From c4281fca922cfdda53dec5dfe79890db7671d19d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 14 一月 2025 16:53:19 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/LiftThread.java | 1110 +++++++++++++++++++++++++++-------------------------------
1 files changed, 521 insertions(+), 589 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 2504792..2854b0a 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -1,590 +1,522 @@
-package com.zy.core.thread;
-
-import HslCommunication.Core.Transfer.DataFormat;
-import HslCommunication.Core.Types.OperateResult;
-import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.ModBus.ModbusTcpNet;
-import com.alibaba.fastjson.JSON;
-import com.core.common.DateUtils;
-import com.core.common.RadixTools;
-import com.core.common.SpringUtils;
-import com.core.exception.CoolException;
-import com.zy.asrs.entity.BasLift;
-import com.zy.asrs.entity.BasLiftOpt;
-import com.zy.asrs.service.BasLiftOptService;
-import com.zy.asrs.service.BasLiftService;
-import com.zy.common.utils.CommonUtils;
-import com.zy.common.utils.RedisUtil;
-import com.zy.core.DevpThread;
-import com.zy.core.News;
-import com.zy.core.ThreadHandler;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.OutputQueue;
-import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.*;
-import com.zy.core.model.LiftSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.*;
-import com.zy.core.model.protocol.LiftProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
-
-import java.text.MessageFormat;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-
-/**
- * 鎻愬崌鏈虹嚎绋�
- */
-@Data
-@Slf4j
-public class LiftThread implements Runnable, ThreadHandler {
-
- private ModbusTcpNet modbusTcpNet;
- private LiftSlave slave;
- private LiftProtocol liftProtocol;
- private RedisUtil redisUtil;
-
- public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
- this.slave = slave;
- this.redisUtil = redisUtil;
- }
-
- @Override
- public void run() {
- this.connect();
- while (true) {
- try {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Lift, 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((LiftCommand) task.getData());
- break;
- //鍒嗛厤浠诲姟
- case 3:
- assignWork((LiftAssignCommand) task.getData());
- break;
- default:
- break;
- }
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
-
- @Override
- public boolean connect() {
- boolean result = false;
- //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x02);
- // 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
- modbusTcpNet.setDataFormat(DataFormat.ABCD);
- OperateResult connect = modbusTcpNet.ConnectServer();
- if(connect.IsSuccess){
- result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戞彁鍗囨満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.info("鎻愬崌鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- } else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鎻愬崌鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- }
- modbusTcpNet.ConnectClose();
- //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- return result;
- }
-
- @Override
- public void close() {
- modbusTcpNet.ConnectClose();
- }
-
- private void readStatus() {
- try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("41117", (short) 50);
- if (result.IsSuccess) {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- liftProtocol.setLiftNo(slave.getId().shortValue());
- }
-
- //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
- //鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //鎻愬崌鏈洪攣瀹�
- liftProtocol.setLiftLock(CommonUtils.shortToBoolean(modbusTcpNet.getByteTransform().TransInt16(content, 0)));
- //浣嶇疆鍒拌揪鍙嶉
- liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
-
-
- byte b1 = modbusTcpNet.getByteTransform().TransByte(content, 5);
- byte b2 = modbusTcpNet.getByteTransform().TransByte(content, 4);
- int[] datas1 = CommonUtils.byteToBits(b1);
- int[] datas2 = CommonUtils.byteToBits(b2);
- //鍑嗗灏辩华
- liftProtocol.setReady(CommonUtils.intToBoolean(datas1[0]));
- //杩愯涓�
- liftProtocol.setRunning(CommonUtils.intToBoolean(datas1[1]));
- //鑱旀満/鍗曟満
- liftProtocol.setMode(CommonUtils.intToBoolean(datas1[2]));
- //杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(CommonUtils.intToBoolean(datas1[3]));
