From dc3f9cc91759823ce59486f19b138be4b296a0f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 28 四月 2026 09:43:28 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java |   35 ++++++++++++++++++++++++++++++-----
 1 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java
index 1801e71..b6e6ee3 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java
@@ -12,6 +12,7 @@
 import com.zy.common.utils.RedisUtil;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.CrnModeType;
 import com.zy.core.enums.CrnTaskModeType;
 import com.zy.core.enums.RedisKeyType;
 import com.zy.core.enums.SlaveType;
@@ -24,6 +25,7 @@
 import com.zy.core.network.entity.ZyCrnStatusEntity;
 import com.zy.core.service.WrkCommandRollbackService;
 import com.zy.core.thread.CrnThread;
+import com.zy.core.task.DeviceAsyncLogPublisher;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
 
@@ -42,10 +44,12 @@
     private ZyCrnV2ConnectDriver zyCrnConnectDriver;
     private CrnProtocol crnProtocol;
     private int deviceLogCollectTime = 200;
+    private final DeviceAsyncLogPublisher deviceAsyncLogPublisher;
 
     public ZySiemensCrnV2Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
         this.deviceConfig = deviceConfig;
         this.redisUtil = redisUtil;
+        this.deviceAsyncLogPublisher = SpringUtils.getBean(DeviceAsyncLogPublisher.class);
     }
 
     @Override
@@ -150,6 +154,7 @@
     private void readStatus(){
         ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
         if (crnStatus == null) {
+            crnProtocol.setMode(CrnModeType.NONE);
             OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戣鍙栧爢鍨涙満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
             return;
         }
@@ -164,6 +169,7 @@
         crnProtocol.setWalkPos(crnStatus.getWalkPos());
         crnProtocol.setLoaded(crnStatus.getLoaded());
         crnProtocol.setAlarm(crnStatus.getAlarm());
+        crnProtocol.setLaserValue(crnStatus.getLaserValue());
         crnProtocol.setTemp1(crnStatus.getTemp1());
         crnProtocol.setTemp2(crnStatus.getTemp2());
         crnProtocol.setTemp3(crnStatus.getTemp3());
@@ -196,7 +202,7 @@
             deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
             deviceDataLog.setCreateTime(new Date());
 
-            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
+            deviceAsyncLogPublisher.publishLatest(deviceDataLog);
             //鏇存柊閲囬泦鏃堕棿
             crnProtocol.setDeviceDataLog(System.currentTimeMillis());
         }
@@ -252,14 +258,15 @@
 
     @Override
     public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
+        BasCrnp basCrnp = getBasCrnp(crnNo);
         CrnCommand crnCommand = new CrnCommand();
         crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
         crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
         crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id); // 浠诲姟妯″紡:  搴撲綅绉昏浆
-        crnCommand.setSourcePosX(Utils.getRow(sourceLocNo));     // 婧愬簱浣嶆帓
+        crnCommand.setSourcePosX(resolveCommandRow(sourceLocNo, basCrnp));     // 婧愬簱浣嶆帓
         crnCommand.setSourcePosY(Utils.getBay(sourceLocNo));     // 婧愬簱浣嶅垪
         crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo));     // 婧愬簱浣嶅眰
-        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 鐩爣搴撲綅鎺�
+        crnCommand.setDestinationPosX(resolveCommandRow(targetLocNo, basCrnp));     // 鐩爣搴撲綅鎺�
         crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 鐩爣搴撲綅鍒�
         crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 鐩爣搴撲綅灞�
         crnCommand.setCommand(1);     // 浠诲姟纭
@@ -268,21 +275,39 @@
 
     @Override
     public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
+        Integer targetRow = resolveCommandRow(targetLocNo, crnNo);
         CrnCommand crnCommand = new CrnCommand();
         crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
         crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
         crnCommand.setAckFinish(0);  // 浠诲姟瀹屾垚纭浣�
         crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id); // 浠诲姟妯″紡:  鍫嗗灈鏈虹Щ鍔�
-        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 鐩爣搴撲綅鎺�
+        crnCommand.setSourcePosX(targetRow);     // 鐩爣搴撲綅鎺�
         crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 鐩爣搴撲綅鍒�
         crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 鐩爣搴撲綅灞�
-        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 鐩爣搴撲綅鎺�
+        crnCommand.setDestinationPosX(targetRow);     // 鐩爣搴撲綅鎺�
         crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 鐩爣搴撲綅鍒�
         crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 鐩爣搴撲綅灞�
         crnCommand.setCommand(1);     // 浠诲姟纭
         return crnCommand;
     }
 
+    private Integer resolveCommandRow(String locNo, Integer crnNo) {
+        return resolveCommandRow(locNo, getBasCrnp(crnNo));
+    }
+
+    private Integer resolveCommandRow(String locNo, BasCrnp basCrnp) {
+        Integer locationRow = Utils.getRow(locNo);
+        if (basCrnp == null) {
+            return locationRow;
+        }
+        return basCrnp.getCommandRow(locationRow);
+    }
+
+    private BasCrnp getBasCrnp(Integer crnNo) {
+        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+        return basCrnpService.getById(crnNo);
+    }
+
     @Override
     public CrnCommand getResetCommand(Integer taskNo, Integer crnNo) {
         CrnCommand crnCommand = new CrnCommand();

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