From fd5d26ae0d1dbf71f90b99ef84d09a34e2d10d83 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 07 一月 2025 10:45:50 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java  |    4 
 src/main/java/com/zy/core/thread/impl/NyShuttleThread.java     |    4 
 src/main/java/com/zy/asrs/controller/ShuttleController.java    |   18 ++--
 src/main/java/com/zy/core/action/ShuttleAction.java            |   10 +-
 src/main/java/com/zy/core/action/ForkLiftAction.java           |    6 
 src/main/java/com/zy/core/model/ForkLiftSlave.java             |    4 +
 src/main/java/com/zy/asrs/controller/ForkLiftController.java   |   16 ++--
 src/main/java/com/zy/core/enums/RedisKeyType.java              |    7 +
 src/main/resources/application.yml                             |    2 
 src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java |   27 ++++++
 src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java    |   94 +++++++++++++++++++++--
 11 files changed, 151 insertions(+), 41 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ForkLiftController.java b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
index b42a56f..f9e1d89 100644
--- a/src/main/java/com/zy/asrs/controller/ForkLiftController.java
+++ b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
@@ -164,7 +164,7 @@
 
     @RequestMapping(value = "/command/query")
     public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
-        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
@@ -176,13 +176,13 @@
     @RequestMapping(value = "/command/rollback")
     public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
             , @RequestParam("commandStep") Integer commandStep) {
-        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
         LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
         redisCommand.setCommandStep(commandStep);
-        redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
+        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
         return R.ok();
     }
 
@@ -191,7 +191,7 @@
     public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
             , @RequestParam("commandStep") Integer commandStep
             , @RequestParam("complete") Integer complete) {
-        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
@@ -200,14 +200,14 @@
         List<ForkLiftCommand> commands = assignCommand.getCommands();
         ForkLiftCommand command = commands.get(commandStep);
         command.setComplete(complete != 0);
-        redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
+        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
         return R.ok();
     }
 
     //閲嶅惎浠诲姟(鍛戒护)
     @RequestMapping(value = "/command/restart")
     public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
-        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
@@ -232,11 +232,11 @@
     //鍒犻櫎浠诲姟(鍛戒护)
     @RequestMapping(value = "/command/del")
     public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
-        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
-        redisUtil.del(RedisKeyType.LIFT.key + wrkNo);
+        redisUtil.del(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
         return R.ok();
     }
 
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 4e03ad6..30d15d4 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -81,7 +81,7 @@
             shuttleData.put("moveAdvancePath", null);//绌挎杞﹂璁¤矾寰�
             if (shuttleProtocol.getTaskNo() != 0) {
                 //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
-                Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
+                Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
                 if (object != null) {
                     ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
                     shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//绌挎杞﹂璁¤矾寰�
@@ -165,7 +165,7 @@
 
     @RequestMapping(value = "/command/query")
     public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
-        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
@@ -177,13 +177,13 @@
     @RequestMapping(value = "/command/rollback")
     public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
             , @RequestParam("commandStep") Integer commandStep) {
-        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
         ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
         redisCommand.setCommandStep(commandStep);
-        redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
+        redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
         return R.ok();
     }
 
@@ -192,7 +192,7 @@
     public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
             , @RequestParam("commandStep") Integer commandStep
             , @RequestParam("complete") Integer complete) {
-        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
@@ -201,14 +201,14 @@
         List<ShuttleCommand> commands = assignCommand.getCommands();
         ShuttleCommand command = commands.get(commandStep);
         command.setComplete(complete != 0);
-        redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
+        redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
         return R.ok();
     }
 
     //閲嶅惎浠诲姟(鍛戒护)
     @RequestMapping(value = "/command/restart")
     public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
-        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
@@ -230,11 +230,11 @@
     //鍒犻櫎浠诲姟(鍛戒护)
     @RequestMapping(value = "/command/del")
     public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
-        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
         if (o == null) {
             return R.error();
         }
-        redisUtil.del(RedisKeyType.SHUTTLE.key + wrkNo);
+        redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
         return R.ok();
     }
 