- //杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(CommonUtils.intToBoolean(datas1[4]));
- //杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(CommonUtils.intToBoolean(datas1[5]));
- //杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(CommonUtils.intToBoolean(datas1[6]));
- //杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(CommonUtils.intToBoolean(datas1[7]));
- //杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[0]));
- //鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(CommonUtils.intToBoolean(datas2[1]));
- //骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(CommonUtils.intToBoolean(datas2[2]));
- //骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(CommonUtils.intToBoolean(datas2[3]));
- //骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(CommonUtils.intToBoolean(datas2[4]));
-
- //鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,6));
- //浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,8));
- //浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,10));
- //浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,12));
- //浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,14));
- //鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,16));
-
- ///璇诲彇鎻愬崌鏈虹姸鎬�-end
-
- //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
- if (liftProtocol.getRunning()) {
- liftProtocol.setPakMk(true);
- }
-
- //鎻愬崌鏈哄浜庢湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
- if (!liftProtocol.getRunning()
- && liftProtocol.getPakMk()
- && liftProtocol.getTaskNo() != 0) {
- //杩樻湁鏈畬鎴愮殑鍛戒护
- executeWork(liftProtocol.getTaskNo());
- }
-
- //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
- BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
- if (basLift == null) {
- basLift = new BasLift();
- //鎻愬崌鏈哄彿
- basLift.setLiftNo(slave.getId());
- liftService.insert(basLift);
- }
- basLift.setStatus(liftProtocol.getProtocolStatus());
- basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
- basLift.setUpdateTime(new Date());
- basLift.setPakMk(liftProtocol.getPakMk());
- basLift.setLiftLock(liftProtocol.getLiftLock());
- basLift.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback().intValue());
- basLift.setReady(liftProtocol.getReady());
- basLift.setRunning(liftProtocol.getRunning());
- basLift.setMode(liftProtocol.getMode());
- basLift.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
- basLift.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
- basLift.setReverseFeedback(liftProtocol.getReverseFeedback());
- basLift.setMotorOverload(liftProtocol.getMotorOverload());
- basLift.setLineEndHasStock(liftProtocol.getLineEndHasStock());
- basLift.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
- basLift.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
- basLift.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
- basLift.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
- basLift.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
- basLift.setNotReady(liftProtocol.getNotReady().intValue());
- basLift.setServoError1(liftProtocol.getServoError1().intValue());
- basLift.setServoError2(liftProtocol.getServoError2().intValue());
- basLift.setServoError3(liftProtocol.getServoError3().intValue());
- basLift.setServoError4(liftProtocol.getServoError4().intValue());
- basLift.setLiftActualSpeed(liftProtocol.getLiftActualSpeed().intValue());
- if (liftService.updateById(basLift)) {
- OutputQueue.LIFT.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()));
-// log.info(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()));
- }
-
- }else {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆憑1}鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
- throw new CoolException(MessageFormat.format( "鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
- }
- } catch (Exception e) {
- OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- initLift();
- }
- }
-
- private boolean write(LiftCommand command){
- if (null == command) {
- News.error("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
- return false;
- }
-
- command.setLiftNo(slave.getId().shortValue());
- // 寮�濮嬩换鍔�
- short[] array = new short[30];
- //寮�濮嬭繍琛�
- array[0] = command.getRun();
- if (command.getDistPosition() != null) {
- //鐩爣浣嶇疆
- array[1] = command.getDistPosition();
