From ad79ba405b2d1ac96423f88f4e8a76c584b9d38a Mon Sep 17 00:00:00 2001
From: zwl <1051256694@qq.com>
Date: 星期一, 09 二月 2026 15:57:06 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java | 464 ++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 326 insertions(+), 138 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
index 4cc6ef1..f3bbd8a 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensCrnThread.java
@@ -12,7 +12,6 @@
import com.zy.asrs.service.BasCrnpOptService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.RedisUtil;
-import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnTaskModeType;
@@ -31,6 +30,11 @@
import java.text.MessageFormat;
import java.util.Date;
+import java.util.List;
+import java.util.ArrayList;
+import com.zy.core.utils.WmsOperateUtils;
+import com.zy.asrs.entity.BasCrnpErrLog;
+import com.zy.asrs.service.BasCrnpErrLogService;
/**
* 鍫嗗灈鏈虹嚎绋�
@@ -44,7 +48,7 @@
private ZyCrnConnectDriver zyCrnConnectDriver;
private CrnProtocol crnProtocol;
private int deviceLogCollectTime = 200;
- private boolean resetFlag = false;
+ private List<Integer> lastReportedIndices = new ArrayList<>();
public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
this.deviceConfig = deviceConfig;
@@ -56,30 +60,49 @@
public void run() {
this.connect();
this.initCrn();
- while (true) {
- try {
- deviceLogCollectTime = Utils.getDeviceLogCollectTime();
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
- if (task != null) {
- step = task.getStep();
+
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
+ readStatus();
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("CrnThread Fail", e);
}
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- readStatus();
- break;
- case 2:
- sendCommand((CrnCommand) task.getData());
- break;
- default:
- break;
- }
- Thread.sleep(200);
- } catch (Exception e) {
- e.printStackTrace();
}
- }
+ });
+ readThread.start();
+
+ Thread processThread = new Thread(() -> {
+ while (true) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Crn, deviceConfig.getDeviceNo());
+ if (task != null) {
+ step = task.getStep();
+ }
+ if (step == 2) {
+ sendCommand((CrnCommand) task.getData());
+ }
+ if (step == 3) {
+ sendCommand1((CrnCommand) task.getData());
+ }
+ if (step == 4) {
+ sendCommand2((CrnCommand) task.getData());
+ }
+ if (step == 5) {
+ sendCommand3((CrnCommand) task.getData());
+ }
+
+
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("CrnProcess Fail", e);
+ }
+ }
+ });
+ processThread.start();
}
/**
@@ -100,93 +123,13 @@
crnProtocol.setWalkPos(0);
crnProtocol.setLoaded(0);
crnProtocol.setAlarm(0);
- crnProtocol.setXSpeed(0);
- crnProtocol.setYSpeed(0);
- crnProtocol.setZSpeed(0);
- crnProtocol.setXDistance(0);
- crnProtocol.setYDistance(0);
- crnProtocol.setXDuration(0);
- crnProtocol.setYDuration(0);
- }
-
- @Override
- public boolean connect() {
- zyCrnConnectDriver = new ZyCrnConnectDriver(deviceConfig);
- new Thread(zyCrnConnectDriver).start();
- DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
- return true;
- }
-
- /**
- * 璇诲彇鐘舵��
- */
- private void readStatus(){
- ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
- if (crnStatus == null) {
- 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()));
- News.error("SiemensCrn璇诲彇鍫嗗灈鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
- return;
- }
-
- crnProtocol.setMode(crnStatus.getMode());
- crnProtocol.setTaskNo(crnStatus.getTaskNo());
- crnProtocol.setStatus(crnStatus.getStatus());
- crnProtocol.setBay(crnStatus.getBay());
- crnProtocol.setLevel(crnStatus.getLevel());
- crnProtocol.setForkPos(crnStatus.getForkPos());
- crnProtocol.setLiftPos(crnStatus.getLiftPos());
- crnProtocol.setWalkPos(crnStatus.getWalkPos());
