#

Junjie

6 天以前 ff1aa7a9218e458dfd9255b1f87490af52afb62a

 src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java

@@ -1,39 +1,41 @@
package com.zy.core.thread.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.BasDualCrnpOpt;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.BasDualCrnpOptService;
import com.zy.asrs.service.BasDualCrnpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyDualCrnConnectDriver;
import com.zy.core.network.entity.ZyDualCrnStatusEntity;
import com.zy.core.thread.DualCrnThread;
import com.zy.core.thread.StationThread;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.ThreadFactory;
import java.util.concurrent.TimeUnit;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * 双工位堆垛机线程
@@ -47,10 +49,6 @@
    private ZyDualCrnConnectDriver zyDualCrnConnectDriver;
    private DualCrnProtocol crnProtocol;
    private int deviceLogCollectTime = 200;
    private boolean resetFlag = false;
    private volatile boolean closed = false;
    private ScheduledExecutorService readExecutor;
    private ScheduledExecutorService processExecutor;

    public ZySiemensDualCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
@@ -62,53 +60,163 @@
    public void run() {
        this.connect();
        this.initCrn();
        readExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
            @Override
            public Thread newThread(Runnable r) {
                Thread t = new Thread(r);
                t.setName("DualCrnReader-" + deviceConfig.getDeviceNo());
                t.setDaemon(true);
                return t;
            }
        });
        readExecutor.scheduleAtFixedRate(() -> {
            if (closed || Thread.currentThread().isInterrupted()) {
                return;
            }
            try {
                deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                readStatus();
            } catch (Exception e) {
                log.error("DualCrnThread Fail", e);
            }
        }, 0, 200, TimeUnit.MILLISECONDS);

        processExecutor = Executors.newSingleThreadScheduledExecutor(new ThreadFactory() {
            @Override
            public Thread newThread(Runnable r) {
                Thread t = new Thread(r);
                t.setName("DualCrnWriter-" + deviceConfig.getDeviceNo());
                t.setDaemon(true);
                return t;
        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    deviceLogCollectTime = Utils.getDeviceLogCollectTime();
                    readStatus();
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("DualCrnThread Fail", e);
                }
            }
        });
        processExecutor.scheduleAtFixedRate(() -> {
            if (closed || Thread.currentThread().isInterrupted()) {
                return;
            }
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.DualCrn, deviceConfig.getDeviceNo());
                if (task != null) {
                    step = task.getStep();
        readThread.start();

        Thread processThread = new Thread(() -> {
            while (true) {
                try {
                    int step = 1;
                    Task task = MessageQueue.poll(SlaveType.DualCrn, deviceConfig.getDeviceNo());
                    if (task != null) {
                        step = task.getStep();
                    }

                    if (step == 2) {
                        List<DualCrnCommand> commandList = (List<DualCrnCommand>) task.getData();
                        DualCrnCommand command = commandList.get(0);

                        HashMap<String, Object> map = new HashMap<>();
                        map.put("commands", commandList);
                        map.put("idx", 1);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + command.getTaskNo(), JSON.toJSONString(map, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                        sendCommand(command);
                    } else if (step == 3) {
                        sendCommand((DualCrnCommand) task.getData());
                    }

                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("DualCrnProcess Fail", e);
                }
                if (step == 2 && task != null) {
                    sendCommand((DualCrnCommand) task.getData());
                }
            } catch (Exception e) {
                e.printStackTrace();
            }
        }, 0, 200, TimeUnit.MILLISECONDS);
        });
        processThread.start();

        Thread commandThread = new Thread(() -> {
            while (true) {
                try {
                    if(crnProtocol.getMode() != DualCrnModeType.AUTO.id) {
                        continue;
                    }

                    if(crnProtocol.getAlarm() != 0) {
                        continue;
                    }

                    if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
                        Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                        if (wait != null) {
                            redisUtil.del(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                        }
                    }

                    if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus() == DualCrnStatusType.IDLE.id) {
                        Integer taskNo = crnProtocol.getTaskNo();
                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
                            News.error("双工位堆垛机，工位1空闲等待下发命令，但未找到命令。堆垛机号={}，工作号={}", crnProtocol.getCrnNo(), taskNo);
                            continue;
                        }

                        JSONObject commandMap = JSON.parseObject(commandObj.toString());
                        Integer idx = commandMap.getInteger("idx");
                        List<DualCrnCommand> commandList = commandMap.getJSONArray("commands").toJavaList(DualCrnCommand.class);
                        if (idx >= commandList.size()) {
                            continue;
                        }
                        DualCrnCommand dualCommand = commandList.get(idx);

                        if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
                            //等待下一个任务
                            Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                            if (wait != null) {
                                continue;
                            }

