From 16ad96d54cae5455436cda8673a4e8ee33149233 Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期三, 26 六月 2024 16:55:19 +0800
Subject: [PATCH] # led显示
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 231 ++++++++++++++++++++++++++++++++-------------------------
1 files changed, 128 insertions(+), 103 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 2502d43..e69f212 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -5,17 +5,19 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
-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.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.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;
@@ -38,6 +40,15 @@
private CrnSlave slave;
private CrnProtocol crnProtocol;
private boolean resetFlag = false;
+
+ /**
+ * 20230711 Add锛屽垽鏂槸鍚﹀厑璁镐笅鍙戝爢鍨涙満浠诲姟鐨勫懡浠ゆ爣璁帮紝榛樿涓簍rue
+ * 涓轰簡闃叉鏃堕棿宸鑷寸殑WCS杩炵画涓嬪彂澶氱瑪浠诲姟锛學CS涓嬪彂浠诲姟鍚庯紝涓荤嚎绋嬭疆璇㈡椂杩樻湭璇诲埌鍫嗗灈鏈洪潪绌洪棽銆佹湁浠诲姟鐘舵�佹椂锛屽彲鑳戒細閲嶅涓嬪彂
+ * 涓荤嚎绋嬩笅鍙戝爢鍨涙満浠诲姟鐨勫悓鏃讹紝cmdFlag缃负false锛屽綋鍫嗗灈鏈哄浜庣瓑寰呯‘璁ょ姸鎬佸苟涓攔esetFlag涓簍rue鏃讹紝鎵嶅浣峜mdFlag涓簍rue
+ * 鎵�鏈夊爢鍨涙満浠诲姟涓嬪彂鍓嶏紝鍏堝垽鏂璫mdFlag涓簍rue鍚庢墠鑳戒笅鍙�
+ * 鏀瑰姩鍓嶏紝鏄�氳繃鍒ゆ柇宸ヤ綔妗ｆ槸鍚﹀瓨鍦ㄥ爢鍨涙満鎵ц涓伐浣滅姸鎬佸垽鏂殑锛屽鏋滀笉鐢熸垚宸ヤ綔妗ｏ紝鎴栬�呮槸鏈夊厖鐢点�佺Щ杞︾瓑浠诲姟婕忓垽鏂簡涔熶細瀛樺湪闂
+ */
+ private boolean cmdFlag = true;
/**
* 鍫嗗灈鏈烘槸鍚﹀湪鍥炲師鐐硅繍鍔ㄤ腑鏍囪
@@ -78,12 +89,12 @@
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
- command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
- command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
- command.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
write(command);
break;
default:
@@ -106,14 +117,14 @@
}
crnProtocol.setMode((short) -1);
// crnProtocol.setTaskNo((short)0);
- crnProtocol.setStatus((short)-1);
- crnProtocol.setBay((short)0);
- crnProtocol.setLevel((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.setWalkPos((short) 0);
+ crnProtocol.setLoaded((short) 0);
+ crnProtocol.setAlarm((short) 0);
crnProtocol.setxSpeed((short) 0);
crnProtocol.setySpeed((short) 0);
crnProtocol.setzSpeed((short) 0);
@@ -130,13 +141,13 @@
siemensNet.setRack(slave.getRack().byteValue());
siemensNet.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensNet.ConnectServer();
- if(connect.IsSuccess){
+ if (connect.IsSuccess) {
result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [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.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ News.info("SiemensCrn" + " - 1" + " - 鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
} 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());
+ News.error("SiemensCrn" + " - 2" + " - 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();
}
// siemensNet.ConnectClose();
@@ -146,9 +157,9 @@
/**
* 璇诲彇鐘舵��
*/
- private void readStatus(){
+ private void readStatus() {
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 54);
if (result.IsSuccess) {
if (null == crnProtocol) {
crnProtocol = new CrnProtocol();
@@ -164,10 +175,6 @@
crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16));
crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18));
- crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
- 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));
@@ -175,43 +182,39 @@
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()));
-
- // 澶嶄綅淇″彿
- if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
- if (resetFlag) {
- if(crnProtocol.getTaskNo()==9999){
- backHpFlag = false;
- }
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setAckFinish((short)1);
- if (write(crnCommand)) {
- resetFlag = false;
- }
- }
- }
-
- try {
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
- BasCrnp basCrnp = new BasCrnp();
- 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());
- }
- } catch (Exception ignore){}
-
} else {
initCrn();
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("SiemensCrn" + " - 4" + " - 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());
}
+ // 澶嶄綅淇″彿
+ if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING) && resetFlag) {
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setAckFinish((short) 1);
+ if (write(crnCommand)) {
+ resetFlag = false;
+ }
+ }
+
+
+ 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()));
+
+ try {
+ // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
+ BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
+ BasCrnp basCrnp = new BasCrnp();
+ basCrnp.setCrnNo(slave.getId());