diff --git a/src/main/java/com/zy/core/action/ForkLiftAction.java b/src/main/java/com/zy/core/action/ForkLiftAction.java
index c72deec..3c412e4 100644
--- a/src/main/java/com/zy/core/action/ForkLiftAction.java
+++ b/src/main/java/com/zy/core/action/ForkLiftAction.java
@@ -50,7 +50,7 @@
         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
-        if (redisUtil.set(RedisKeyType.FORK_LIFT.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
+        if (redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
             forkLiftThread.setSyncTaskNo(assignCommand.getTaskNo().intValue());
             return true;
         }
@@ -58,7 +58,7 @@
     }
 
     public synchronized boolean executeWork(Integer liftNo, Integer taskNo) {
-        Object obj = redisUtil.get(RedisKeyType.FORK_LIFT.key + taskNo);
+        Object obj = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + taskNo);
         if (obj == null) {
             return false;
         }
@@ -125,7 +125,7 @@
             //鏇存柊redis鏁版嵁
             redisCommand.setCommandStep(commandStep);
             // 鏇存柊redis鏁版嵁
-            redisUtil.set(RedisKeyType.FORK_LIFT.key + taskNo, JSON.toJSONString(redisCommand));
+            redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + taskNo, JSON.toJSONString(redisCommand));
         }
 
         return true;
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index fb12232..a083581 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -61,7 +61,7 @@
         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
-        if (redisUtil.set(RedisKeyType.SHUTTLE.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
+        if (redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
             shuttleThread.setSyncTaskNo(assignCommand.getTaskNo());
             return true;
         }
@@ -69,7 +69,7 @@
     }
 
     public synchronized boolean executeWork(Integer shuttleNo, Integer taskNo) {
-        Object obj = redisUtil.get(RedisKeyType.SHUTTLE.key + taskNo);
+        Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
         if (obj == null) {
             return false;
         }
@@ -192,7 +192,7 @@
 
             if(updateCommand) {
                 // 鏇存柊redis鏁版嵁
-                redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
+                redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
             }
 
             if (!command.getComplete()) {
@@ -226,7 +226,7 @@
                 }
 
                 //鍒犻櫎redis
-                redisUtil.del(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo());
+                redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
                 return false;//绂佹鍐嶄笅鍙戝懡浠�
             }
         }
@@ -264,7 +264,7 @@
         //鏇存柊redis鏁版嵁
         redisCommand.setCommandStep(commandStep);
         //浠诲姟鏁版嵁淇濆瓨鍒皉edis
-        redisUtil.set(RedisKeyType.SHUTTLE.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+        redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
         return true;
     }
 
diff --git a/src/main/java/com/zy/core/enums/RedisKeyType.java b/src/main/java/com/zy/core/enums/RedisKeyType.java
index 2a9af30..821dc8e 100644
--- a/src/main/java/com/zy/core/enums/RedisKeyType.java
+++ b/src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -2,9 +2,10 @@
 
 public enum RedisKeyType {
 
-    SHUTTLE("shuttle_wrk_no_"),
-    LIFT("lift_wrk_no_"),
-    FORK_LIFT("fork_lift_wrk_no_"),
+    SHUTTLE_WORK_FLAG("shuttle_wrk_no_"),
+    SHUTTLE_FLAG("shuttle_"),
+    FORK_LIFT_WORK_FLAG("fork_lift_wrk_no_"),
+    FORK_LIFT_FLAG("fork_lift_"),
     MAP("realtimeBasMap_"),
     BASIC_MAP("basicMap_"),
     ;
diff --git a/src/main/java/com/zy/core/model/ForkLiftSlave.java b/src/main/java/com/zy/core/model/ForkLiftSlave.java
index f8102fe..cc901ae 100644
--- a/src/main/java/com/zy/core/model/ForkLiftSlave.java
+++ b/src/main/java/com/zy/core/model/ForkLiftSlave.java
@@ -11,6 +11,10 @@
 @Data
 public class ForkLiftSlave extends Slave {
 
+    private Integer rack;
+
+    private Integer slot;
+
     //鎻愬崌鏈虹珯鐐�
     private List<Sta> sta = new ArrayList<>();
 
diff --git a/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java b/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java
index fdbaa2a..9d6ecb5 100644
--- a/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ForkLiftProtocol.java
@@ -1,11 +1,14 @@
 package com.zy.core.model.protocol;
 
