自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
zjj
2024-05-27 ff883a6001e463b782532768989afaaade098e13 
 src/main/java/com/zy/core/thread/SiemensCrnThread.java


@@ -40,6 +40,10 @@


    private CrnProtocol crnProtocol;


    private boolean resetFlag = false;




    public boolean isRunning = true;




    public Long sign = System.currentTimeMillis();




    /**


     * 堆垛机是否在回原点运动中标记


     */


@@ -53,7 +57,7 @@


    @SuppressWarnings("InfiniteLoopStatement")


    public void run() {


        this.connect();


        while (true) {


        while (isRunning) {


            try {


                int step = 1;


                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());


@@ -169,26 +173,31 @@


                crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22));


                crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24));


                crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26));


                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));


                crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));


                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));


                crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));


                crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));


                crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));


                crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));


                crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28));


                crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32));


                crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36));


                crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40));


                crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44));


                crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48));


                crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52));




                OutputQueue.CRN.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 (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {


                    News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！",


                            slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物");


                    if (resetFlag) {


                        if(crnProtocol.getTaskNo()==9999){


                            backHpFlag = false;


                        }


                        Short wrkNo = crnProtocol.getTaskNo();


                        CrnCommand crnCommand = new CrnCommand();


                        crnCommand.setAckFinish((short)1);


                        if (write(crnCommand)) {


                            resetFlag = false;


                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！",


                                    slave.getId(), wrkNo, resetFlag);


                        }


                    }


                }


@@ -231,31 +240,159 @@


     */


    private boolean write(CrnCommand command) throws InterruptedException {


        if (null == command) {


            News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空");


            News.error("堆垛机写入命令为空");


            return false;


        }


        // 向堆垛机发任务前的堆垛机状态


        try{


            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


            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())


                ){


//                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                } else {


//                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                }


            }


        }catch (Exception e){


            News.error("堆垛机命令地址写入后回读出错");


        }


//        convertRow(command);


        command.setCrnNo(slave.getId());


//        short[] array = new short[10];


        short[] array = new short[10];


        array[0] = command.getAckFinish();


        array[1] = command.getTaskNo();


        array[2] = command.getTaskMode();


        array[3] = command.getSourcePosX();


        array[4] = command.getSourcePosY();


        array[5] = command.getSourcePosZ();


        array[6] = command.getDestinationPosX();


        array[7] = command.getDestinationPosY();


        array[8] = command.getDestinationPosZ();


//        array[9] = command.getSourceStaNo();


//        array[10] = command.getDestinationStaNo();


        array[0] = command.getAckFinish(); // 任务完成确认位


        array[1] = command.getTaskNo();  // 任务号


        array[2] = command.getTaskMode();  // 模式


        array[3] = command.getSourcePosX(); // 源位置排号


        array[4] = command.getSourcePosY(); // 源位置列号


        array[5] = command.getSourcePosZ(); // 源位置层号


        array[6] = command.getDestinationPosX();  // 目标位置排号


        array[7] = command.getDestinationPosY(); // 目标位置列号


        array[8] = command.getDestinationPosZ(); // 目标位置层号


        array[9] = command.getCommand();


//        array[10] = 0;   //备用1




        boolean[] array2 = new boolean[1];


        array2[0] = command.isTraySize();


        OperateResult result = siemensNet.Write("DB100.0", array);


        OperateResult result2 = siemensNet.Write("DB100.22", array2);


        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);




        //堆垛机任务写入后，回读一次，看是否成功


        Thread.sleep(200);


        int writeCount1 = 1;




        do {


            try{


                if(!result.IsSuccess || !result2.IsSuccess){


                    News.error("写入堆垛机plc数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount1);


//                    MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));


                    result = siemensNet.Write("DB100.0", array);


                    result2 = siemensNet.Write("DB100.22", array2);


                    Thread.sleep(100);


                    writeCount1++;


                    continue;


                }


                OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


                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));


                    one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));


                    if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())


                            || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())


                            || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())


                            || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())


                            || !command.isTraySize() == one.isTraySize()


                    ){


                        try{


                            News.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


                        }catch (Exception e){


                            try{


                                News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));


                            }catch (Exception e1){


                                News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


                            }


                        }




                        try{


                            Thread.sleep(100);


                        }catch (Exception e){




                        }




//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);


//                            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));


                        News.error("写入堆垛机plc数据失败，重新下发任务  回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount1);


                        result = siemensNet.Write("DB100.0", array);


                        result2 = siemensNet.Write("DB100.22", array2);


                        writeCount1++;


                        continue;




                    } else {


                        News.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));


                        break;


                    }


                }


            }catch (Exception e){


                News.error("堆垛机命令地址写入后回读出错,异常："+e);


            }


            writeCount1++;


        } while (writeCount1<6);






        if (command.getAckFinish() == 0) {


            short commandFinish = 1;


