From d3cc456ffe53a2423c80377d4d96b79459405e29 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 09 九月 2023 16:21:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/LiftThread.java | 344 ++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 244 insertions(+), 100 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 0f9a811..3e0bafd 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -4,23 +4,40 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
+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.WrkMast;
+import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.service.BasLiftOptService;
+import com.zy.asrs.service.BasLiftService;
+import com.zy.asrs.utils.Utils;
+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.enums.SlaveType;
+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.LiftCommand;
+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�
@@ -29,12 +46,14 @@
@Slf4j
public class LiftThread implements Runnable, ThreadHandler {
- private ModbusTcpNet modbusTcpNet;
+ private SiemensS7Net siemensS7Net;
private LiftSlave slave;
private LiftProtocol liftProtocol;
+ private RedisUtil redisUtil;
- public LiftThread(LiftSlave slave) {
+ public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
this.slave = slave;
+ this.redisUtil = redisUtil;
}
@Override
@@ -50,11 +69,15 @@
switch (step) {
// 璇绘暟鎹�
case 1:
- readStatus();
+ read();
break;
// 鍐欏叆鏁版嵁
case 2:
- write((LiftCommand) task.getData());
+ write((NyLiftCommand) task.getData());
+ break;
+ //鍒嗛厤浠诲姟
+ case 3:
+ assignWork((LiftAssignCommand) task.getData());
break;
default:
break;
@@ -70,10 +93,8 @@
public boolean connect() {
boolean result = false;
//-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
- // 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();
+ 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()));
@@ -82,19 +103,40 @@
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();
+ siemensS7Net.ConnectClose();
//-------------------------鎻愬崌鏈鸿繛鎺ユ柟娉�------------------------//
return result;
}
@Override
public void close() {
- modbusTcpNet.ConnectClose();
+ 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簍rue
+ if (liftProtocol.getBusy()) {
+ 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.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 {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("29", (short) 17);
+ OperateResultExOne<byte[]> result = siemensS7Net.Read("M100.0", (short) 28);
if (result.IsSuccess) {
if (null == liftProtocol) {
liftProtocol = new LiftProtocol();
@@ -104,56 +146,73 @@
//----------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(modbusTcpNet.getByteTransform().TransBool(content,0));
- //浣嶇疆鍒拌揪鍙嶉
- liftProtocol.setPositionArrivalFeedback(modbusTcpNet.getByteTransform().TransInt16(content,2));
- //鍑嗗灏辩华
- liftProtocol.setReady(modbusTcpNet.getByteTransform().TransBool(content,3));
- //杩愯涓�
- liftProtocol.setRunning(modbusTcpNet.getByteTransform().TransBool(content,4));
- //鑱旀満/鍗曟満
- liftProtocol.setMode(modbusTcpNet.getByteTransform().TransBool(content,5));
- //杈撻�佺嚎鍓嶇鍏夌數鏈夎揣
- liftProtocol.setLineFrontHasStock(modbusTcpNet.getByteTransform().TransBool(content,6));
- //杈撻�佺嚎姝ｈ浆鍙嶉
- liftProtocol.setForwardRotationFeedback(modbusTcpNet.getByteTransform().TransBool(content,7));
- //杈撻�佺嚎鍙嶈浆鍙嶉
- liftProtocol.setReverseFeedback(modbusTcpNet.getByteTransform().TransBool(content,8));
- //杈撻�佺嚎鐢垫満杩囪浇
- liftProtocol.setMotorOverload(modbusTcpNet.getByteTransform().TransBool(content,9));
- //杈撻�佺嚎鏈鍏夌數鏈夎揣
- liftProtocol.setLineEndHasStock(modbusTcpNet.getByteTransform().TransBool(content,10));
- //杩涜緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setInConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,11));
- //鍑鸿緭閫佺嚎鍗℃墭鐩樻姤璀�
- liftProtocol.setOutConveyLineCardTrayAlarm(modbusTcpNet.getByteTransform().TransBool(content,12));
- //骞冲彴浣嶇疆鍋忓樊鎶ヨ
- liftProtocol.setPlatPositionDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,13));
- //骞冲彴鎵煩鍋忓樊鎶ヨ
- liftProtocol.setPlatTorqueDeviationAlarm(modbusTcpNet.getByteTransform().TransBool(content,14));
- //骞冲彴鍥涘悜杞︽娴�
- liftProtocol.setPlatShuttleCheck(modbusTcpNet.getByteTransform().TransBool(content,15));
- //鏈氨缁姸鎬�
- liftProtocol.setNotReady(modbusTcpNet.getByteTransform().TransInt16(content,16));
- //浼烘湇1閿欒
- liftProtocol.setServoError1(modbusTcpNet.getByteTransform().TransInt16(content,17));
- //浼烘湇2閿欒
- liftProtocol.setServoError2(modbusTcpNet.getByteTransform().TransInt16(content,18));
- //浼烘湇3閿欒
- liftProtocol.setServoError3(modbusTcpNet.getByteTransform().TransInt16(content,19));
- //浼烘湇4閿欒
- liftProtocol.setServoError4(modbusTcpNet.getByteTransform().TransInt16(content,20));
- //鎻愬崌鏈哄疄闄呴�熷害鍙嶉
