From 04a3dc92f15bbcaaadbca0f2e6b8fb1dcd31e338 Mon Sep 17 00:00:00 2001
From: zwl <1051256694@qq.com>
Date: 星期四, 06 三月 2025 13:45:30 +0800
Subject: [PATCH] 堆垛机移库任务下发坐标修改
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 337 +++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 298 insertions(+), 39 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 65343df..bbf7db0 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -5,25 +5,32 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
-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.asrs.entity.*;
+import com.zy.asrs.entity.param.TaskOverToWms;
+import com.zy.asrs.service.*;
+import com.zy.common.utils.HttpHandler;
+import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
+import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import java.text.MessageFormat;
-import java.util.Date;
+import java.util.*;
/**
* 鍫嗗灈鏈虹嚎绋�
@@ -43,6 +50,22 @@
*/
private boolean backHpFlag = false;
+ @Value("${wms.url}")
+ private String wmsUrl;
+ public static final List<Short> rowOne = new ArrayList<Short>() {{
+ add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
+ }};
+ public static final List<Short> rowTwo = new ArrayList<Short>() {{
+ add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
+ }};
+ public static final List<Short> rowThree = new ArrayList<Short>() {{
+ add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
+ }};
+ public static final List<Short> rowFour = new ArrayList<Short>() {{
+ add((short) 4);add((short) 10);add((short) 14);add((short) 18);
+ }};
+
+
public SiemensCrnThread(CrnSlave slave) {
this.slave = slave;
}
@@ -50,6 +73,7 @@
@Override
@SuppressWarnings("InfiniteLoopStatement")
public void run() {
+ initCrnProtocol();
this.connect();
while (true) {
try {
@@ -65,7 +89,7 @@
break;
// 鍐欏叆鏁版嵁
case 2:
- write((CrnCommand) task.getData());
+ write5((CrnCommand) task.getData());
break;
// 澶嶄綅
case 3:
@@ -85,6 +109,12 @@
command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
write(command);
break;
+ case 4:
+ writeAuto((CrnCommand) task.getData());
+ break;
+ case 5:
+ write((CrnCommand) task.getData());
+ break;
default:
break;
}
@@ -97,9 +127,9 @@
}
/**
- * 鍒濆鍖栧爢鍨涙満鐘舵��
+ * 鍒濆鍖栧爢鍨涙満
*/
- private void initCrn() {
+ private void initCrnProtocol(){
if (null == crnProtocol) {
crnProtocol = new CrnProtocol();
}
@@ -136,7 +166,9 @@
} else {
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
log.error("鍫嗗灈鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
- initCrn();
+// DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+// deviceErrorService.addDeviceError("crn", slave.getId(), "鍫嗗灈鏈簆lc杩炴帴澶辫触");
+ initCrnProtocol();
}
// siemensNet.ConnectClose();
return result;
@@ -146,11 +178,14 @@
* 璇诲彇鐘舵��
*/
private void readStatus(){
+ String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
+
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 70);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
if (result.IsSuccess) {
if (null == crnProtocol) {
crnProtocol = new CrnProtocol();
+ crnProtocol.setCrnNo(slave.getId());
}
crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
@@ -167,12 +202,12 @@
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, 30));
- crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
- crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 34));
- crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 36));
- crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 38));
- crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 40));
+ 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));
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
@@ -197,43 +232,52 @@
basCrnp.setCrnNo(slave.getId());
basCrnp.setCrnSts((int)crnProtocol.getMode());
if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
- log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ News.error(methodName + ":鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
}
} catch (Exception ignore){}
} else {
- initCrn();
+ initCrnProtocol();
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}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
- log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ News.error(methodName + ":璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
}
} catch (Exception e) {
e.printStackTrace();