- }
- if (command.getSpeed() != null) {
- //杩愯閫熷害
- array[2] = command.getSpeed();
- }
- if (command.getHeight2() != null) {
- //浜屽眰楂樺害璁惧畾
- array[3] = command.getHeight2();
- }
- if (command.getHeight3() != null) {
- //涓夊眰楂樺害璁惧畾
- array[4] = command.getHeight3();
- }
- if (command.getHeight4() != null) {
- //鍥涘眰楂樺害璁惧畾
- array[5] = command.getHeight4();
- }
- if (command.getHeight5() != null) {
- //鍥涘眰楂樺害璁惧畾
- array[6] = command.getHeight5();
- }
- if (command.getLiftLockShortValue() != null) {
- //鎻愬崌鏈洪攣瀹�
- array[29] = command.getLiftLockShortValue();
- }
-
- if (array[2] == 0) {
- // 寮�濮嬩换鍔�
- short[] tmp = new short[2];
- tmp[0] = array[0];
- tmp[1] = array[1];
- array = tmp;
- }
-
- try {
- Thread.sleep(1000);//鍛戒护涓嬪彂鍓嶄紤鐪�1s
- } catch (InterruptedException e) {
- throw new RuntimeException(e);
- }
-
- OperateResult result = modbusTcpNet.Write("41088", array);;
- if (result != null && result.IsSuccess) {
- News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.LIFT.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.LIFT.offer(MessageFormat.format("銆恵0}銆戝啓鍏ユ彁鍗囨満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("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
-
- //鍒嗛厤浠诲姟
- private void assignWork(LiftAssignCommand assignCommand) {
- //鎵嬪姩妯″紡鎸囦护
- if (!assignCommand.getAuto()) {
- LiftCommand command = new LiftCommand();
- //鎻愬崌鏈哄綋鍓嶆ゼ灞�
- Short lev = liftProtocol.getLev();
- List<LiftCommand> commands = assignCommand.getCommands();
- if (commands == null) {
- commands = new ArrayList<LiftCommand>();
- }
- liftProtocol.setTaskNo(assignCommand.getTaskNo());
- switch (assignCommand.getTaskMode()) {
- case 1://绉诲姩鎻愬崌鏈�
- command = getLiftUpDownCommand(assignCommand.getLev());//鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
- break;
- case 3://鏃犺揣姝ｈ浆
- command = getLiftTurnCommand(3);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
- break;
- case 4://鏃犺揣鍙嶈浆
- command = getLiftTurnCommand(4);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
- break;
- case 5://鏈夎揣姝ｈ浆
- command = getLiftTurnCommand(1);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
- break;
- case 6://鏈夎揣鍙嶈浆
- command = getLiftTurnCommand(2);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
- break;
- case 7://閾炬潯鍋滄
- command = getLiftTurnCommand(5);//鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠�
- break;
- case 0://澶嶄綅
- command = getResetCommand();//鑾峰彇澶嶄綅鍛戒护
- break;
- default:
- }
- commands.add(command);
- assignCommand.setCommands(commands);
- }
-
- LiftRedisCommand redisCommand = new LiftRedisCommand();
- redisCommand.setLiftNo(assignCommand.getLiftNo());//鎻愬崌鏈哄彿
- redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
- redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
- redisCommand.setAssignCommand(assignCommand);//鍛戒护
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
- liftProtocol.setAssignCommand(assignCommand);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand.getTaskNo());
- }
-
- //鎵ц浠诲姟
- private boolean executeWork(Short wrkNo) {
- //璇诲彇redis鏁版嵁
- if (wrkNo == null) {
- return false;
- }
-
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return false;
- }
- LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
- List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
- //褰撳墠姝ュ簭
- int commandStep = redisCommand.getCommandStep();
- //鎬绘搴�
- int size = commands.size();
- LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
-
- //鍙栧嚭鍛戒护
- LiftCommand command = commands.get(commandStep);
- if (command.getOperaStaNo() != null && command.getDevpId() != null) {
- //绔欑偣鍜岃緭閫佺嚎ID涓嶄负null锛岄渶瑕佷笅鍙戠珯鐐规寚浠よ皟搴︽寚瀹氱珯鐐硅繘琛岄摼鏉¤浆鍔�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId());
- StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue());
- if (!staProtocol.isLiftArrival()) {//閾炬潯杞姩鏉′欢锛岄渶瑕佹湁鎻愬崌鏈哄埌浣嶄俊鍙�
- liftProtocol.setPakMk(true);
- return false;
- }
- staProtocol.setWorkNo(wrkNo);//璁剧疆浠诲姟鍙�
- if (command.getStaNo() != null) {
- staProtocol.setStaNo(command.getStaNo());//璁剧疆鐩爣绔�
- }
-
- if (command.getRotationDire() != null) {
- staProtocol.setRotationDire(command.getRotationDire());//绔欑偣閾炬潯杞姩淇″彿
- }
- Integer devpId = command.getDevpId();
- boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//涓嬪彂鍛戒护浣胯緭閫佺嚎閾炬潯杩愯浆
