From 1a3f7d044c7ec44b17256ea99a7005e5ad1d9d63 Mon Sep 17 00:00:00 2001
From: ytfl <ytfl@qq.com>
Date: 星期二, 19 八月 2025 18:59:36 +0800
Subject: [PATCH] #自动获取电视机配置信息
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 521 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 521 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
new file mode 100644
index 0000000..27e31f3
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -0,0 +1,521 @@
+package com.zy.core.thread;
+
+import HslCommunication.Core.Types.OperateResult;
+import HslCommunication.Core.Types.OperateResultExOne;
+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.entity.DeviceDataLog;
+import com.zy.asrs.service.BasCrnOptService;
+import com.zy.asrs.service.BasCrnpService;
+import com.zy.asrs.service.DeviceDataLogService;
+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.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.Base64;
+import java.util.Date;
+
+/**
+ * 鍫嗗灈鏈虹嚎绋�
+ * Created by vincent on 2020/8/4
+ */
+@Data
+@Slf4j
+public class SiemensCrnThread implements Runnable, CrnThread {
+
+ private SiemensS7Net siemensNet;
+ private CrnSlave slave;
+ private CrnProtocol crnProtocol;
+ private boolean resetFlag = false;
+
+ public Long sign = System.currentTimeMillis();
+
+ public boolean isRunning = true;
+
+
+ /**
+ * 鍫嗗灈鏈烘槸鍚﹀湪鍥炲師鐐硅繍鍔ㄤ腑鏍囪
+ */
+ private boolean backHpFlag = false;
+
+ public SiemensCrnThread(CrnSlave slave) {
+ this.slave = slave;
+ }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+ this.connect();
+ while (isRunning) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Crn, slave.getId());
+ if (task != null) {
+ step = task.getStep();
+ }
+ switch (step) {
+ // 璇绘暟鎹�
+ case 1:
+ readStatus();
+ break;
+ // 鍐欏叆鏁版嵁
+ case 2:
+ write((CrnCommand) task.getData());
+ break;
+ // 澶嶄綅
+ case 3:
+ CrnCommand command = (CrnCommand) task.getData();
+ if (null == command) {
+ command = new CrnCommand();
+ }
+ command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ 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�
+ write(command);
+ break;
+ default:
+ break;
+ }
+ Thread.sleep(500);
+ } catch (Exception e) {
+// e.printStackTrace();
+ }
+ sign = System.currentTimeMillis();
+ }
+ }
+
+ /**
+ * 鍒濆鍖栧爢鍨涙満鐘舵��
+ */
+ 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;
+ siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
+ siemensNet.setRack(slave.getRack().byteValue());
+ siemensNet.setSlot(slave.getSlot().byteValue());
+ OperateResult connect = siemensNet.ConnectServer();
+ 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()));
+ 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()));
+ 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();
+ return result;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ try {
+ short len = 56;
+ if (slave.getId() == 1) {
+ len = 58;
+ }
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", len);
+ 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));
+ crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
+ crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
+ crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
+ crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
+ crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ 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));
+ 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));
+ if (slave.getId() == 1) {
+ crnProtocol.setCrnLane((int) siemensNet.getByteTransform().TransInt16(result.Content, 56));
+ }
+
+ 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;
+ }
+ }
+ }
+
+ if (crnProtocol.getAlarm() > 0) {
+ crnProtocol.setLastCommandTime(-1L);
+ }
+
+ if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
+ crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ }
+
+ if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > 1000 * 1) {
+ //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result.Content));
+ deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
+ deviceDataLog.setType("crn");
+ deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
+ deviceDataLog.setCreateTime(new Date());
+ deviceDataLogService.insert(deviceDataLog);
+
+ //鏇存柊閲囬泦鏃堕棿
+ crnProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ 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){}
+
+ } 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()));
+ 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());
+ }
+ } 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()));
+ 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();
+ }
+ }
+
+ 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)));
+ }
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private boolean write(CrnCommand command) throws InterruptedException {
+ if (null == command) {
+ News.error("SiemensCrn"+" - 6"+" - 鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+
+ int writeAck = 0;
+ do {
+ OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0);
+ if (resultAck.IsSuccess){
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2);
+ short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (ack != 0) {
+ writeAck++;
+ }else {
