输送线指令优化

zhangchao

2024-09-07 4f364f6601955d68b07c318d51f7db3f435effde

输送线指令优化

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -500,7 +500,7 @@
                            wrkMast = wrkMast1;
                        }
                    }
                    if ((  wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

@@ -653,7 +653,7 @@
                                crnThread.setResetFlag(true);
                            } else if (statusTypeTwo == CrnStatusType.WAITING_TWO) {
                                crnThread.setResetFlagTwo(true);
                            } else if (statusTypeTwo == CrnStatusType.WAITING_All){
                            } else if (statusTypeTwo == CrnStatusType.WAITING_All) {
                                crnThread.setResetFlag(true);
                                crnThread.setResetFlagTwo(true);
                            }
@@ -1358,6 +1358,8 @@
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                    wrkMast.setWrkSts(4L);
                } else {
                    //TODO
                    News.info("状态不对,状态={}，工作号={}", wrkMast.getWrkSts(), crnProtocol.getTaskNo());
                    continue;
                }
                Date now = new Date();

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

@@ -1,481 +1,481 @@
package com.zy.core.thread;

import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Melsec.MelsecMcNet;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasCrnOpt;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.service.BasCrnOptService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * 堆垛机线程
 * Created by vincent on 2020/8/4
 */
@Data
@Slf4j
public class MelsecCrnThread implements Runnable, ThreadHandler, CrnThread
{

    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private short heartBeatVal = 1;
    private boolean resetFlag = false;

    /**
     * 堆垛机是否在回原点运动中标记
     */
    private boolean backHpFlag = false;

    public MelsecCrnThread(CrnSlave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
//        try {
//            Thread.sleep(2000);
//        } catch (InterruptedException e) {
//            e.printStackTrace();
//        }
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((CrnCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        CrnCommand command = (CrnCommand) task.getData();
                        if (null == command) {
                            command = new CrnCommand();
                        }
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 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
                        write(command);
                        break;
                    default:
                        break;
                }
                // 心跳
                heartbeat();
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }

        }
    }

    /**
     * 初始化堆垛机状态
     */
    private void initCrn() {
        if (null == crnProtocol) {
            crnProtocol = new CrnProtocol();
        }
        crnProtocol.setMode((short) -1);
//        crnProtocol.setTaskNo((short)0);
        crnProtocol.setStatus((short)-1);
        crnProtocol.setBay((short)0);
        crnProtocol.setLevel((short)0);
        crnProtocol.setForkPos((short) -1);
        crnProtocol.setLiftPos((short) -1);
        crnProtocol.setWalkPos((short)0);
        crnProtocol.setLoaded((short)0);
        crnProtocol.setAlarm((short)0);
        crnProtocol.setxSpeed((short)0);
        crnProtocol.setySpeed((short)0);
        crnProtocol.setzSpeed((short)0);
        crnProtocol.setxDistance((short)0);
        crnProtocol.setyDistance((short)0);
        crnProtocol.setxDuration((short)0);
        crnProtocol.setyDuration((short)0);
    }

    @Override
    public boolean connect() {
        boolean result = false;
        melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
        OperateResult connect = melsecMcNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.info("MelsecCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("MelsecCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
//        melsecMcNet.ConnectClose();
        return result;
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        try {
//            if (this.slave.getId() == 1 && flag1.equals(0)) {
//                Thread.sleep(3000);
//                flag1=1;
//                System.out.println("===");
//            }
            OperateResultExOne<byte[]> result = melsecMcNet.Read("D1035", (short) 56);
            if (result.IsSuccess) {
                if (null == crnProtocol) {
                    crnProtocol = new CrnProtocol();
                    crnProtocol.setCrnNo(slave.getId());
                }
                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
                crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
                crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
                crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
                crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
                crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
                crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
                crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(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 (crnProtocol.getStatusType().equals(CrnStatusType.WAITING_ONE)) {
                    News.error("MelsecCrn"+" - 3"+" ---------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
                    if (resetFlag) {
                        if(crnProtocol.getTaskNo()==9999){
                            backHpFlag = false;
                        }
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short)1);
                        if (write(crnCommand)) {
                            resetFlag = false;
                        }
                    }
                }

                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
                basCrnp.setCrnNo(slave.getId());
                basCrnp.setCrnSts((int)crnProtocol.getMode());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    News.error("MelsecCrn"+" - 4"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
                }