                            Object outTaskStationInfoObj = redisUtil.get(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + taskNo);
                            if (outTaskStationInfoObj != null) {
                                //检测出口站是否可执行放货动作
                                StationObjModel stationObjModel = JSON.parseObject(outTaskStationInfoObj.toString(), StationObjModel.class);
                                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                                if (stationThread == null) {
                                    continue;
                                }

                                Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                                StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                                if (stationProtocol == null) {
                                    continue;
                                }

                                if (!stationProtocol.isAutoing()) {
                                    continue;
                                }

                                if (stationProtocol.isLoading()) {
                                    continue;
                                }

                                if (stationProtocol.getTaskNo() > 0) {
                                    continue;
                                }
                            }
                        }

                        idx++;
                        commandMap.put("idx", idx);
                        sendCommand(dualCommand);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo, commandMap.toJSONString(), 60 * 60 * 24);
                    }

                    if(crnProtocol.getTaskNoTwo() > 0 && crnProtocol.getStatusTwo() == DualCrnStatusType.IDLE.id) {
                        Integer taskNo = crnProtocol.getTaskNoTwo();
                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
                            News.error("双工位堆垛机，工位2空闲等待下发命令，但未找到命令。堆垛机号={}，工作号={}", crnProtocol.getCrnNo(), taskNo);
                            continue;
                        }

                        JSONObject commandMap = JSON.parseObject(commandObj.toString());
                        Integer idx = commandMap.getInteger("idx");
                        List<DualCrnCommand> commandList = commandMap.getJSONArray("commands").toJavaList(DualCrnCommand.class);
                        if (idx >= commandList.size()) {
                            continue;
                        }
                        DualCrnCommand dualCommand = commandList.get(idx);

                        if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
                            //等待下一个任务
                            Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                            if (wait != null) {
                                continue;
                            }
                        }

                        idx++;
                        commandMap.put("idx", idx);
                        sendCommand(dualCommand);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo, commandMap.toJSONString(), 60 * 60 * 24);
                    }

                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("DualCrnCommand Fail", e);
                }
            }
        });
        commandThread.start();
    }

    /**
@@ -149,84 +257,6 @@
        crnProtocol.setYDistance(0);
        crnProtocol.setXDuration(0);
        crnProtocol.setYDuration(0);
    }

    @Override
    public boolean connect() {
        zyDualCrnConnectDriver = new ZyDualCrnConnectDriver(deviceConfig);
        zyDualCrnConnectDriver.start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyDualCrnConnectDriver);
        return true;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        ZyDualCrnStatusEntity crnStatus = zyDualCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            return;
        }

        crnProtocol.setMode(crnStatus.getMode());

        //工位1
        crnProtocol.setTaskNo(crnStatus.getTaskNo());
        crnProtocol.setStatus(crnStatus.getStatus());
        crnProtocol.setBay(crnStatus.getBay());
        crnProtocol.setLevel(crnStatus.getLevel());
        crnProtocol.setForkPos(crnStatus.getForkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        crnProtocol.setWalkPos(crnStatus.getWalkPos());
        crnProtocol.setLiftPos(crnStatus.getLiftPos());

        //工位2
        crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
        crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
        crnProtocol.setBayTwo(crnStatus.getBayTwo());
        crnProtocol.setLevelTwo(crnStatus.getLevelTwo());
        crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
        crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
        crnProtocol.setWalkPosTwo(crnStatus.getWalkPosTwo());
        crnProtocol.setLiftPosTwo(crnStatus.getLiftPosTwo());

        crnProtocol.setAlarm(crnStatus.getAlarm());
        crnProtocol.setTemp1(crnStatus.getTemp1());
        crnProtocol.setTemp2(crnStatus.getTemp2());
        crnProtocol.setTemp3(crnStatus.getTemp3());
        crnProtocol.setTemp4(crnStatus.getTemp4());
        crnProtocol.setXSpeed(crnStatus.getXSpeed());
        crnProtocol.setYSpeed(crnStatus.getYSpeed());
        crnProtocol.setZSpeed(crnStatus.getZSpeed());
        crnProtocol.setXDistance(crnStatus.getXDistance());
        crnProtocol.setYDistance(crnStatus.getYDistance());
        crnProtocol.setXDuration(crnStatus.getXDuration());
        crnProtocol.setYDuration(crnStatus.getYDuration());

        OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));

        if (crnProtocol.getAlarm() > 0) {
            crnProtocol.setLastCommandTime(-1L);
        }

        if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
            crnProtocol.setLastCommandTime(System.currentTimeMillis());
        }

        if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
            //保存数据记录
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
            deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
            deviceDataLog.setType(String.valueOf(SlaveType.DualCrn));
            deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
            deviceDataLog.setCreateTime(new Date());

            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
            //更新采集时间
            crnProtocol.setDeviceDataLog(System.currentTimeMillis());
        }

        BasDualCrnpService basDualCrnpService = null;
        try {
@@ -251,16 +281,84 @@
    }