- }
-
- //涓嬪彂鍛戒护
- if (!write(command)) {
- News.error("鎻愬崌鏈哄懡浠や笅鍙戝け璐ワ紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- return false;
- }else {
- News.info("鎻愬崌鏈哄懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- liftProtocol.setWrkTime(new Date());//鏇存柊宸ヤ綔鏃堕棿
-
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- liftProtocol.setPakMk(false);
-
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
- if (liftOptService != null) {
- BasLiftOpt opt = new BasLiftOpt(
- redisCommand.getWrkNo().intValue(),
- redisCommand.getLiftNo().intValue(),
- new Date(),
- null,
- null,
- null,
- JSON.toJSONString(command)
- );
- liftOptService.insert(opt);
- }
-
- //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < size - 1) {
- //鏇存柊redis鏁版嵁
- //姝ュ簭澧炲姞
- commandStep++;
- redisCommand.setCommandStep(commandStep);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- }else {
- //宸叉墽琛屽畬鎴�
- //鍒犻櫎redis
- redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());
-
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
- News.info("鎻愬崌鏈轰换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
- }
- }
-
- return true;
- }
-
- /**
- * 鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
- */
- public LiftCommand getUnlockCommand(Short liftNo) {
- LiftCommand command = new LiftCommand();
- command.setRun((short) 0);
- command.setLiftNo(liftNo);
- command.setLiftLock(false);
- return command;
- }
-
- /**
- * 鑾峰彇澶嶄綅鍛戒护
- */
- public LiftCommand getResetCommand() {
- LiftCommand command = new LiftCommand();
- command.setRun((short) 5);
- command.setLiftLock(false);
- return command;
- }
-
- /**
- * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
- */
- public LiftCommand getLiftUpDownCommand(Integer lev) {
- LiftCommand command = new LiftCommand();
- command.setRun((short) 1);//鍗囬檷
- Short position = LiftLevType.getRealLev(lev);//鑾峰彇鎻愬崌鏈哄疄闄呮ゼ灞傛暟鍊�
- command.setDistPosition(position);
-// command.setSpeed((short) 200);
-// command.setHeight2((short) 180);
-// command.setHeight3((short) 1645);
-// command.setHeight4((short) (2 * 1645));
-// command.setHeight5((short) (3 * 1645));
- return command;
- }
-
- /**
- * 鑾峰彇鎻愬崌鏈轰笂鍗囦笅闄嶅懡浠�
- */
- public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) {
- LiftCommand command = new LiftCommand();
- Short position = LiftLevType.getRealLev(lev);//鑾峰彇鎻愬崌鏈哄疄闄呮ゼ灞傛暟鍊�
- command.setRun((short) 1);//鍗囬檷
- command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
- command.setTaskNo(taskNo);//浠诲姟鍙�
- command.setDistPosition(position);//鐩爣妤煎眰
-// command.setSpeed((short) 200);
-// command.setHeight2((short) 180);
-// command.setHeight3((short) 1645);
-// command.setHeight4((short) 3290);
-// command.setHeight5((short) 4945);
- return command;
- }
-
- /**
- * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞紝3=>鏃犺揣姝ｈ浆锛�4=>鏃犺揣鍙嶈浆
- */
- public LiftCommand getLiftTurnCommand(Integer direction) {
- LiftCommand command = new LiftCommand();
- Short run = 0;
- switch (direction) {
- case 1:
- run = 6;//鏈夎揣姝ｈ浆
- break;
- case 2:
- run = 3;//鏈夎揣鍙嶈浆
- break;
- case 3:
- run = 2;//鏃犺揣姝ｈ浆
- break;
- case 4:
- run = 7;//鏃犺揣鍙嶈浆
- break;
- case 5:
- run = 4;//閾炬潯鍋滄
- }
- command.setRun(run);
- return command;
- }
-
- /**
- * 鑾峰彇鎻愬崌鏈鸿浆鍔ㄥ懡浠わ紝direction锛�1=銆嬫湁璐ф杞紝2=銆嬫湁璐у弽杞�
- */
- public LiftCommand getLiftTurnCommand(Short liftNo, Short taskNo, Integer direction) {
- LiftCommand command = new LiftCommand();
- Short run = 0;
- switch (direction) {
- case 1:
- run = 6;//鏈夎揣姝ｈ浆
- break;
- case 2:
- run = 3;//鏈夎揣鍙嶈浆
- break;
- case 3:
- run = 2;//鏃犺揣姝ｈ浆
- break;
- case 4:
- run = 7;//鏃犺揣鍙嶈浆
- break;
- case 5:
- run = 4;//閾炬潯鍋滄
- }
- command.setRun(run);
- command.setLiftNo(liftNo);//鎻愬崌鏈哄彿
- command.setTaskNo(taskNo);//浠诲姟鍙�
- return command;
- }
-
- /**
- * 鍒濆鍖栨彁鍗囨満
- */
- private void initLift() {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
- }
- }
-
- /******************************************************************************************/
- /**************************************** 娴嬭瘯涓撶敤 *****************************************/
- /*****************************************************************************************/
- public static void main(String[] args) throws InterruptedException {
- LiftSlave slave = new LiftSlave();
- slave.setId(1);