+import com.core.common.Cools;
 import com.core.common.SpringUtils;
 import com.zy.asrs.entity.BasLiftErr;
 import com.zy.asrs.service.BasLiftErrService;
+import com.zy.common.utils.RedisUtil;
 import com.zy.core.enums.ForkLiftIoModeType;
 import com.zy.core.enums.ForkLiftProtocolStatusType;
 import com.zy.core.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.RedisKeyType;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
 
@@ -30,6 +33,11 @@
      * 浠诲姟鍙�
      */
     private Integer taskNo = 0;
+
+    /**
+     * PLC浠诲姟鍙�
+     */
+    private Integer wrkNo;
 
     /**
      * 浠诲姟鐘舵��
@@ -159,6 +167,25 @@
         return basLiftErr.getErrName();
     }
 
+    public Integer getTaskNo() {
+        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+        if (null != redisUtil) {
+            Object o = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + this.liftNo);
+            if (!Cools.isEmpty(o)) {
+                this.taskNo = Integer.parseInt(String.valueOf(o));
+            }
+        }
+        return this.taskNo == null ? 0 : this.taskNo;
+    }
+
+    public synchronized void setSyncTaskNo(Integer taskNo) {
+        RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
+        if (null != redisUtil) {
+            redisUtil.set(RedisKeyType.FORK_LIFT_FLAG.key + this.liftNo, taskNo);
+            this.taskNo = taskNo;
+        }
+    }
+
     @Override
     public ForkLiftProtocol clone() {
         try {
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index 932cd79..003af3f 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -195,7 +195,7 @@
     public Integer getTaskNo() {
         RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
         if (null != redisUtil) {
-            Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + this.shuttleNo);
+            Object o = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo);
             if (!Cools.isEmpty(o)) {
                 this.taskNo = Integer.parseInt(String.valueOf(o));
             }
@@ -206,7 +206,7 @@
     public synchronized void setSyncTaskNo(Integer taskNo) {
         RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class);
         if (null != redisUtil) {
-            redisUtil.set(RedisKeyType.SHUTTLE.key + this.shuttleNo, taskNo);
+            redisUtil.set(RedisKeyType.SHUTTLE_FLAG.key + this.shuttleNo, taskNo);
             this.taskNo = taskNo;
         }
     }
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index b70f987..dd31655 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -106,7 +106,7 @@
                         continue;
                     }
 
-                    Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + slave.getId());
+                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
                     if (object == null) {
                         continue;
                     }
@@ -713,7 +713,7 @@
         ArrayList<NavigateNode> path = new ArrayList<>();
         if (shuttleProtocol.getTaskNo() != 0) {
             //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
-            Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
+            Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
             if (object != null) {
                 ShuttleRedisCommand redisCommand = null;
                 try {
diff --git a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
index 82bc397..03ebd42 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -1,6 +1,8 @@
 package com.zy.core.thread.impl;
 
+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.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -14,9 +16,12 @@
 import com.zy.common.ExecuteSupport;
 import com.zy.common.utils.RedisUtil;
 import com.zy.core.News;
+import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.ShuttleAction;
 import com.zy.core.cache.OutputQueue;
 import com.zy.core.enums.ForkLiftProtocolStatusType;
 import com.zy.core.enums.ForkLiftTaskModeType;
+import com.zy.core.enums.RedisKeyType;
 import com.zy.core.model.CommandResponse;
 import com.zy.core.model.ForkLiftSlave;
 import com.zy.core.model.command.ForkLiftCommand;
@@ -56,7 +61,21 @@
 
     @Override
     public boolean connect() {
-        return false;
+        boolean result = false;
+        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1500, slave.getIp());
+        siemensS7Net.setRack(slave.getRack().byteValue());
+        siemensS7Net.setSlot(slave.getSlot().byteValue());
+        OperateResult connect = siemensS7Net.ConnectServer();
+        if(connect.IsSuccess){
+            result = true;
+            OutputQueue.DEVP.offer(MessageFormat.format( "銆恵0}銆戣揣鍙夋彁鍗囨満杩炴帴鎴愬姛 ===>> [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("璐у弶鎻愬崌鏈鸿繛鎺ユ垚鍔� ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+        } else {
+            OutputQueue.DEVP.offer(MessageFormat.format( "銆恵0}銆戣揣鍙夋彁鍗囨満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("璐у弶鎻愬崌鏈鸿繛鎺ュけ璐ワ紒锛侊紒 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+        }
+        // siemensS7Net.ConnectClose();
+        return result;
     }
 