- liftProtocol.setLiftActualSpeed(modbusTcpNet.getByteTransform().TransInt16(content,21));
+ //妯″紡
+ liftProtocol.setModel(siemensS7Net.getByteTransform().TransBool(content, 0));
+ //蹇欓棽
+ liftProtocol.setBusy(siemensS7Net.getByteTransform().TransBool(content, 1));
+ //鍓嶈秴闄�
+ liftProtocol.setFrontOverrun(siemensS7Net.getByteTransform().TransBool(content, 7));
+ //鍚庤秴闄�
+ liftProtocol.setBackOverrun(siemensS7Net.getByteTransform().TransBool(content, 8));
+ //宸﹁秴闄�
+ liftProtocol.setLeftOverrun(siemensS7Net.getByteTransform().TransBool(content, 9));
+ //鍙宠秴闄�
+ liftProtocol.setRightOverrun(siemensS7Net.getByteTransform().TransBool(content, 10));
+ //瓒呴珮
+ liftProtocol.setOverHeight(siemensS7Net.getByteTransform().TransBool(content, 11));
+ //瓒呴噸
+ liftProtocol.setOverWeight(siemensS7Net.getByteTransform().TransBool(content, 12));
+ //鏈夋墭鐩�
+ liftProtocol.setHasTray(siemensS7Net.getByteTransform().TransBool(content, 16));
+ //鏈夊皬杞�
+ liftProtocol.setHasCar(siemensS7Net.getByteTransform().TransBool(content, 17));
+ //璁惧鏁呴殰
+ liftProtocol.setDeviceError(siemensS7Net.getByteTransform().TransBool(content, 18));
+ //浠诲姟鍙�
+ liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(content, 19));
+ //浠诲姟鍦板潃
+ liftProtocol.setTaskAddress(siemensS7Net.getByteTransform().TransInt16(content, 21));
+ //鐩殑鍦板潃
+ liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(content, 21));
+ //宸插畬鎴愪换鍔″彿
+ liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(content, 23));
+ //褰撳墠妤煎眰
+ liftProtocol.setLev(siemensS7Net.getByteTransform().TransInt16(content, 25));
///璇诲彇鎻愬崌鏈虹姸鎬�-end
- 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()));
-
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- //.....
+ //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.setModel(liftProtocol.getModel());
+ basLift.setBusy(liftProtocol.getBusy());
+ basLift.setFrontOverrun(liftProtocol.getFrontOverrun());
+ basLift.setBackOverrun(liftProtocol.getBackOverrun());
+ basLift.setLeftOverrun(liftProtocol.getLeftOverrun());
+ basLift.setRightOverrun(liftProtocol.getRightOverrun());
+ basLift.setOverHeight(liftProtocol.getOverHeight());
+ basLift.setOverWeight(liftProtocol.getOverWeight());
+ basLift.setHasTray(liftProtocol.getHasTray());
+ basLift.setHasCar(liftProtocol.getHasCar());
+ basLift.setDeviceError(liftProtocol.getDeviceError());
+ basLift.setTaskAddress(liftProtocol.getTaskAddress().intValue());
+ basLift.setDistAddress(liftProtocol.getDistAddress().intValue());
+ basLift.setCompleteTaskNo(liftProtocol.getCompleteTaskNo().intValue());
+ basLift.setLev(liftProtocol.getLev().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()));
@@ -161,53 +220,138 @@
}
} 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){
+ 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());
- // 寮�濮嬩换鍔�
- short[] array = new short[30];
- //寮�濮嬭繍琛�
- array[0] = command.getRun();
- //鐩爣浣嶇疆
- array[1] = command.getDistPosition();
- //杩愯閫熷害
- array[2] = command.getSpeed();
- //浜屽眰楂樺害璁惧畾
- array[3] = command.getHeight2();
- //涓夊眰楂樺害璁惧畾
- array[4] = command.getHeight3();
- //鍥涘眰楂樺害璁惧畾
- array[5] = command.getHeight4();
- //鎻愬崌鏈洪攣瀹�
- array[29] = command.getLiftLockShortValue();
+ command.setLiftNo(slave.getId().shortValue());
+ short[] array = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
- OperateResult result = modbusTcpNet.Write("0", array);;
+ OperateResult result = siemensS7Net.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()));
+ 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;
}
}
- /**
- * 鍒濆鍖栨彁鍗囨満
- */
- private void initLift() {
- if (null == liftProtocol) {
- liftProtocol = new LiftProtocol();
+ //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("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;
+ }
+
+ WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
+ Object o = redisUtil.get("lift_wrk_no_" + 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();
+
+ //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;
+ }
+
+ 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) {
+ short[] commandArr = getCommandArr(command);//鑾峰彇鍛戒护鎶ユ枃
+ BasLiftOpt opt = new BasLiftOpt(
+ redisCommand.getWrkNo().intValue(),
+ redisCommand.getLiftNo().intValue(),
+ new Date(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(commandArr),
+ JSON.toJSONString(liftProtocol)
+ );
+ 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;
}
/******************************************************************************************/
@@ -218,19 +362,19 @@
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) 0);
- 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);
+// 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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