- crnProtocol.setLoaded(crnStatus.getLoaded());
- crnProtocol.setAlarm(crnStatus.getAlarm());
- crnProtocol.setTemp1(crnStatus.getTemp1());
- crnProtocol.setTemp2(crnStatus.getTemp2());
- crnProtocol.setTemp3(crnStatus.getTemp3());
- crnProtocol.setTemp4(crnStatus.getTemp4());
- crnProtocol.setXSpeed(crnStatus.getXSpeed());
- crnProtocol.setYSpeed(crnStatus.getYSpeed());
- crnProtocol.setZSpeed(crnStatus.getZSpeed());
- crnProtocol.setXDistance(crnStatus.getXDistance());
- crnProtocol.setYDistance(crnStatus.getYDistance());
- crnProtocol.setXDuration(crnStatus.getXDuration());
- crnProtocol.setYDuration(crnStatus.getYDuration());
-
- 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()), deviceConfig.getDeviceNo()));
-
-// // 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() > deviceLogCollectTime) {
- //淇濆瓨鏁版嵁璁板綍
- DeviceDataLog deviceDataLog = new DeviceDataLog();
- deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
- deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
- deviceDataLog.setType(String.valueOf(SlaveType.Crn));
- deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
- deviceDataLog.setCreateTime(new Date());
-
- redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
- //鏇存柊閲囬泦鏃堕棿
- crnProtocol.setDeviceDataLog(System.currentTimeMillis());
- }
+ crnProtocol.setXSpeed(0D);
+ crnProtocol.setYSpeed(0D);
+ crnProtocol.setZSpeed(0D);
+ crnProtocol.setXDistance(0D);
+ crnProtocol.setYDistance(0D);
+ crnProtocol.setXDuration(0D);
+ crnProtocol.setYDuration(0D);
BasCrnpService basCrnpService = null;
try {
@@ -211,8 +154,138 @@
}
@Override
+ public boolean connect() {
+ zyCrnConnectDriver = new ZyCrnConnectDriver(deviceConfig);
+ zyCrnConnectDriver.start();
+ DeviceConnectPool.put(SlaveType.Crn, deviceConfig.getDeviceNo(), zyCrnConnectDriver);
+ return true;
+ }
+
+ /**
+ * 璇诲彇鐘舵��
+ */
+ private void readStatus(){
+ ZyCrnStatusEntity crnStatus = zyCrnConnectDriver.getStatus();
+ if (crnStatus == null) {
+ 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;
+ }
+
+ crnProtocol.setMode(crnStatus.getMode());
+ crnProtocol.setTaskNo(crnStatus.getTaskNo());
+ crnProtocol.setStatus(crnStatus.getStatus());
+ crnProtocol.setBay(crnStatus.getBay());
+ crnProtocol.setLevel(crnStatus.getLevel());
+ crnProtocol.setForkPos(crnStatus.getForkPos());
+ crnProtocol.setLiftPos(crnStatus.getLiftPos());
+ crnProtocol.setWalkPos(crnStatus.getWalkPos());
+ crnProtocol.setLoaded(crnStatus.getLoaded());
+ crnProtocol.setAlarm(crnStatus.getAlarm());
+ crnProtocol.setTemp1(crnStatus.getTemp1());
+ crnProtocol.setTemp2(crnStatus.getTemp2());
+ crnProtocol.setTemp3(crnStatus.getTemp3());
+ crnProtocol.setTemp4(crnStatus.getTemp4());
+ crnProtocol.setXSpeed(crnStatus.getXSpeed());
+ crnProtocol.setYSpeed(crnStatus.getYSpeed());
+ crnProtocol.setZSpeed(crnStatus.getZSpeed());
+ crnProtocol.setXDistance(crnStatus.getXDistance());
+ crnProtocol.setYDistance(crnStatus.getYDistance());
+ crnProtocol.setXDuration(crnStatus.getXDuration());
+ crnProtocol.setYDuration(crnStatus.getYDuration());
+ crnProtocol.setWeight(crnStatus.getWeight());
+ crnProtocol.setDb110Data(crnStatus.getDb110Data());
+
+ // 涓婃姤鍫嗗灈鏈篋B110鐘舵�佹暟鎹�
+ short[] db110Data = crnProtocol.getDb110Data();
+ List<Integer> currentIndices = new ArrayList<>();
+ if (db110Data != null) {
+ for (int i = 0; i < db110Data.length; i++) {
+ if (db110Data[i] == 1) {
+ currentIndices.add(i);
+ }
+ }
+ }
+ //!currentIndices.equals(lastReportedIndices)
+ boolean changed = true;
+
+ if (changed) {
+ try {
+ WmsOperateUtils wmsOperateUtils = SpringUtils.getBean(WmsOperateUtils.class);
+ if (wmsOperateUtils != null) {
+ wmsOperateUtils.reportCrnDb110Status(crnProtocol.getCrnNo(), currentIndices);
