBay = bay;
        this.lastLev = lev;
        BasSteService service = SpringUtils.getBean(BasSteService.class);
        if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
        }
    }

    public boolean confirmPos() {
        if (this.lastRow != null && this.lastRow != 0) {
            if (this.lastBay != null && this.lastBay != 0) {
                if (this.lastLev != null && this.lastLev != 0) {
                    BasSteService service = SpringUtils.getBean(BasSteService.class);
                    BasSte basSte = service.selectById(slave.getId());
                    if (basSte != null) {
                        if (service.updatePos(this.lastRow, this.lastBay, this.lastLev) > 0) {
                            return true;
                        } else {
                            log.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
                        }
                    }

        BasSteService service = SpringUtils.getBean(BasSteService.class);
        BasSte basSte = service.selectById(slave.getId());
        if (basSte != null) {
            // 更新plc数据块
            short[] arr = new short[] {basSte.getRow().shortValue(), basSte.getBay().shortValue(), basSte.getLev().shortValue()};
            OperateResult result = siemensS7Net.Write("V1002", arr);
            if (result.IsSuccess) {
                // 更新数据库
                if (service.updatePakMk(this.slave.getId(), "N")) {
                    return true;
                } else {
                    log.error("{}号穿梭车修改数据库定位失败！！！", slave.getId());
                }
            }
        }
        return false;
    }

    public boolean modifyPosHandle(Integer row, Integer bay, Integer lev) {
        short[] arr = new short[] {row.shortValue(), bay.shortValue(), lev.shortValue()};
        OperateResult result = siemensS7Net.Write("V1002", arr);
        if (!result.IsSuccess) {
            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            return false;
        }
        BasSteService service = SpringUtils.getBean(BasSteService.class);
        if (!service.updatePos(this.slave.getId(), row, bay, lev)) {
            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
            return false;
        }
        return true;
    }

    @Override
@@ -325,106 +369,60 @@
        }
    }

//    public void modifyPos(int wrkNo, int row, int bay, int lev) {
//        BasSteService service = SpringUtils.getBean(BasSteService.class);
//        if (!service.updatePos(wrkNo,this.slave.getId(), row, bay, lev)) {
//            log.error("更新{}号穿梭车定位失败 ===>> 排：【{}】, 列：【{}】，层：【{}】", this.slave.getId(), row, bay, lev);
//        }
//    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
//        CrnSlave slave = new CrnSlave();
//        slave.setId(1);
//        slave.setIp("192.168.3.39");
//        slave.setPort(5015);
//        slave.setRack(0);
//        slave.setSlot(0);
//        SteThread melsecCrnThread = new SteThread(slave);
//        melsecCrnThread.connect();
//        melsecCrnThread.readStatus();
//        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
        SteSlave slave = new SteSlave();
        slave.setId(1);
        slave.setIp("192.168.2.1");
        slave.setPort(502);
        SteThread thread = new SteThread(slave);
        thread.connect();
        thread.readStatus();
        System.out.println(JSON.toJSONString(thread.steProtocol));

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
//        command.setSourcePosX((short) 1);     // 源库位排
//        command.setSourcePosY((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 1);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 3);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);
        // 任务作业
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        Random random = new Random();
//        int taskNo = random.nextInt(9090);
//        command.setTaskNo(taskNo); // 工作号
//        command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 任务模式
//        thread.write(command);

        // 2.出库 源和目标都发
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
//        command.setSourcePosX((short) 2);     // 源库位排
//        command.setSourcePosY((short) 4);     // 源库位列
//        command.setSourcePosZ((short) 3);     // 源库位层
//        command.setDestinationPosX((short) 1);     // 目标库位排
//        command.setDestinationPosY((short) 0);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);
        // 任务完成
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        command.setComplete(Boolean.TRUE); // 任务模式
//        thread.write(command);

        // 控制模式
//        SteCommand command = new SteCommand();
//        command.setControlMode((short) 1);
//        thread.write(command);

//        // 3.库位移转   源和目标都发 pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)2);     // 源库位排
//        command.setSourcePosY((short)2);     // 源库位列
//        command.setSourcePosZ((short)3);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)4);     // 目标库位列
//        command.setDestinationPosZ((short)4);     // 目标库位层
//        crnThread.write(command);
        // 复位信号
//        SteCommand command = new SteCommand();
//        command.setReset(Boolean.TRUE);
//        thread.write(command);

        // 4.站位移转   源和目标都发
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(slave.getId()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式:  库位移转
//        command.setSourcePosX((short)1);     // 源库位排
//        command.setSourcePosY((short)0);     // 源库位列
//        command.setSourcePosZ((short)1);     // 源库位层
//        command.setDestinationPosX((short)2);     // 目标库位排
//        command.setDestinationPosY((short)0);     // 目标库位列
//        command.setDestinationPosZ((short)1);     // 目标库位层
//        crnThread.write(command);
        // 删除指令
//        SteCommand command = new SteCommand();
//        command.setDelete(Boolean.TRUE);
//        thread.write(command);

//        // 5.回原点  不用发   pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 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
//        crnThread.write(command);


        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
//                || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
//                || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
//            CrnCommand command = new CrnCommand();
//            command.setCrnNo(1); // 堆垛机编号
//            command.setAckFinish((short) 1);  // 任务完成确认位
//            command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
//            Thread.sleep(3000L);
//            crnThread.write(command);
//        }
        // 穿梭车运行禁止
        SteCommand command = new SteCommand();
        command.setRun((short)0);
        thread.write(command);

    }