+ News.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), "ack澶嶄綅瀹屾垚");
+ break;
+ }
+ }
+ }while (writeAck <5);
+
+// 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 = null;
+ int idx = 0;
+ do {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
+ if (resultRead.IsSuccess) {
+ if (command.getAckFinish() == 0) {
+ short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
+ short taskMode = siemensNet.getByteTransform().TransInt16(resultRead.Content, 4);
+ short sourcePosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 6);
+ short sourcePosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 8);
+ short sourcePosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 10);
+ short destinationPosX = siemensNet.getByteTransform().TransInt16(resultRead.Content, 12);
+ short destinationPosY = siemensNet.getByteTransform().TransInt16(resultRead.Content, 14);
+ short destinationPosZ = siemensNet.getByteTransform().TransInt16(resultRead.Content, 16);
+ if(taskNo == 0 || taskMode == 0 || sourcePosX == 0 || sourcePosY == 0 || sourcePosZ == 0 || destinationPosX == 0 || destinationPosY == 0 || destinationPosZ == 0) {
+ result = siemensNet.Write("DB100.0", array);
+ }else {
+ break;
+ }
+ }else {
+ short ackFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if(ackFinish != command.getAckFinish()) {
+ result = siemensNet.Write("DB100.0", array);
+ }else {
+ break;
+ }
+ }
+ }
+ idx++;
+ Thread.sleep(500L);
+ } while (idx < 5);
+
+ if (command.getAckFinish() == 0) {
+ short commandFinish = 1;
+ int i = 0;
+ do {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4);
+ OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read("DB100.18", (short) 2);
+ if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) {
+ short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2);
+ short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0);
+ if(taskNo != 0 && confirm == 0) {
+ result = siemensNet.Write("DB100.18", commandFinish);
+ }
+ }
+ i++;
+ Thread.sleep(500L);
+ } while (i < 5);
+ }
+
+ this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ try {
+ // 鏃ュ織璁板綍
+ 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().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) {}
+
+ if (result != null && result.IsSuccess) {
+ Thread.sleep(200);
+ this.readStatus();
+ 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()));
+ 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;
+ }
+ }
+
+ @Override
+ public void close() {
+ siemensNet.ConnectClose();
+ }
+
+ /******************************************************************************************/
+ /**************************************** 娴嬭瘯涓撶敤 *****************************************/
+ /*****************************************************************************************/
+ public static void main(String[] args) throws InterruptedException {
+ CrnSlave slave = new CrnSlave();
+ slave.setId(1);
+ slave.setIp("192.168.6.9");
+ slave.setRack(0);
+ slave.setSlot(0);
+ SiemensCrnThread crnThread = new SiemensCrnThread(slave);
+ crnThread.connect();
+ crnThread.readStatus();
+ System.out.println(JSON.toJSONString(crnThread.crnProtocol));
+ 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);
+
+ // 2.鍑哄簱 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.PAKOUT); // 浠诲姟妯″紡
+// command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
+// command.setSourcePosY((short) 4); // 婧愬簱浣嶅垪
+// command.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+// command.setDestinationPosX((short) 1); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+
+// // 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.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.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�
+// crnThread.write(command);
+
+ // 4.绔欎綅绉昏浆 婧愬拰鐩爣閮藉彂
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(slave.getId()); // 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.SITE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// 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)0); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short)1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+// // 5.鍥炲師鐐� 涓嶇敤鍙� pass
+// 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.GO_ORIGIN); // 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�
+// crnThread.write(command);
+
+// // 7.鍧愭爣绉昏 鐩爣鍙� pass
+// 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.OFFSET_MOVE); // 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) 2); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnThread.write(command);
+
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+// if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr
+// || crnThread.crnProtocol.getCrnError2().leftPutLoadErr
+// || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) {
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(1); // 鍫嗗灈鏈虹紪鍙�
+// command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+// Thread.sleep(3000L);
+// crnThread.write(command);
+// }
+
+ }
+
+ // 鎻愪緵涓�涓柟娉曟潵鍋滄绾跨▼
+ public void requestStop() {
+ isRunning = false;
+ }
+
+}
--
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