- slave.setIp("192.168.4.24");
- slave.setPort(502);
-// LiftThread thread = new LiftThread(slave,);
-// thread.connect();
-// thread.readStatus();
+//package com.zy.core.thread;
//
-// LiftCommand command = new LiftCommand();
-// command.setRun((short) 1);
-// command.setDistPosition((short) 12);
-// command.setSpeed((short) 300);
-// command.setHeight2((short) 100);
-// command.setHeight3((short) 200);
-// command.setHeight4((short) 303);
-// command.setLiftLock(true);
-// thread.write(command);
-
- }
-
-}
+//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.DateUtils;
+//import com.core.common.SpringUtils;
+//import com.core.exception.CoolException;
+//import com.zy.asrs.entity.BasLift;
+//import com.zy.asrs.entity.BasLiftOpt;
+//import com.zy.asrs.entity.DeviceDataLog;
+//import com.zy.asrs.mapper.WrkMastMapper;
+//import com.zy.asrs.service.BasLiftOptService;
+//import com.zy.asrs.service.BasLiftService;
+//import com.zy.asrs.service.DeviceDataLogService;
+//import com.zy.asrs.utils.Utils;
+//import com.zy.common.utils.RedisUtil;
+//import com.zy.core.News;
+//import com.zy.core.ThreadHandler;
+//import com.zy.core.cache.MessageQueue;
+//import com.zy.core.cache.OutputQueue;
+//import com.zy.core.enums.*;
+//import com.zy.core.model.LiftSlave;
+//import com.zy.core.model.Task;
+//import com.zy.core.model.command.*;
+//import com.zy.core.model.protocol.LiftStaProtocol;
+//import com.zy.core.model.protocol.LiftProtocol;
+//import com.zy.core.model.protocol.StaProtocol;
+//import lombok.Data;
+//import lombok.extern.slf4j.Slf4j;
+//
+//import java.text.MessageFormat;
+//import java.util.*;
+//
+///**
+// * 鎻愬崌鏈虹嚎绋�
+// */
+//@Data
+//@Slf4j
+//public class LiftThread implements Runnable, ThreadHandler {
+//
+// private SiemensS7Net siemensS7Net;
+// private LiftSlave slave;
+// private LiftProtocol liftProtocol;
+// private RedisUtil redisUtil;
+// private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();
+//
+// public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
+// this.slave = slave;
+// this.redisUtil = redisUtil;
+//
+// //鍒濆鍖栫珯鐐�
+// for (LiftSlave.Sta sta : this.slave.getSta()) {
+// LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
+// liftStaProtocol.setStaNo(sta.getStaNo());//绔欑偣鍙�
+// liftStaProtocol.setLev(sta.getLev());//绔欑偣妤煎眰
+// String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
+// liftStaProtocol.setLocNo(locNo);//绔欑偣搴撲綅鍙�
+// liftStaProtocol.setLiftNo(sta.getLiftNo());//鎻愬崌鏈哄彿
+// liftStaProtocols.add(liftStaProtocol);
+// }
+//
+// }
+//
+// @Override
+// public void run() {
+// this.connect();
+// while (true) {
+// try {
+// int step = 1;
+// Task task = MessageQueue.poll(SlaveType.Lift, slave.getId());
+// if (task != null) {
+// step = task.getStep();
+// }
+// switch (step) {
+// // 璇绘暟鎹�
+// case 1:
+// read();
+// break;
+// // 鍐欏叆鏁版嵁
+// case 2:
+// write((NyLiftCommand) task.getData());
+// break;
+// //鍒嗛厤浠诲姟
+// case 3:
+// assignWork((LiftAssignCommand) task.getData());
+// break;
+// case 4:
+// write2((HashMap<String, Object>) task.getData());
+// default:
+// break;
+// }
+// Thread.sleep(500);
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+// }
+//
+// @Override
+// public boolean connect() {
+// boolean result = false;
+// //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
+// siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
+// OperateResult connect = siemensS7Net.ConnectServer();
+// if(connect.IsSuccess){
+// result = true;
+// OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戞彁鍗囨満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+// log.info("鎻愬崌鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
+// } else {
+// OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+// log.error("鎻愬崌鏈簆lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
+// }
+// siemensS7Net.ConnectClose();
+// //-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
+// return result;
+// }
+//
+// @Override
+// public void close() {
+// siemensS7Net.ConnectClose();
+// }
+//
+// private void read() {
+// try {
+// readStatus();
+//
+// //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓篺alse
+// if (liftProtocol.getBusy()) {
+// liftProtocol.setPakMk(false);
+// }
+//
+// //鎻愬崌鏈哄浜庢湭杩愯銆佸氨缁�佹爣璁皌rue銆佹湁浠诲姟鍙�
+// if (!liftProtocol.getBusy()
+// && !liftProtocol.getPakMk()
+// && liftProtocol.getTaskNo() != 0) {
+// //杩樻湁鏈畬鎴愮殑鍛戒护
+// executeWork(liftProtocol.getTaskNo());
+// }
+// } catch (Exception e) {
+// OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+// }
+// }
+//
+// private void readStatus() {
+// try {
+// //鑾峰彇鎻愬崌鏈烘暟鎹�
+// OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
+// if (result1.IsSuccess) {
+// if (null == liftProtocol) {
+// liftProtocol = new LiftProtocol();
+// liftProtocol.setLiftNo(slave.getId().shortValue());
+// }
+// //璇诲彇4.0-4.7鏁版嵁
+// boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 1);
+// //璇诲彇5.0-5.7鏁版嵁
+// boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, 1, 1);
+// //妯″紡
+// liftProtocol.setModel(status1[0]);
+// //蹇欓棽
+// liftProtocol.setBusy(!status1[1]);
+// //鍓嶈秴闄�
+// liftProtocol.setFrontOverrun(status1[4]);
+// //鍚庤秴闄�
+// liftProtocol.setBackOverrun(status1[5]);
+// //宸﹁秴闄�
+// liftProtocol.setLeftOverrun(status1[6]);
+// //鍙宠秴闄�
+// liftProtocol.setRightOverrun(status1[7]);
+// //瓒呴珮
+// liftProtocol.setOverHeight(status2[0]);
+// //瓒呴噸
+// liftProtocol.setOverWeight(status2[1]);
+// //鏈夋墭鐩�
+// liftProtocol.setHasTray(status2[5]);
+// //鏈夊皬杞�
+// liftProtocol.setHasCar(status2[6]);
+// //璁惧鏁呴殰
+// liftProtocol.setDeviceError(status2[7]);
+// //浠诲姟鍙�
+// liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
+// //鐩殑鍦板潃
+// liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
+// //宸插畬鎴愪换鍔″彿
+// liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
+// //褰撳墠妤煎眰
+// short lev = siemensS7Net.getByteTransform().TransInt16(result1.Content, 8);
+// if (lev >= 7 && lev <= 9) {
+// lev -= 2;
+// } else if (lev >= 12 && lev <= 14) {
+// lev -= 4;
+// }
+// liftProtocol.setLev(lev);
+//
+// //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+// BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
+// BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
+// if (basLift == null) {
+// basLift = new BasLift();
+// //鎻愬崌鏈哄彿
+// basLift.setLiftNo(slave.getId());
+// liftService.insert(basLift);
+// }
+// basLift.setStatus(liftProtocol.getProtocolStatus());
+// basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
+// basLift.setUpdateTime(new Date());
+// basLift.setPakMk(liftProtocol.getPakMk());
+// basLift.setDeviceStatus(JSON.toJSONString(liftProtocol));
+// if (liftService.updateById(basLift)) {
+// OutputQueue.LIFT.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()));
+//// log.info(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()));
+// }
+// }else {
+// OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆憑1}鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
+// throw new CoolException(MessageFormat.format( "鎻愬崌鏈簆lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
+// }
+// Thread.sleep(200);
+//
+// //鑾峰彇鎻愬崌鏈虹珯鐐规暟鎹�
+// OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB82.14.0", (short) (10 * liftStaProtocols.size()));
+// if (result1.IsSuccess) {
+// for (int i = 0; i < slave.getSta().size(); i++) {
+// LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i);
+// int i1 = 0 + (i * 10);
+// int i2 = 1 + (i * 10);
+// //璇诲彇x4.0-x4.7鏁版嵁
+// boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i1, 1);
+// //璇诲彇x5.0-x5.7鏁版嵁
+// boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result2.Content, i2, 1);
+// //妯″紡
+// liftStaProtocol.setModel(status1[0]);
+// //蹇欓棽
+// liftStaProtocol.setBusy(!status1[1]);
+// //鏈夋墭鐩�
+// liftStaProtocol.setHasTray(status1[2]);
+// //鏈夊皬杞�
+// liftStaProtocol.setHasCar(status2[6]);
+// //璁惧鏁呴殰
+// liftStaProtocol.setDeviceError(status2[7]);
+// //浠诲姟鍙�
+// liftStaProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 2));
+// }
+// }
+//
+// Thread.sleep(100);
+// //鑾峰彇鎻愬崌鏈哄紓甯告暟鎹�
+// OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB82.22.0", (short) 2);
+// if (result3.IsSuccess) {
+// liftProtocol.setErrorCode(siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));//閿欒鐮�
+// }
+//
+// if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) {
+// //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(result1.Content));
+// deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol));
+// deviceDataLog.setType("lift");