     @Override
@@ -72,9 +91,28 @@
             try {
                 read();
                 Thread.sleep(200);
+                execute();
             } catch (Exception e) {
                 e.printStackTrace();
             }
+        }
+    }
+
+    private void execute() {
+        ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
+        if (forkLiftAction == null) {
+            return;
+        }
+
+        Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + slave.getId());
+        if (object == null) {
+            return;
+        }
+
+        Integer taskNo = Integer.valueOf(String.valueOf(object));
+        if (taskNo != 0) {
+            //瀛樺湪浠诲姟闇�瑕佹墽琛�
+            boolean result = forkLiftAction.executeWork(slave.getId(), taskNo);
         }
     }
 
@@ -109,8 +147,8 @@
                 //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
                 //妯″紡
                 forkLiftProtocol.setModel((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 0));
-                //浠诲姟鍙�
-                forkLiftProtocol.setTaskNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
+                //PLC浠诲姟鍙�
+                forkLiftProtocol.setWrkNo((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
                 //浠诲姟鐘舵��
                 forkLiftProtocol.setProtocolStatus((int) siemensS7Net.getByteTransform().TransInt16(result1.Content, 8));
                 //浠诲姟妯″紡
@@ -194,22 +232,59 @@
 
     @Override
     public CommandResponse pickAndPut(ForkLiftCommand command) {
-        return null;
+        CommandResponse response = new CommandResponse(false);
+
+        short[] array = new short[4];
+        array[0] = command.getTaskNo();//浠诲姟鍙�
+        array[1] = command.getMode();//浠诲姟妯″紡
+        array[2] = command.getPick();//鍙栬揣鏁版嵁
+        array[3] = command.getPut();//鏀捐揣鏁版嵁
+        OperateResult result = siemensS7Net.Write("DB103.0", array);
+        if (result.IsSuccess) {
+            OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
+            if (result2.IsSuccess) {
+                response.setResult(true);
+            }
+        }
+        return response;
     }
 
     @Override
     public CommandResponse shuttleSwitch(ForkLiftCommand command) {
-        return null;
+        CommandResponse response = new CommandResponse(false);
+
+        short[] array = new short[4];
+        array[0] = command.getTaskNo();//浠诲姟鍙�
+        array[1] = command.getMode();//浠诲姟妯″紡
+        array[2] = command.getPick();//鍙栬揣鏁版嵁
+        array[3] = command.getPut();//鏀捐揣鏁版嵁
+        OperateResult result = siemensS7Net.Write("DB103.0", array);
+        if (result.IsSuccess) {
+            OperateResult result2 = siemensS7Net.Write("DB103.16", command.getConfirm());
+            if (result2.IsSuccess) {
+                response.setResult(true);
+            }
+        }
+        return response;
     }
 
     @Override
     public CommandResponse reset(ForkLiftCommand command) {
-        return null;
+        CommandResponse response = new CommandResponse(false);
+        return response;
     }
 
     @Override
     public boolean isIdle() {
-        return false;
+        if (this.forkLiftProtocol.getTaskNo() == null
+                || this.forkLiftProtocol.getProtocolStatus() == null
+        ) {
+            return false;
+        }
+
+        boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
+                && this.forkLiftProtocol.getTaskNo() == 0;
+        return res;
     }
 
     @Override
@@ -229,12 +304,13 @@
 
     @Override
     public boolean setSyncTaskNo(Integer taskNo) {
-        return false;
+        this.forkLiftProtocol.setSyncTaskNo(taskNo);
+        return true;
     }
 
     @Override
     public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
-        return 0;
+        return taskNo;
     }
 
     @Override
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 45b0c92..db898dd 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -163,6 +163,8 @@
     id: 1
     ip: 10.10.10.131
     port: 102
+    rack: 0
+    slot: 0
     staRow: 13
     staBay: 22
     sta[0]:

--
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