+ basCrnp.setCrnSts((int) crnProtocol.getMode());
+ if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) {
+ News.error("SiemensCrn" + " - 3" + " - 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) {
+ }
+
} 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());
+ News.error("SiemensCrn" + " - 5" + " - 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();
}
}
@@ -230,37 +233,55 @@
*/
private boolean write(CrnCommand command) throws InterruptedException {
if (null == command) {
- log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ News.error("SiemensCrn" + " - 6" + " - 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);
-
- if (command.getAckFinish() == 0) {
- short commandFinish = 1;
- Thread.sleep(100L);
- result = siemensNet.Write("DB100.18", commandFinish);
+ OperateResult result = null;
+ // 鍐�3鍙峰爢鍨涙満
+ if (slave.getId() == 3) {
+ // 鍐欎换鍔″畬鎴愮‘璁�
+ if (command.getAckFinish() == 1) {
+ result = siemensNet.Write("DB100.0", (short) 1);
+ } else {
+ 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 = siemensNet.Write("DB100.0", array);
+ }
+ } else {
+ // 鍐欎换鍔″畬鎴愮‘璁�
+ if (command.getAckFinish() == 1) {
+ result = siemensNet.Write("DB100.0", (short) 1);
+ } else {
+ 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 = siemensNet.Write("DB100.0", array);
+ }
}
try {
// 鏃ュ織璁板綍
BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
- BasCrnOpt basCrnOpt = new BasCrnOpt(
- command.getTaskNo().intValue(), // 浠诲姟鍙�
+ 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().toString(), // 妯″紡
@@ -277,17 +298,18 @@
null // 淇敼浜哄憳
);
bean.insert(basCrnOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ }
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("SiemensCrn" + " - 7" + " - 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("SiemensCrn" + " - 8" + " - 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;
}
}
@@ -303,8 +325,9 @@
/*****************************************************************************************/
public static void main(String[] args) throws InterruptedException {
CrnSlave slave = new CrnSlave();
- slave.setId(1);
- slave.setIp("192.168.6.9");
+ slave.setId(2);
+ slave.setIp("10.10.10.20");
+ slave.setPort(0);
slave.setRack(0);
slave.setSlot(0);
SiemensCrnThread crnThread = new SiemensCrnThread(slave);
@@ -314,18 +337,19 @@
Thread.sleep(3000L);
// 1.鍏ュ簱 婧愬拰鐩爣閮藉彂
-// CrnCommand command = new CrnCommand();
-// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
-// command.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
-// command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short) 3); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
-// crnThread.write(command);
+ CrnCommand command = new CrnCommand();
+// command.setCrnNo(3); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 4676); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 5); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short) 4); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 2); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ command.setCommand((short) 1);
+ crnThread.write(command);
// 2.鍑哄簱 婧愬拰鐩爣閮藉彂
// CrnCommand command = new CrnCommand();
@@ -342,18 +366,19 @@
// crnThread.write(command);
-// // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
+ // 3.搴撲綅绉昏浆 婧愬拰鐩爣閮藉彂 pass
// CrnCommand command = new CrnCommand();
-// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+//// command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 3); // 宸ヤ綔鍙�
// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
// command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// command.setSourcePosX((short)2); // 婧愬簱浣嶆帓
+// command.setSourcePosX((short)4); // 婧愬簱浣嶆帓
// command.setSourcePosY((short)2); // 婧愬簱浣嶅垪
-// command.setSourcePosZ((short)3); // 婧愬簱浣嶅眰
-// command.setDestinationPosX((short)2); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY((short)4); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ((short)4); // 鐩爣搴撲綅灞�
+// command.setSourcePosZ((short)10); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short)4); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short)1); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)9); // 鐩爣搴撲綅灞�
+// command.setCommand((short)1);
// crnThread.write(command);
// 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
--
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