            Thread.sleep(100L);


            result = siemensNet.Write("DB100.18", commandFinish);


            if (result.IsSuccess) {


                Thread.sleep(300);


                //任务下发次数


                int writeCount2 = 0;




                do {


                    writeCount2++;


                    short commandFinish = (short) 1;


                    result = siemensNet.Write("DB100.18", commandFinish);


                    if(result.IsSuccess){


                        //堆垛机任务写入后，回读一次，看是否成功


                        Thread.sleep(200);


                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);


                        if (resultRead.IsSuccess) {


                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);


                            if (commandFinish != 1){


                                News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");


                            }else{


                                //任务命令写入成功


//                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");


                                break;


                            }


                        }else {


                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");


                        }


                    } else {


                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");


                    }


                }while (writeCount2<5);


            }


        }






        try {


            // 日志记录


@@ -283,16 +420,207 @@


        if (result != null && result.IsSuccess) {


            Thread.sleep(200);


            this.readStatus();


            News.info("SiemensCrn"+" - 7"+" - 堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));


//            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));


            return true;


        } else {


            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));


            News.error("SiemensCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


            return false;


        }


    }




    /**


     * 写入数据


     */


//    private boolean write(CrnCommand command) throws InterruptedException {


//        if (null == command) {


//            News.error("堆垛机写入命令为空");


//            return false;


//        }


//        // 向堆垛机发任务前的堆垛机状态


//        try{


//            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


//            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())


//                ){


////                    News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


//                } else {


////                    News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));


//                }


//            }


//        }catch (Exception e){


//            News.error("堆垛机命令地址写入后回读出错");


//        }


////        convertRow(command);


//        command.setCrnNo(slave.getId());


////        short[] array = new short[10];


//        short[] array = new short[10];


//        array[0] = command.getAckFinish(); // 任务完成确认位


//        array[1] = command.getTaskNo();  // 任务号


//        array[2] = command.getTaskMode();  // 模式


//        array[3] = command.getSourcePosX(); // 源位置排号


//        array[4] = command.getSourcePosY(); // 源位置列号


//        array[5] = command.getSourcePosZ(); // 源位置层号


//        array[6] = command.getDestinationPosX();  // 目标位置排号


//        array[7] = command.getDestinationPosY(); // 目标位置列号


//        array[8] = command.getDestinationPosZ(); // 目标位置层号


//        array[9] = command.getCommand();


////        array[10] = 0;   //备用1


//


//        boolean[] array2 = new boolean[1];


//        array2[0] = command.isTraySize();


//        OperateResult result = siemensNet.Write("DB100.0", array);


//        OperateResult result2 = siemensNet.Write("DB100.22", array2);


//        News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array);


//


//        if(!result.IsSuccess || !result2.IsSuccess){


//            News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


//            MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));




//                    if(!resetFlag) {


//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);


//                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));


//                    }


//            Thread.sleep(100);


//            readStatus();


//            return false;


//        }


//


//        //堆垛机任务写入后，回读一次，看是否成功


//        Thread.sleep(200);


//        try{


//            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);


//            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));


//                one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));


//                if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())


//                        || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())


//                        || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())


//                        || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())


//                        || !command.isTraySize() == one.isTraySize()


//                ){


//                    try{


////                        News.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));


//                    }catch (Exception e){


//                        try{


//                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));


//                        }catch (Exception e1){


//                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));


//                        }


//                    }


//


//                    if(!resetFlag) {


//                        News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag);


//                        MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command));


//                    }


//


//                    Thread.sleep(100);


//                    readStatus();


//                    return false;


//                } else {


//                    News.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));


//                }


//            }


//        }catch (Exception e){


//            News.error("堆垛机命令地址写入后回读出错");


//        }


//


//


//        if (command.getAckFinish() == 0) {


//            if (result.IsSuccess) {


//                Thread.sleep(300);


//                //任务下发次数


//                int writeCount2 = 0;


//


//                do {


//                    writeCount2++;


//                    short commandFinish = (short) 1;


//                    result = siemensNet.Write("DB100.18", commandFinish);


//                    if(result.IsSuccess){


//                        //堆垛机任务写入后，回读一次，看是否成功


//                        Thread.sleep(200);


//                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2);


//                        if (resultRead.IsSuccess) {


//                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);


//                            if (commandFinish != 1){


//                                News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");


//                            }else{


//                                //任务命令写入成功


////                                News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");


//                                break;


//                            }


//                        }else {


//                            News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");


//                        }


//                    } else {


//                        News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");


//                    }


//                }while (writeCount2<5);


//            }


//        }


//


//


//        try {


//            // 日志记录


//            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().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) {}


//


//        if (result != null && result.IsSuccess) {


//            Thread.sleep(200);


//            this.readStatus();


////            News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));


//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));


//            return true;


//        } else {


//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));


//            News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());


//            return false;


//        }


//    }




    public void requestStop() {


        isRunning = false;


    }






    @Override


    public void close() {