+ lastReportedIndices = new ArrayList<>(currentIndices);
+ }
+ } catch (Exception e) {
+ log.error("Report Crn Db110 Status Fail", e);
+ }
+ }
+
+ 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()), deviceConfig.getDeviceNo()));
+
+ if (crnProtocol.getAlarm() > 0) {
+ crnProtocol.setLastCommandTime(-1L);
+ }
+
+ if (crnProtocol.getAlarm() == 0 && crnProtocol.getLastCommandTime() == -1) {
+ crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ }
+
+ if (System.currentTimeMillis() - crnProtocol.getDeviceDataLog() > deviceLogCollectTime) {
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(crnStatus));
+ deviceDataLog.setWcsData(JSON.toJSONString(crnProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.Crn));
+ deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
+ deviceDataLog.setCreateTime(new Date());
+
+ redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
+ //鏇存柊閲囬泦鏃堕棿
+ crnProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ try {
+ BasCrnpErrLogService errLogService = SpringUtils.getBean(BasCrnpErrLogService.class);
+ if (errLogService != null) {
+ String errFlagKey = RedisKeyType.DEVICE_ERR_ACTIVE_CRN.key + crnProtocol.getCrnNo();
+ Object active = redisUtil.get(errFlagKey);
+ if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
+ if (active == null) {
+ BasCrnpErrLog log = new BasCrnpErrLog();
+ log.setWrkNo(crnProtocol.getTaskNo());
+ log.setStartTime(new Date());
+ log.setCrnNo(crnProtocol.getCrnNo());
+ log.setBarcode(crnProtocol.getBarcode());
+ log.setErrCode(crnProtocol.getAlarm());
+ log.setStatus(1);
+ log.setCreateTime(new Date());
+ log.setSystemStatus(JSON.toJSONString(crnProtocol));
+ errLogService.insert(log);
+ if (log.getId() != null) {
+ redisUtil.set(errFlagKey, log.getId(), 60 * 60 * 24);
+ }
+ }
+ } else {
+ if (active != null) {
+ Long id = Long.valueOf(String.valueOf(active));
+ BasCrnpErrLog update = new BasCrnpErrLog();
+ update.setId(id);
+ update.setEndTime(new Date());
+ update.setStatus(2);
+ update.setUpdateTime(new Date());
+ errLogService.updateById(update);
+ redisUtil.del(errFlagKey);
+ }
+ }
+ }
+ } catch (Exception ignore) {}
+ }
+
+ @Override
public void close() {
- zyCrnConnectDriver.close();
+ if (zyCrnConnectDriver != null) {
+ zyCrnConnectDriver.close();
+ }
}
@Override
@@ -224,15 +297,15 @@
public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id.shortValue()); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX((short) Utils.getRow(sourceLocNo)); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) Utils.getBay(sourceLocNo)); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) Utils.getLev(sourceLocNo)); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short) 1); // 浠诲姟纭
+ 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.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.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;
}
@@ -240,13 +313,13 @@
public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(taskNo.shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id.shortValue()); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
- crnCommand.setDestinationPosX((short) Utils.getRow(targetLocNo)); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) Utils.getBay(targetLocNo)); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) Utils.getLev(targetLocNo)); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short) 1); // 浠诲姟纭
+ 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.setDestinationPosX(Utils.getRow(targetLocNo)); // 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;
}
@@ -254,16 +327,16 @@
public CrnCommand getResetCommand(Integer crnNo) {
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 0); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.NONE.id.shortValue()); // 浠诲姟妯″紡