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()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- initCrn();
- }
- }
-
- private void convertRow(CrnCommand crnCommand) {
- if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) {
- crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4)));
- }
- if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) {
- crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4)));
+ News.error(methodName + ":璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ initCrnProtocol();
}
}
/**
* 鍐欏叆鏁版嵁
*/
- private boolean write(CrnCommand command) throws InterruptedException {
+ private boolean write(CrnCommand command){
if (null == command) {
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
}
- convertRow(command);
+ //杞崲鍓嶅厠闅嗕竴浠�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(command.getCrnNo());
+ crnCommand.setAckFinish(command.getAckFinish());
+ crnCommand.setTaskNo(command.getTaskNo());
+ crnCommand.setTaskMode(command.getTaskMode());
+ crnCommand.setSourcePosX(command.getSourcePosX());
+ crnCommand.setSourcePosY(command.getSourcePosY());
+ crnCommand.setSourcePosZ(command.getSourcePosZ());
+ crnCommand.setDestinationPosX(command.getDestinationPosX());
+ crnCommand.setDestinationPosY(command.getDestinationPosY());
+ crnCommand.setDestinationPosZ(command.getDestinationPosZ());
+// crnCommand.setSourceStaNo(command.getSourceStaNo());
+// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
+ crnCommand.setCommand(command.getCommand());
+ if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
+ command.setTaskNo((short) 999);
+ }
+
command.setCrnNo(slave.getId());
- short[] array = new short[12];
+ short[] array = new short[10];
array[0] = command.getAckFinish();
array[1] = command.getTaskNo();
array[2] = command.getTaskMode();
@@ -243,14 +287,76 @@
array[6] = command.getDestinationPosX();
array[7] = command.getDestinationPosY();
array[8] = command.getDestinationPosZ();
- array[9] = command.getSourceStaNo();
- array[10] = command.getDestinationStaNo();
- array[11] = command.getCommand();
+ array[9] = command.getCommand();
+
+ // 浣滀笟淇℃伅
OperateResult result = siemensNet.Write("DB100.0", array);
+
+
+ if (result.IsSuccess) {
+ log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ return true;
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ return false;
+ }
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private boolean write5(CrnCommand command) throws InterruptedException {
+ String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
+
+ if (null == command) {
+ News.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+// convertRow(command);
+ 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.getSourceStaNo();
+// array[10] = command.getDestinationStaNo();
+ array[9] = command.getCommand();
+ OperateResult result = siemensNet.Write("DB100.0", array);
+
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
+ 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("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ }
if (command.getAckFinish() == 0) {
short commandFinish = 1;
- result = siemensNet.Write("DB100.22", commandFinish);
+ Thread.sleep(100L);
+ result = siemensNet.Write("DB100.18", commandFinish);
}
try {
@@ -279,16 +385,169 @@
if (result != null && result.IsSuccess) {
Thread.sleep(200);
this.readStatus();
- log.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ News.info(methodName + ":鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
return true;
} else {
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ News.error(methodName + ":鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
return false;
}
}
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+// private boolean write2(CrnCommand command){
+// if (null == command) {
+// log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+// return false;
+// }
+// //杞崲鍓嶅厠闅嗕竴浠�
+// CrnCommand crnCommand = new CrnCommand();
+// crnCommand.setCrnNo(command.getCrnNo());
+// crnCommand.setAckFinish(command.getAckFinish());
+// crnCommand.setTaskNo(command.getTaskNo());
+// crnCommand.setTaskMode(command.getTaskMode());
+// crnCommand.setSourcePosX(command.getSourcePosX());
+// crnCommand.setSourcePosY(command.getSourcePosY());
+// crnCommand.setSourcePosZ(command.getSourcePosZ());