+// deviceDataLog.setDeviceNo(liftProtocol.getLiftNo().intValue());
+// deviceDataLog.setCreateTime(new Date());
+// deviceDataLogService.insert(deviceDataLog);
+//
+// //鏇存柊閲囬泦鏃堕棿
+// liftProtocol.setDeviceDataLog(System.currentTimeMillis());
+// }
+//
+// } catch (Exception e) {
+// OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戞彁鍗囨満plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+// }
+// }
+//
+// private boolean write(NyLiftCommand command){
+// if (null == command) {
+// News.error("鎻愬崌鏈哄啓鍏ュ懡浠や负绌�");
+// return false;
+// }
+//
+// command.setLiftNo(slave.getId().shortValue());
+// short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+//
+// OperateResult result = siemensS7Net.Write("DB83.0", array);
+// if (result != null && result.IsSuccess) {
+// liftProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+// News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+// OutputQueue.LIFT.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.LIFT.offer(MessageFormat.format("銆恵0}銆戝啓鍏ユ彁鍗囨満plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}],娆℃暟锛歿}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+// News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+// return false;
+// }
+// }
+//
+// //鑾峰彇鍛戒护鎶ユ枃
+// private short[] getCommandArr(NyLiftCommand command) {
+// // 寮�濮嬩换鍔�
+// short[] array = new short[4];
+// if (command.getTaskModel() != null) {
+// //浠诲姟绫诲瀷
+// array[0] = command.getTaskModel();
+// }
+// if (command.getSourceSta() != null) {
+// //婧愮珯鍙扮紪鍙�
+// array[1] = command.getSourceSta();
+// }
+// if (command.getTargetSta() != null) {
+// //鐩爣绔欏彴缂栧彿
+// array[2] = command.getTargetSta();
+// }
+// if (command.getTaskNo() != null) {
+// //浠诲姟鍙�
+// array[3] = command.getTaskNo();
+// }
+// return array;
+// }
+//
+// //鍒嗛厤浠诲姟
+// private void assignWork(LiftAssignCommand assignCommand) {
+// LiftRedisCommand redisCommand = new LiftRedisCommand();
+// redisCommand.setLiftNo(assignCommand.getLiftNo());//鎻愬崌鏈哄彿
+// redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+// redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
+// redisCommand.setAssignCommand(assignCommand);//鍛戒护
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set(RedisKeyType.LIFT.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+// liftProtocol.setAssignCommand(assignCommand);
+// liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+// //鎵ц涓嬪彂浠诲姟
+// executeWork(assignCommand.getTaskNo());
+// }
+//
+// //鎵ц浠诲姟
+// private boolean executeWork(Short wrkNo) {
+// //璇诲彇redis鏁版嵁
+// if (wrkNo == null) {
+// return false;
+// }
+//
+// if (wrkNo >= 20000 && wrkNo <= 30000) {
+// //鎻愬崌鏈鸿澶囧伐浣滃彿锛岄渶瑕佹煡璇㈠搴斾换鍔″彿
+// BasLiftOptService basLiftOptService = SpringUtils.getBean(BasLiftOptService.class);
+// BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftProtocol.getLiftNo().intValue());
+// if (basLiftOpt != null) {
+// wrkNo = basLiftOpt.getWrkNo().shortValue();
+// }
+// }
+//
+// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+// if (o == null) {
+// return false;
+// }
+// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+// List<NyLiftCommand> commands = redisCommand.getAssignCommand().getCommands();
+// //褰撳墠姝ュ簭
+// int commandStep = redisCommand.getCommandStep();
+// //鎬绘搴�
+// int size = commands.size();
+//
+// if (!redisCommand.getLiftNo().equals(liftProtocol.getLiftNo())) {
+// return false;
+// }
+//
+// if (commandStep != 0) {
+// //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀仛瀹�
+// NyLiftCommand lastCommand = commands.get(commandStep - 1);//涓婁竴鏉℃寚浠�
+// if (!liftProtocol.getBusy() && liftProtocol.getTaskNo().equals(lastCommand.getTaskNo())) {
+// //鎻愬崌鏈虹┖闂层�佷笖鎻愬崌鏈哄伐浣滃彿涓庝笂涓�鏉℃寚浠ゅ伐浣滃彿鐩稿悓
+// lastCommand.setComplete(true);//鏍囪浠诲姟瀹屾垚
+// }
+//
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+//
+// if (!lastCommand.getComplete()) {
+// //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+// return false;
+// }
+//
+// //鍒ゆ柇鏄惁涓烘渶鍚庝竴鏉″懡浠や笖鍛戒护鎵ц瀹屾垚锛屾姏鍑虹瓑寰呯‘璁ょ姸鎬�
+// NyLiftCommand endCommand = commands.get(commands.size() - 1);
+// if (endCommand.getComplete()) {
+// //宸叉墽琛屽畬鎴�
+// //鍒犻櫎redis
+// redisUtil.del(RedisKeyType.LIFT.key + redisCommand.getWrkNo());
+//
+// //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+// liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
+// News.info("鎻愬崌鏈轰换鍔℃墽琛屼笅鍙戝畬鎴愭墽琛岀粨鏉燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", redisCommand.getLiftNo(), JSON.toJSON(redisCommand));
+// }
+//
+// }
+//
+// //鍙栧嚭鍛戒护
+// NyLiftCommand command = commands.get(commandStep);
+//
+// //涓嬪彂鍛戒护
+// if (!write(command)) {
+// News.error("鎻愬崌鏈哄懡浠や笅鍙戝け璐ワ紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+// return false;
+// }
+//
+// liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+// News.info("鎻愬崌鏈哄懡浠や笅鍙戞垚鍔燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+//
+// //灏嗘爣璁扮疆涓簍rue(闃叉閲嶅彂)
+// liftProtocol.setPakMk(true);
+//
+// //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+// BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
+// if (liftOptService != null) {
+// short[] commandArr = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+// BasLiftOpt opt = new BasLiftOpt(
+// redisCommand.getWrkNo().intValue(),
+// liftProtocol.getLiftNo().intValue(),
+// new Date(),
+// null,
+// null,
+// null,
+// JSON.toJSONString(command),
+// JSON.toJSONString(liftProtocol)
+// );
+// opt.setDeviceWrk(command.getTaskNo().toString());//璁惧宸ヤ綔鍙�
+// liftOptService.insert(opt);
+// }
+//
+// //鏇存柊redis鏁版嵁
+// //姝ュ簭澧炲姞
+// commandStep++;
+// redisCommand.setCommandStep(commandStep);
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+//
+//// //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
+//// if (commandStep < size - 1) {
+//// //鏇存柊redis鏁版嵁
+//// //姝ュ簭澧炲姞
+//// commandStep++;
+//// redisCommand.setCommandStep(commandStep);
+//// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+//// redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+//// }else {
+//// //宸叉墽琛屽畬鎴�
+//// //鍒犻櫎redis
+//// redisUtil.del(RedisKeyType.LIFT.key + redisCommand.getWrkNo());
+////
+//// //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+//// liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
+//// News.info("鎻愬崌鏈轰换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
+//// }
+//
+// if (redisCommand.getAssignCommand().getTaskMode() == NyLiftTaskModelType.RESET.id.shortValue()) {
+// //澶嶄綅鍛戒护
+// //宸ヤ綔鍙锋竻闆�
+// liftProtocol.setTaskNo((short) 0);
+// //浠ょ墝娓呴浂
+// liftProtocol.setToken(0);
+// //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+// liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+// //浠诲姟鎸囦护娓呴浂
+// liftProtocol.setAssignCommand(null);
+// }
+//
+// return true;
+// }
+//
+// //缁欐彁鍗囨満鍐欏叆杩涘嚭鐘舵��
+// private void write2(HashMap<String,Object> data) {
+//// //鍑�
+//// status = true;
+//// //杩�
+//// status = false;
+// int lev = Integer.parseInt(data.get("lev").toString());
+// boolean status = Boolean.parseBoolean(data.get("status").toString());
+//
+// ArrayList<String> list = new ArrayList<String>(){{
+// add("83.8.0");
+// add("83.8.1");
+// add("83.8.2");
+// add("83.8.3");
+// add("83.8.4");
+// add("83.8.5");
+// add("83.8.6");
+// add("83.8.7");
+// add("83.9.0");
+// add("83.9.1");
+// }};
+// OperateResult result = siemensS7Net.Write("DB" + list.get(lev - 1), status);
+// if (result != null && result.IsSuccess) {
+// News.info("鎻愬崌鏈哄懡浠や笅鍙慬id:{}]", slave.getId());
+// } else {
+// News.error("鍐欏叆鎻愬崌鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+// }
+// }
+//
+// /******************************************************************************************/
+// /**************************************** 娴嬭瘯涓撶敤 *****************************************/
+// /*****************************************************************************************/
+// public static void main(String[] args) throws InterruptedException {
+// LiftSlave slave = new LiftSlave();
+// slave.setId(1);
+// slave.setIp("192.168.4.24");
+// slave.setPort(502);
+//// LiftThread thread = new LiftThread(slave,);
+//// thread.connect();
+//// thread.readStatus();
+////
+//// LiftCommand command = new LiftCommand();
+//// command.setRun((short) 1);
+//// command.setDistPosition((short) 12);
+//// command.setSpeed((short) 300);
+//// command.setHeight2((short) 100);
+//// command.setHeight3((short) 200);
+//// command.setHeight4((short) 303);
+//// command.setLiftLock(true);
+//// thread.write(command);
+//
+// }
+//
+//}
--
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