- crnCommand.setSourcePosX((short)0); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short)0); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short) 1); // 浠诲姟纭
+ crnCommand.setTaskNo(0); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish(1); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 浠诲姟妯″紡
+ crnCommand.setSourcePosX(0); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(0); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(0); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(0); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(0); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(0); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand(1); // 浠诲姟纭
return crnCommand;
}
@@ -299,4 +372,119 @@
}
}
}
+
+ @Override
+ public synchronized CommandResponse sendCommand1(CrnCommand command) {
+ this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ CommandResponse response = null;
+ try {
+ response = zyCrnConnectDriver.sendCommand1(command);
+ return response;
+ } finally {
+ String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
+ String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
+ BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
+ ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
+ BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
+ command.getTaskNo().intValue(),
+ command.getCrnNo(),
+ new Date(),
+ String.valueOf(command.getTaskMode()),
+ sourceLocNo,
+ targetLocNo,
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(statusEntity),
+ 1,
+ JSON.toJSONString(response)
+ );
+ if (bean != null) {
+ bean.insert(basCrnpOpt);
+ }
+ }
+ }
+
+ /**
+ * 绠＄悊绔欑偣鐨勭櫧鐏儏鍐�
+ * 1(浜紝闂儊锛屼笂浣嶄笅鍙戜换鍔�)
+ * 榛樿0(鏆�)
+ * @param command
+ * @return
+ */
+
+ @Override
+ public synchronized CommandResponse sendCommand2(CrnCommand command) {
+ this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ CommandResponse response = null;
+ try {
+ response = zyCrnConnectDriver.sendCommand2(command);
+ return response;
+ } finally {
+ String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
+ String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
+ BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
+ ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
+ BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
+ command.getTaskNo().intValue(),
+ command.getCrnNo(),
+ new Date(),
+ String.valueOf(command.getTaskMode()),
+ sourceLocNo,
+ targetLocNo,
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(statusEntity),
+ 1,
+ JSON.toJSONString(response)
+ );
+ if (bean != null) {
+ bean.insert(basCrnpOpt);
+ }
+ }
+ }
+
+ /**
+ * 绠＄悊绔欑偣鐨勯粍鑹叉寜閽姸鎬佸強棰滆壊
+ * 1:浜哄伐鎸夋寜閽‘璁�
+ * 2:涓婁綅鏈烘帴鏀跺畬鎴愶紝杩愯缁�
+ * 0:浠诲姟缁撴潫涓婁綅鏈烘竻闄ょ姸鎬�
+ * @param command
+ * @return
+ */
+ @Override
+ public synchronized CommandResponse sendCommand3(CrnCommand command) {
+ this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
+ CommandResponse response = null;
+ try {
+ response = zyCrnConnectDriver.sendCommand3(command);
+ return response;
+ } finally {
+ String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
+ String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
+ BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
+ ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
+ BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
+ command.getTaskNo().intValue(),
+ command.getCrnNo(),
+ new Date(),
+ String.valueOf(command.getTaskMode()),
+ sourceLocNo,
+ targetLocNo,
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(statusEntity),
+ 1,
+ JSON.toJSONString(response)
+ );
+ if (bean != null) {
+ bean.insert(basCrnpOpt);
+ }
+ }
+ }
}
--
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