From d8e58cc61c3a1cb1d6a083cd46803130d0243ef1 Mon Sep 17 00:00:00 2001
From: dubin <bindu_bean@163.com>
Date: 星期一, 10 十一月 2025 16:40:15 +0800
Subject: [PATCH] #1
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 826 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 826 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..79b8568
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -0,0 +1,826 @@
+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.service.BasCrnOptService;
+import com.zy.asrs.service.BasCrnpService;
+import com.zy.common.utils.News;
+import com.zy.core.CrnThread;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.CrnStatusType;
+import com.zy.core.enums.CrnTaskModeType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.CrnSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+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;
+ private boolean resetFlagTwo = false;
+
+ public boolean isRunning = true;
+
+ public Long sign = System.currentTimeMillis();
+
+ /**
+ * 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 1鍙峰伐浣�
+ case 2:
+ CrnCommand data = (CrnCommand) task.getData();
+ if (data.getPltType() == null || data.getPltType() == 1) {
+ write(data);
+ } else if (data.getPltType() == 2) {
+ write2(data);
+ }
+ break;
+ // 澶嶄綅 1鍙峰伐浣�
+ 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;
+ // 澶嶄綅 2鍙峰伐浣�
+ case 6:
+ CrnCommand command2 = (CrnCommand) task.getData();
+ if (null == command2) {
+ command2 = new CrnCommand();
+ }
+ command2.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ command2.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command2.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command2.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+ command2.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command2.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command2.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ command2.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ command2.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ command2.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ write2(command2);
+ break;
+
+ default:
+ break;
+ }
+ Thread.sleep(500);
+ } catch (Exception e) {
+// e.printStackTrace();
+ }
+
+ }
+ }
+
+ /**
+ * 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.setStatusTwo((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((float) 0);
+ crnProtocol.setySpeed((float) 0);
+ crnProtocol.setzSpeed((float) 0);
+ crnProtocol.setxDistance((float) 0);
+ crnProtocol.setyDistance((float) 0);
+ crnProtocol.setxDuration((float) 0);
+ crnProtocol.setyDuration((float) 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 {
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 66);
+ 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.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 26));
+ crnProtocol.setWalkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 28));
+ crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 30));
+
+ crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 12));
+ crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 32));
+
+
+ //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((float) siemensNet.getByteTransform().TransInt16(result.Content, 34));
+ crnProtocol.setySpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 38));
+ crnProtocol.setzSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 42));
+ crnProtocol.setxDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 50) / 10000);
+ crnProtocol.setyDistance((float) siemensNet.getByteTransform().TransInt16(result.Content, 54) / 10000);
+ crnProtocol.setxDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 58) / 10000);
+ crnProtocol.setyDuration((float) siemensNet.getByteTransform().TransInt16(result.Content, 62) / 10000);
+
+ //2宸ヤ綅
+ crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 14));
+ crnProtocol.setStatusTwo(siemensNet.getByteTransform().TransInt16(result.Content, 16));
+ crnProtocol.setBayTwo(siemensNet.getByteTransform().TransInt16(result.Content, 18));
+ crnProtocol.setLevelTwo(siemensNet.getByteTransform().TransInt16(result.Content, 20));
+ crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 22));
+ crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 24));
+
+
+ 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 (crnProtocol.getTaskNo() == 0){
+// News.error("鍫嗗灈鏈哄伐浣�1宸ヤ綔鍙蜂负0锛屼笉浜堢‘璁わ紝宸ヤ綅1{}",crnProtocol.getLoaded() == 1 ? "鏈夌墿" : "鏃犵墿");
+// return;
+// }
+ News.error("---绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙�1淇″彿:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
+ slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "鏈夌墿" : "鏃犵墿");
+ if (resetFlag) {
+ if (crnProtocol.getTaskNo() == 9999) {
+ backHpFlag = false;
+ }
+ Short wrkNo = crnProtocol.getTaskNo();
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setAckFinish((short) 1);
+ if (write(crnCommand)) {
+ resetFlag = false;
+ News.error("---绗簩姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}]==>> 宸ヤ綅1澶嶄綅resetFlag鏍囪鎴愬姛{}锛侊紒",
+ slave.getId(), wrkNo, resetFlag);
+ }
+ }
+ }
+
+ // 澶嶄綅淇″彿
+ if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) {
+// if (crnProtocol.getTaskNoTwo() == 0){
+// News.error("鍫嗗灈鏈哄伐浣�2宸ヤ綔鍙蜂负0锛屼笉浜堢‘璁わ紝宸ヤ綅2{}",crnProtocol.getLoadedTwo() == 1 ? "鏈夌墿" : "鏃犵墿");
+// return;
+// }
+ News.error("---绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙�2淇″彿:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
+ slave.getId(), crnProtocol.getTaskNoTwo(), crnProtocol.getLoadedTwo() == 1 ? "鏈夌墿" : "鏃犵墿");
+ if (resetFlagTwo) {
+ if (crnProtocol.getTaskNo() == 9999) {
+ backHpFlag = false;
+ }
+ Short wrkNo = crnProtocol.getTaskNo();
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setAckFinish((short) 1);
+ if (write2(crnCommand)) {
+ resetFlagTwo = false;
+ News.error("---绗簩姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}]==>> 宸ヤ綅2澶嶄綅resetFlag鏍囪鎴愬姛{}锛侊紒",
+ slave.getId(), wrkNo, resetFlag);
+ }
+ }
+ }
+
+ 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("鍫嗗灈鏈哄伐浣�1鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+ // 鍚戝爢鍨涙満鍙戜换鍔″墠鐨勫爢鍨涙満鐘舵��
+ try {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
+ if (resultRead.IsSuccess) {
+ CrnCommand one = new CrnCommand();
+ one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
+ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
+ one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
+ if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
+ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
+ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
+ || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
+ ) {
+// News.error("涓嬪彂鍓嶏細[id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ } else {
+// News.info("涓嬪彂鍓嶏細[id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ }
+ } catch (Exception e) {
+ News.error("鍫嗗灈鏈哄伐浣�1鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+// convertRow(command);
+ command.setCrnNo(slave.getId());
+// short[] array = new short[10];
+ short[] array = new short[10];
+ array[0] = command.getAckFinish(); // 浠诲姟瀹屾垚纭浣�
+ array[1] = command.getTaskNo(); // 浠诲姟鍙�
+ array[2] = command.getTaskMode(); // 妯″紡
+ array[3] = command.getSourcePosX(); // 婧愪綅缃帓鍙�
+ array[4] = command.getSourcePosY(); // 婧愪綅缃垪鍙�
+ array[5] = command.getSourcePosZ(); // 婧愪綅缃眰鍙�
+ array[6] = command.getDestinationPosX(); // 鐩爣浣嶇疆鎺掑彿
+ array[7] = command.getDestinationPosY(); // 鐩爣浣嶇疆鍒楀彿
+ array[8] = command.getDestinationPosZ(); // 鐩爣浣嶇疆灞傚彿
+ array[9] = command.getCommand();
+// array[10] = 0; //澶囩敤1
+
+
+ OperateResult result = siemensNet.Write("DB100.0", array);
+ News.info("鍫嗗灈鏈哄伐浣�1鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), array);
+
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ int writeCount1 = 1;
+
+ do {
+ try {
+ if (!result.IsSuccess) {
+// if (!resetFlag){
+ News.error("鍐欏叆鍫嗗灈鏈哄伐浣�1plc鏁版嵁澶辫触锛岄噸鏂颁笅鍙戜换鍔� 鍐欏叆鐩存帴澶辫触 ===>> [id:{}],{},[鍐欏叆娆℃暟:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
+ result = siemensNet.Write("DB100.0", array);
+
+// }
+ Thread.sleep(100);
+ writeCount1++;
+ continue;
+ }
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18);
+ if (resultRead.IsSuccess) {
+ CrnCommand one = new CrnCommand();
+ one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