            } else {
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "堆垛机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}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("MelsecCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }

    }

    /**
     * 写入数据
     */
    private boolean write(CrnCommand command){
        if (null == command) {
            News.error("MelsecCrn"+" - 6"+" - 堆垛机写入命令为空");
            return false;
        }

//        OperateResult result = null;
//        try{
//            Integer exeCount=0;
//            do{
//                command.setCrnNo(slave.getId());
//                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.getCommand();
//                result = melsecMcNet.Write("D0", array);
//                if(result.IsSuccess) {
//                    if (command.getAckFinish() == 0) {
//                        short commandFinish = 1;
//                        result = melsecMcNet.Write("D9", commandFinish);
//                        if(result.IsSuccess){
//                            //写任务确认返回成功后，查询确认一次
//                            Thread.sleep(200);
//                            OperateResultExOne<byte[]> result1 = melsecMcNet.Read("D9", (short)2);
//                            if(result1.IsSuccess){
//                                short commandVal = melsecMcNet.getByteTransform().TransInt16(result1.Content,2);
//                                if(commandVal==1){
//                                    break;
//                                } else {
//                                    exeCount++;
//                                }
//                            } else{
//                                exeCount++;
//                            }
//                        }else{
//                            exeCount++;
//                        }
//                    }
//                }else{
//                    exeCount++;
//package com.zy.core.thread;
//
//import HslCommunication.Core.Types.OperateResult;
//import HslCommunication.Core.Types.OperateResultExOne;
//import HslCommunication.Profinet.Melsec.MelsecMcNet;
//import com.alibaba.fastjson.JSON;
//import com.core.common.DateUtils;
//import com.core.common.SpringUtils;
//import com.core.exception.CoolException;
//import com.zy.asrs.entity.BasCrnOpt;
//import com.zy.asrs.entity.BasCrnp;
//import com.zy.asrs.service.BasCrnOptService;
//import com.zy.asrs.service.BasCrnpService;
//import com.zy.common.utils.News;
//import com.zy.core.CrnThread;
//import com.zy.core.ThreadHandler;
//import com.zy.core.cache.MessageQueue;
//import com.zy.core.cache.OutputQueue;
//import com.zy.core.enums.CrnStatusType;
//import com.zy.core.enums.CrnTaskModeType;
//import com.zy.core.enums.SlaveType;
//import com.zy.core.model.CrnSlave;
//import com.zy.core.model.Task;
//import com.zy.core.model.command.CrnCommand;
//import com.zy.core.model.protocol.CrnProtocol;
//import lombok.Data;
//import lombok.extern.slf4j.Slf4j;
//
//import java.text.MessageFormat;
//import java.util.Date;
//
///**
// * 堆垛机线程
// * Created by vincent on 2020/8/4
// */
//@Data
//@Slf4j
//public class MelsecCrnThread implements Runnable, ThreadHandler, CrnThread
//{
//
//    private MelsecMcNet melsecMcNet;
//    private CrnSlave slave;
//    private CrnProtocol crnProtocol;
//    private short heartBeatVal = 1;
//    private boolean resetFlag = false;
//
//    /**
//     * 堆垛机是否在回原点运动中标记
//     */
//    private boolean backHpFlag = false;
//
//    public MelsecCrnThread(CrnSlave slave) {
//        this.slave = slave;
//    }
//
//    @Override
//    @SuppressWarnings("InfiniteLoopStatement")
//    public void run() {
//        this.connect();
////        try {
////            Thread.sleep(2000);
////        } catch (InterruptedException e) {
////            e.printStackTrace();
////        }
//        while (true) {
//            try {
//                int step = 1;
//                Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
//                if (task != null) {
//                    step = task.getStep();
//                }
//                Thread.sleep(200);
//            }while(exeCount>3);
//        }catch (Exception e){
//                switch (step) {
//                    // 读数据
//                    case 1:
//                        readStatus();
//                        break;
//                    // 写入数据
//                    case 2:
//                        write((CrnCommand) task.getData());
//                        break;
//                    // 复位
//                    case 3:
//                        CrnCommand command = (CrnCommand) task.getData();
//                        if (null == command) {
//                            command = new CrnCommand();
//                        }
//                        command.setCrnNo(slave.getId()); // 堆垛机编号
//                        command.setTaskNo((short) 0); // 工作号
//                        command.setAckFinish((short) 1);  // 任务完成确认位
//                        command.setTaskMode(CrnTaskModeType.NONE); // 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
//                        write(command);
//                        break;
//                    default:
//                        break;
//                }
//                // 心跳
//                heartbeat();
//                Thread.sleep(500);
//            } catch (Exception e) {
//                e.printStackTrace();
//            }
//
//        }

        command.setCrnNo(slave.getId());
        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.getCommand();
        OperateResult result = melsecMcNet.Write("D1001", array);

        if (command.getAckFinish() == 0) {
            short commandFinish = 1;
            result = melsecMcNet.Write("D1010", commandFinish);
        }