+// crnCommand.setDestinationPosX(command.getDestinationPosX());
+// crnCommand.setDestinationPosY(command.getDestinationPosY());
+// crnCommand.setDestinationPosZ(command.getDestinationPosZ());
+//// crnCommand.setSourceStaNo(command.getSourceStaNo());
+//// crnCommand.setDestinationStaNo(command.getDestinationStaNo());
+// crnCommand.setCommand(command.getCommand());
+// if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) {
+// command.setTaskNo((short) 999);
+// }
+//
+// command.setCrnNo(slave.getId());
+// short[] array = new short[10];
+// if (Cools.isEmpty(command.getAckFinish())) {
+// array[0] = 5;
+// } else {
+// 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();
+// // 浣滀笟淇℃伅
+// OperateResult result = siemensNet.Write("DB100.0", array);
+// // 鏃ュ織璁板綍
+// if (command.getAckFinish() != 1) {
+// BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+// BasCrnOpt basCrnOpt = new BasCrnOpt(
+// command.getTaskNo().intValue(), // 浠诲姟鍙�
+// command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
+// new Date(), // 涓嬪彂鏃堕棿
+// command.getTaskModeType() == null ? null : command.getTaskModeType().toString(), // 妯″紡
+// command.getSourcePosX().intValue(), // 婧愭帓
+// command.getSourcePosY().intValue(), // 婧愬垪
+// command.getSourcePosZ().intValue(), // 婧愬眰
+// null, // 婧愮珯
+// command.getDestinationPosX().intValue(), // 鐩爣鎺�
+// command.getDestinationPosY().intValue(), // 鐩爣鍒�
+// command.getDestinationPosZ().intValue(), // 鐩爣灞�
+// null, // 鐩爣绔�
+// null, // 鍝嶅簲缁撴灉
+// null, // 淇敼鏃堕棿
+// null // 淇敼浜哄憳
+// );
+// bean.insert(basCrnOpt);
+// }
+//// } catch (Exception ignore) {}
+//
+// //鏇存柊鍛戒护鏃ュ織
+// CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
+// CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
+// CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
+// if (Cools.isEmpty(commandInfo)){
+// commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
+// .eq("wrk_no",crnProtocol.getTaskNo())
+// .eq("device","Crn"));
+// }
+// CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
+// commandInfoLog.setId(null);
+// if (result.IsSuccess) {
+// Date now = new Date();
+// //鏇存柊鎸囦护鏃ュ織
+// commandInfoLog.setDeviceLog("鎸囦护涓嬪彂鎴愬姛");
+// commandInfoLogService.insert(commandInfoLog);
+//
+// //绾跨▼鏆傚瓨鎸囦护ID
+// crnProtocol.setCommandId(command.getCommandId());
+//
+// //鏇存柊鎸囦护鐘舵��
+// commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//鎵ц涓�
+// commandInfo.setExecuteTime(now);
+// commandInfoService.updateById(commandInfo);
+//
+// //鏇存柊浠诲姟姝ュ簭
+// TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
+// TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
+// if (taskWrk != null) {
+// taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//鏇存柊鎸囦护姝ュ簭
+// taskWrkService.updateById(taskWrk);
+// }
+//
+//
+// } else {
+// OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+// log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+// }
+// return true;
+// }
+
+ private boolean writeAuto(CrnCommand command){
+ if (null == command) {
+ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+ OperateResult result = new OperateResult();
+ short[] array = new short[1];
+ array[0] = command.getAuto();
+ if(command.getAuto() !=0){
+ array[0] = command.getAuto();
+ result = siemensNet.Write("DB103.0", array);
+ }else if (command.getOnlineWrk1() != 0){
+ array[0] = command.getOnlineWrk1();
+ result = siemensNet.Write("DB103.2", array);
+ }else if (command.getOnlineWrk2() !=0){
+ array[0] = command.getOnlineWrk2();
+ result = siemensNet.Write("DB103.4", array);
+ }else if (command.getOnlineWrk3() != 0){
+ array[0] = command.getOnlineWrk3();
+ result = siemensNet.Write("DB103.6", array);
+ }else if (command.getOnlineWrk4() != 0){
+ array[0] = command.getOnlineWrk4();
+ result = siemensNet.Write("DB103.8", array);
+ } else if (command.getReset() != 0) {
+ array[0] = command.getReset();
+ result = siemensNet.Write("DB103.10", array);
+ }
+
+
+ if (result.IsSuccess) {
+ log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+
+
+
+ return true;
+ } else {
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ log.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+
+ return false;
+ }
+ }
@Override
public void close() {
--
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