+ one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
+ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
+ one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
+ if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
+ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
+ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
+ || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
+ || !command.getAckFinish().equals(one.getAckFinish())
+ ) {
+ try {
+ News.error("鍫嗗灈鏈哄伐浣�1鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐�==>涓嶄竴鑷碵id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one));
+ } catch (Exception e) {
+ try {
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command), JSON.toJSON(resultRead));
+ } catch (Exception e1) {
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+
+ }
+// if (!resetFlag){
+ News.error("鍐欏叆鍫嗗灈鏈哄伐浣�1plc鏁版嵁澶辫触锛岄噸鏂颁笅鍙戜换鍔� 鍥炶涓嶄竴鑷� ===>> [id:{}],{},[鍐欏叆娆℃暟:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
+ result = siemensNet.Write("DB100.0", array);
+// }
+ writeCount1++;
+ continue;
+ } else {
+ News.info("鍫嗗灈鏈哄伐浣�1鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one));
+ break;
+ }
+ }
+ } catch (Exception e) {
+ News.error("鍫嗗灈鏈哄伐浣�1鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�,寮傚父锛�" + e);
+ }
+ writeCount1++;
+ } while (writeCount1 < 6);
+
+
+ if (command.getAckFinish() == 0) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ short commandFinish = (short) 1;
+ result = siemensNet.Write("DB100.38", commandFinish);
+ if (result.IsSuccess) {
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish != 1) {
+ News.error("鍫嗗灈鏈哄伐浣�1浠诲姟纭浣�" + commandFinish + "鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ } else {
+ //浠诲姟鍛戒护鍐欏叆鎴愬姛
+ News.info("鍫嗗灈鏈哄伐浣�1浠诲姟纭浣�" + commandFinish + "鍥炶鎴愬姛锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ break;
+ }
+ } else {
+ News.error("鍫嗗灈鏈哄伐浣�1浠诲姟纭浣�" + commandFinish + "鍥炶澶辫触锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ }
+ } else {
+ News.error("鍫嗗灈鏈哄伐浣�1浠诲姟纭浣�" + commandFinish + "鍐欏叆澶辫触锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ }
+ } while (writeCount2 < 5);
+ }
+ }
+
+
+ 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("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宸ヤ綅1plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ News.error("鍐欏叆鍫嗗灈鏈哄伐浣�1plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+
+ /**
+ * 鍐欏叆鏁版嵁
+ */
+ private boolean write2(CrnCommand command) throws InterruptedException {
+ if (null == command) {
+ News.error("鍫嗗灈鏈哄伐浣�2鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+ // 鍚戝爢鍨涙満鍙戜换鍔″墠鐨勫爢鍨涙満鐘舵��
+ try {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.20", (short) 20);
+ if (resultRead.IsSuccess) {
+ CrnCommand one = new CrnCommand();
+ one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
+ one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
+ one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
+ one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10));
+ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12));
+ one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
+ one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16));
+ if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
+ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
+ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
+ || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
+ ) {
+// News.error("涓嬪彂鍓嶏細[id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ } else {
+// News.info("涓嬪彂鍓嶏細[id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ }
+ } catch (Exception e) {
+ News.error("鍫嗗灈鏈哄伐浣�2鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+// convertRow(command);
+ command.setCrnNo(slave.getId());
+// short[] array = new short[10];
+ short[] array = new short[10];
+// array[0] = command.getAckFinish(); // 浠诲姟瀹屾垚纭浣�
+ array[0] = command.getTaskNo(); // 浠诲姟鍙�
+ array[1] = command.getTaskMode(); // 妯″紡
+ array[2] = command.getSourcePosX(); // 婧愪綅缃帓鍙�
+ array[3] = command.getSourcePosY(); // 婧愪綅缃垪鍙�
+ array[4] = command.getSourcePosZ(); // 婧愪綅缃眰鍙�
+ array[5] = command.getDestinationPosX(); // 鐩爣浣嶇疆鎺掑彿
+ array[6] = command.getDestinationPosY(); // 鐩爣浣嶇疆鍒楀彿
+ array[7] = command.getDestinationPosZ(); // 鐩爣浣嶇疆灞傚彿
+ array[8] = command.getCommand();
+// array[10] = 0; //澶囩敤1
+
+ short[] array2 = new short[1];
+ array2[0] = command.getAckFinish();
+ OperateResult result2 = siemensNet.Write("DB100.0", array2);
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+
+ }
+ OperateResult result = siemensNet.Write("DB100.20", array);
+ News.info("鍫嗗灈鏈哄伐浣�2鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), array);
+ News.info("鍫嗗灈鏈哄伐浣�2浠诲姟瀹屾垚纭浣嶄笅鍙慬id:{}] >>>>> {}", slave.getId(), array2);
+
+ int writeCount1 = 1;
+ do {
+ try {
+ if (!result.IsSuccess || !result2.IsSuccess) {
+// if (!resetFlag){
+ News.error("鍐欏叆鍫嗗灈鏈哄伐浣�2plc鏁版嵁澶辫触锛岄噸鏂颁笅鍙戜换鍔� 鍐欏叆鐩存帴澶辫触 ===>> [id:{}],{},[鍐欏叆娆℃暟:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
+ result = siemensNet.Write("DB100.20", array);
+// }
+ Thread.sleep(100);
+ writeCount1++;
+ continue;
+ }
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 36);
+ if (resultRead.IsSuccess) {
+ CrnCommand one = new CrnCommand();
+ one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
+ one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20));
+ one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22));
+ one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
+ one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26));
+ one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28));
+ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
+ one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 32));
+ one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 34));
+ if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode())
+ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
+ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
+ || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
+ || !command.getAckFinish().equals(one.getAckFinish())
+ ) {
+ try {
+ News.error("鍫嗗灈鏈哄伐浣�2鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐�==>涓嶄竴鑷碵id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one));
+ } catch (Exception e) {
+ try {
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command), JSON.toJSON(resultRead));
+ } catch (Exception e1) {
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+
+ }
+// if (!resetFlag){
+ News.error("鍐欏叆鍫嗗灈鏈哄伐浣�2plc鏁版嵁澶辫触锛岄噸鏂颁笅鍙戜换鍔� 鍥炶涓嶄竴鑷� ===>> [id:{}],{},[鍐欏叆娆℃暟:{}]", slave.getId(), JSON.toJSON(command), writeCount1);
+ result = siemensNet.Write("DB100.20", array);
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+
+ }
+ result2 = siemensNet.Write("DB100.0", array2);
+// }
+ writeCount1++;
+ continue;
+ } else {
+ News.info("鍫嗗灈鏈哄伐浣�2鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one));
+ break;
+ }
+ }
+ } catch (Exception e) {
+ News.error("鍫嗗灈鏈哄伐浣�2鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�2,寮傚父锛�" + e);
+ }
+ writeCount1++;
+ } while (writeCount1 < 6);
+
+
+ if (command.getAckFinish() == 0) {
+ if (result.IsSuccess) {
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+
+ do {
+ writeCount2++;
+ short commandFinish = (short) 1;
+ result = siemensNet.Write("DB100.38", commandFinish);
+ if (result.IsSuccess) {
+ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish != 1) {
+ News.error("鍫嗗灈鏈哄伐浣�2浠诲姟纭浣�" + commandFinish + "鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ } else {
+ //浠诲姟鍛戒护鍐欏叆鎴愬姛
+// News.info("鍫嗗灈鏈轰换鍔＄‘璁や綅"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ } else {
+ News.error("鍫嗗灈鏈哄伐浣�2浠诲姟纭浣�" + commandFinish + "鍥炶澶辫触锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ }
+ } else {
+ News.error("鍫嗗灈鏈哄伐浣�2浠诲姟纭浣�" + commandFinish + "鍐欏叆澶辫触锛�" + "寰幆鎵ц娆℃暟:" + writeCount2 + "娆�");
+ }
+ } while (writeCount2 < 5);
+ }
+ }
+
+
+ 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("鍫嗗灈鏈哄懡浠や笅鍙慬{}] >>>>> {}", 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("鍐欏叆鍫嗗灈鏈哄伐浣�2plc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+
+ public void requestStop() {
+ isRunning = 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);
+// }
+
+ }
+
+}
--
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