        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.save(basCrnOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            News.info("MelsecCrn"+" - 7"+" - 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("MelsecCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    @Override
    public void close() {
        melsecMcNet.ConnectClose();
    }

    /**
     * 心跳
     */
    private void heartbeat(){
        if (heartBeatVal >= 30000) {
            heartBeatVal = -30000;
        } else {
            heartBeatVal =(short) (heartBeatVal+1);
        }
        OperateResult write = melsecMcNet.Write("D1011", heartBeatVal);
//        OperateResult write1 = melsecMcNet.Write("D1001", (short) 0);
//        OperateResult write2 = melsecMcNet.Write("D1002", (short) 0);
//        OperateResult write3 = melsecMcNet.Write("D1003", (short) 0);
//        OperateResult write4 = melsecMcNet.Write("D1004", (short) 0);
//        OperateResult write5 = melsecMcNet.Write("D1005", (short) 0);
//        OperateResult write6 = melsecMcNet.Write("D1006", (short) 0);
//        OperateResult write7 = melsecMcNet.Write("D1007", (short) 0);
//        OperateResult write8 = melsecMcNet.Write("D1008", (short) 0);
//        OperateResult write9 = melsecMcNet.Write("D1009", (short) 0);
//        OperateResult write10 = melsecMcNet.Write("D1010", (short) 0);
        if (!write.IsSuccess) {
            News.error("MelsecCrn"+" - 9"+" - 堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }


    /******************************************************************************************/
    /**************************************** 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);
        MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
        melsecCrnThread.connect();
        melsecCrnThread.readStatus();
        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));

        // 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);

        // 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);


//        // 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);

        // 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);

//        // 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);
//    }
//
//    /**
//     * 初始化堆垛机状态
//     */
//    private void initCrn() {
//        if (null == crnProtocol) {
//            crnProtocol = new CrnProtocol();
//        }

    }

    @Override
    public void setResetFlagTwo(boolean flag) {

    }
}
//        crnProtocol.setMode((short) -1);
////        crnProtocol.setTaskNo((short)0);
//        crnProtocol.setStatus((short)-1);
//        crnProtocol.setBay((short)0);
//        crnProtocol.setLevel((short)0);
//        crnProtocol.setForkPos((short) -1);
//        crnProtocol.setLiftPos((short) -1);
//        crnProtocol.setWalkPos((short)0);
//        crnProtocol.setLoaded((short)0);
//        crnProtocol.setAlarm((short)0);
//        crnProtocol.setxSpeed((short)0);
//        crnProtocol.setySpeed((short)0);
//        crnProtocol.setzSpeed((short)0);
//        crnProtocol.setxDistance((short)0);
//        crnProtocol.setyDistance((short)0);
//        crnProtocol.setxDuration((short)0);
//        crnProtocol.setyDuration((short)0);
//    }
//
//    @Override
//    public boolean connect() {
//        boolean result = false;
//        melsecMcNet = new MelsecMcNet(slave.getIp(), slave.getPort());
//        OperateResult connect = melsecMcNet.ConnectServer();
//        if(connect.IsSuccess){
//            result = true;
//            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.info("MelsecCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] ", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.error("MelsecCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            initCrn();
//        }
////        melsecMcNet.ConnectClose();
//        return result;
//    }
//
//    /**
//     * 读取状态
//     */
//    private void readStatus(){
//        try {
////            if (this.slave.getId() == 1 && flag1.equals(0)) {
////                Thread.sleep(3000);
////                flag1=1;
////                System.out.println("===");
////            }
//            OperateResultExOne<byte[]> result = melsecMcNet.Read("D1035", (short) 56);
//            if (result.IsSuccess) {
//                if (null == crnProtocol) {
//                    crnProtocol = new CrnProtocol();
//                    crnProtocol.setCrnNo(slave.getId());
//                }
//                crnProtocol.setMode(melsecMcNet.getByteTransform().TransInt16(result.Content, 0));
//                crnProtocol.setTaskNo(melsecMcNet.getByteTransform().TransInt16(result.Content, 2));
//                crnProtocol.setStatus(melsecMcNet.getByteTransform().TransInt16(result.Content, 4));
//                crnProtocol.setBay(melsecMcNet.getByteTransform().TransInt16(result.Content, 6));
//                crnProtocol.setLevel(melsecMcNet.getByteTransform().TransInt16(result.Content, 8));
//                crnProtocol.setForkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 10));
//                crnProtocol.setLiftPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 12));
//                crnProtocol.setWalkPos(melsecMcNet.getByteTransform().TransInt16(result.Content, 14));
//                crnProtocol.setLoaded(melsecMcNet.getByteTransform().TransInt16(result.Content, 16));
//                crnProtocol.setAlarm(melsecMcNet.getByteTransform().TransInt16(result.Content, 18));
//                crnProtocol.setTemp1(melsecMcNet.getByteTransform().TransInt16(result.Content, 20));
//                crnProtocol.setTemp2(melsecMcNet.getByteTransform().TransInt16(result.Content, 22));
//                crnProtocol.setTemp3(melsecMcNet.getByteTransform().TransInt16(result.Content, 24));
//                crnProtocol.setTemp4(melsecMcNet.getByteTransform().TransInt16(result.Content, 26));
//                crnProtocol.setxSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 28));
//                crnProtocol.setySpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 32));
//                crnProtocol.setzSpeed(melsecMcNet.getByteTransform().TransInt16(result.Content, 36));
//                crnProtocol.setxDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 40));
//                crnProtocol.setyDistance(melsecMcNet.getByteTransform().TransInt16(result.Content, 44));
//                crnProtocol.setxDuration(melsecMcNet.getByteTransform().TransInt16(result.Content, 48));
//                crnProtocol.setyDuration(melsecMcNet.getByteTransform().TransInt16(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 (crnProtocol.getStatusType().equals(CrnStatusType.WAITING_ONE)) {
//                    News.error("MelsecCrn"+" - 3"+" ---------第一步、[堆垛机号：{}][工作号：{}]==>> 状态为90，等待确认！！",slave.getId(),crnProtocol.getTaskNo());
//                    if (resetFlag) {
//                        if(crnProtocol.getTaskNo()==9999){
//                            backHpFlag = false;
//                        }
//                        CrnCommand crnCommand = new CrnCommand();
//                        crnCommand.setAckFinish((short)1);
//                        if (write(crnCommand)) {
//                            resetFlag = false;
//                        }
//                    }
//                }
//
//                // 根据实时信息更新数据库
//                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
//                BasCrnp basCrnp = new BasCrnp();
//                basCrnp.setCrnErr(crnProtocol.getAlarm()==null?0:crnProtocol.getAlarm().longValue());
//                basCrnp.setCrnNo(slave.getId());
//                basCrnp.setCrnSts((int)crnProtocol.getMode());
//                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
//                    News.error("MelsecCrn"+" - 4"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//                }
//
//            } else {
//                OutputQueue.CRN.offer(MessageFormat.format("【{0}】{1}堆垛机plc状态信息失败",DateUtils.convert(new Date()), slave.getId()));
//                throw new CoolException(MessageFormat.format( "堆垛机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}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.error("MelsecCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            initCrn();
//        }
//
//    }
//
//    /**
//     * 写入数据
//     */
//    private boolean write(CrnCommand command){
//        if (null == command) {
//            News.error("MelsecCrn"+" - 6"+" - 堆垛机写入命令为空");
//            return false;
//        }
//
////        OperateResult result = null;
////        try{
////            Integer exeCount=0;
////            do{
////                command.setCrnNo(slave.getId());
////                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.getCommand();
////                result = melsecMcNet.Write("D0", array);
////                if(result.IsSuccess) {
////                    if (command.getAckFinish() == 0) {
////                        short commandFinish = 1;
////                        result = melsecMcNet.Write("D9", commandFinish);
////                        if(result.IsSuccess){
////                            //写任务确认返回成功后，查询确认一次
////                            Thread.sleep(200);
////                            OperateResultExOne<byte[]> result1 = melsecMcNet.Read("D9", (short)2);
////                            if(result1.IsSuccess){
////                                short commandVal = melsecMcNet.getByteTransform().TransInt16(result1.Content,2);
////                                if(commandVal==1){
////                                    break;
////                                } else {
////                                    exeCount++;
////                                }
////                            } else{
////                                exeCount++;
////                            }
////                        }else{
////                            exeCount++;
////                        }
////                    }
////                }else{
////                    exeCount++;
////                }
////                Thread.sleep(200);
////            }while(exeCount>3);
////        }catch (Exception e){
////
////        }
//
//        command.setCrnNo(slave.getId());
//        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.getCommand();
//        OperateResult result = melsecMcNet.Write("D1001", array);
//
//        if (command.getAckFinish() == 0) {
//            short commandFinish = 1;
//            result = melsecMcNet.Write("D1010", commandFinish);
//        }
//
//        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.save(basCrnOpt);
//        } catch (Exception ignore) {}
//
//        if (result != null && result.IsSuccess) {
//            News.info("MelsecCrn"+" - 7"+" - 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("MelsecCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
//    }
//
//    @Override
//    public void close() {
//        melsecMcNet.ConnectClose();
//    }
//
//    /**
//     * 心跳
//     */
//    private void heartbeat(){
//        if (heartBeatVal >= 30000) {
//            heartBeatVal = -30000;
//        } else {
//            heartBeatVal =(short) (heartBeatVal+1);
//        }
//        OperateResult write = melsecMcNet.Write("D1011", heartBeatVal);
////        OperateResult write1 = melsecMcNet.Write("D1001", (short) 0);
////        OperateResult write2 = melsecMcNet.Write("D1002", (short) 0);
////        OperateResult write3 = melsecMcNet.Write("D1003", (short) 0);
////        OperateResult write4 = melsecMcNet.Write("D1004", (short) 0);
////        OperateResult write5 = melsecMcNet.Write("D1005", (short) 0);
////        OperateResult write6 = melsecMcNet.Write("D1006", (short) 0);
////        OperateResult write7 = melsecMcNet.Write("D1007", (short) 0);
////        OperateResult write8 = melsecMcNet.Write("D1008", (short) 0);
////        OperateResult write9 = melsecMcNet.Write("D1009", (short) 0);
////        OperateResult write10 = melsecMcNet.Write("D1010", (short) 0);
//        if (!write.IsSuccess) {
//            News.error("MelsecCrn"+" - 9"+" - 堆垛机plc心跳通讯失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//        }
//    }
//
//
//    /******************************************************************************************/
//    /**************************************** 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);
//        MelsecCrnThread melsecCrnThread = new MelsecCrnThread(slave);
//        melsecCrnThread.connect();
//        melsecCrnThread.readStatus();
//        System.out.println(JSON.toJSONString(melsecCrnThread.crnProtocol));
//
//        // 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);
//
//        // 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);
//
//
////        // 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);
//
//        // 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);
//
////        // 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);
////        }
//
//    }
//
//    @Override
//    public void setResetFlagTwo(boolean flag) {
//
//    }
//}

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

@@ -196,9 +196,12 @@
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记成功{}！！",
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlag = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 一工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }
                    }
                } else if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_TWO) {
@@ -210,10 +213,14 @@
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记成功{}！！",
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlagTwo = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 二工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }

                    }
                } else if (!Cools.isEmpty(crnProtocol.getTaskNo()) && crnProtocol.getStatusType() == CrnStatusType.WAITING_All && crnProtocol.getStatusTypeTwo() == CrnStatusType.WAITING_All) {
                    // 复位信号
@@ -224,10 +231,13 @@
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setAckFinish((short) 1);
                        if (write(crnCommand)) {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记成功{}！！",
                            News.info("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记成功{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                            resetFlag = false;
                            resetFlagTwo = false;
                        } else {
                            News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 双工位复位resetFlag标记失败{}！！",
                                    slave.getId(), crnProtocol.getTaskNo(), resetFlag);
                        }
                    }
                }
@@ -275,6 +285,7 @@
            News.error("SiemensCrn" + " - 6" + " - 堆垛机写入命令为空");
            return false;
        }
        System.out.println(" 堆垛机写入命令：" + command);
//        convertRow(command);
        command.setCrnNo(slave.getId());
        short[] array = new short[16];