    @Override
    public boolean connect() {
        zyDualCrnConnectDriver = new ZyDualCrnConnectDriver(deviceConfig);
        zyDualCrnConnectDriver.start();
        DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyDualCrnConnectDriver);
        return true;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        ZyDualCrnStatusEntity crnStatus = zyDualCrnConnectDriver.getStatus();
        if (crnStatus == null) {
            OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】读取双工位堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            return;
        }
        crnProtocol.setMode(crnStatus.getMode());

        //工位1
        crnProtocol.setTaskNo(crnStatus.getTaskNo());
        crnProtocol.setStatus(crnStatus.getStatus());
        crnProtocol.setForkPos(crnStatus.getForkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        crnProtocol.setTaskReceive(crnStatus.getTaskReceive());

        //工位2
        crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
        crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
        crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
        crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
        crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());

        crnProtocol.setBay(crnStatus.getBay());
        crnProtocol.setLevel(crnStatus.getLevel());
        crnProtocol.setWalkPos(crnStatus.getWalkPos());
        crnProtocol.setLiftPos(crnStatus.getLiftPos());
        crnProtocol.setAlarm(crnStatus.getAlarm());
        crnProtocol.setTemp1(crnStatus.getTemp1());
        crnProtocol.setTemp2(crnStatus.getTemp2());
        crnProtocol.setTemp3(crnStatus.getTemp3());
        crnProtocol.setTemp4(crnStatus.getTemp4());
        crnProtocol.setXSpeed(crnStatus.getXSpeed());
        crnProtocol.setYSpeed(crnStatus.getYSpeed());
        crnProtocol.setZSpeed(crnStatus.getZSpeed());
        crnProtocol.setXDistance(crnStatus.getXDistance());
        crnProtocol.setYDistance(crnStatus.getYDistance());
        crnProtocol.setXDuration(crnStatus.getXDuration());
        crnProtocol.setYDuration(crnStatus.getYDuration());
        crnProtocol.setGoodsType(crnStatus.getGoodsType());
        crnProtocol.setBarcode(crnStatus.getBarcode());

        OutputQueue.DUAL_CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));

        if (crnProtocol.getAlarm() > 0) {
            crnProtocol.setLastCommandTime(-1L);
        }

        if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
            crnProtocol.setLastCommandTime(System.currentTimeMillis());
        }

        if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
            //保存数据记录
            DeviceDataLog deviceDataLog = new DeviceDataLog();
            deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
            deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
            deviceDataLog.setType(String.valueOf(SlaveType.DualCrn));
            deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
            deviceDataLog.setCreateTime(new Date());

            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
            //更新采集时间
            crnProtocol.setDeviceDataLog(System.currentTimeMillis());
        }
    }

    @Override
    public void close() {
        closed = true;
        ScheduledExecutorService ex = readExecutor;
        if (ex != null) {
            try { ex.shutdownNow(); } catch (Exception ignore) {}
        }
        ScheduledExecutorService px = processExecutor;
        if (px != null) {
            try { px.shutdownNow(); } catch (Exception ignore) {}
        }
        if (zyDualCrnConnectDriver != null) {
            zyDualCrnConnectDriver.close();
        }
@@ -275,16 +373,44 @@
    public DualCrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 任务模式:  库位移转
        crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station.shortValue());//工位
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.TRANSFER.id); // 任务模式:  取放货
        crnCommand.setSourcePosX(Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosY(Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public DualCrnCommand getPickCommand(String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.PICK.id); // 任务模式:  取货
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    @Override
    public DualCrnCommand getPutCommand(String targetLocNo, Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.PUT.id); // 任务模式:  放货
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

@@ -292,13 +418,12 @@
    public DualCrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo.shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.MOVE.id); // 任务模式:  堆垛机移动
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

@@ -306,17 +431,16 @@
    public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo((short) 0); // 工作号
        crnCommand.setAckFinish((short) 1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 任务模式
        crnCommand.setSourcePosX((short)0);     // 源库位排
        crnCommand.setSourcePosY((short)0);     // 源库位列
        crnCommand.setSourcePosZ((short)0);     // 源库位层
        crnCommand.setDestinationPosX((short)0);     // 目标库位排
        crnCommand.setDestinationPosY((short)0);     // 目标库位列
        crnCommand.setDestinationPosZ((short)0);     // 目标库位层
        crnCommand.setStation(station.shortValue());//工位
        crnCommand.setCommand((short) 1);     // 任务确认
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id); // 任务模式:  确认
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
        crnCommand.setSourcePosZ(0);     // 源库位层
        crnCommand.setDestinationPosX(0);     // 目标库位排
        crnCommand.setDestinationPosY(0);     // 目标库位列
        crnCommand.setDestinationPosZ(0);     // 目标库位层
        crnCommand.setStation(station);//工位
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }