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.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.common.utils.News;
import com.zy.core.RgvThread2;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.RgvTaskStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;

/**
 * RGV线程
 * Created by vincent on 2022/11/29
 */
@Data
@Slf4j
public class RgvThread implements Runnable, RgvThread2 {

    private SiemensS7Net siemensNet;
    private RgvSlave slave;
    private RgvProtocol rgvProtocol;
    /**
     * 工位1复位信号
     */
    private boolean resetFlag1 = false;
    /**
     * 工位2复位信号
     */
    private boolean resetFlag2 = false;

    //锁定标记
    private boolean PakMk = true;
    //入库标记
    private boolean PakIn = true;
    //出库标记
    private boolean PakOut = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Rgv, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
//                    // 工位1、2写入数据
//                    case 2:
//                        write((RgvCommand) task.getData());
//                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                        break;
//                    //工位2写入数据
                    case 5:
                        write2((RgvCommand) task.getData());
                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1(0); // 工作号
                        command.setAckFinish1(true);  // 任务完成确认位
                        command.setTaskStatus1(RgvTaskStatusType.NONE); // 任务模式
                        command.setTargetPosition1( 0);     // 源站
                        command.setEndStaNo1(0);     // 目标站
                        command.setCommand(false);
                        write1(command);
                        break;
                    case 6:
                        RgvCommand command2 = (RgvCommand) task.getData();
                        if (null == command2) {
                            command2 = new RgvCommand();
                        }
                        command2.setRgvNo(slave.getId()); // RGV编号
                        command2.setTaskNo2(0); // 工作号
                        command2.setAckFinish2(true);  // 任务完成确认位
                        command2.setTaskStatus2(RgvTaskStatusType.NONE); // 任务模式
                        command2.setSourceStaNo2((short)0);     // 源站
                        command2.setDestinationStaNo2((short)0);     // 目标站
                        command2.setCommand(false);
                        write2(command2);
                        break;
                    // 回原点  避让
                    case 9:
//                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
//                        if (null == commandAvoidanceXY) {
//                            commandAvoidanceXY = new RgvCommand();
//                        }
//                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
//                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
//                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
//                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
//                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
//                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
////                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
////                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
////                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
////                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
////                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
//                        commandAvoidanceXY.setCommand((short)0);
//                        write(commandAvoidanceXY);
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
            }

        }
    }

    /**
     * 初始化RGV状态
     */
    private void initRgv() {
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        //小车状态
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setRgvPosDestination(0);
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setRgvPos(0);
        rgvProtocol.setErr1(false);
        rgvProtocol.setErr2(false);
        rgvProtocol.setErr3(false);
        rgvProtocol.setErr4(false);
        rgvProtocol.setErr5(false);
        rgvProtocol.setErr6(false);
        rgvProtocol.setErr7(false);
        //工位1状态
        rgvProtocol.setTaskNo1(0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1(false);
        //工位2状态
        rgvProtocol.setTaskNo2(0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2(false);
//        rgvProtocol.setAlarm((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 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.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initRgv();
        }
//        siemensNet.ConnectClose();
        return result;
    }

    private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
        if (value) {
            buffer[byteIndex] |= (1 << bitIndex); // 置位
        } else {
            buffer[byteIndex] &= ~(1 << bitIndex); // 清零
        }
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0));

                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
                rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 14));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));

                boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
                rgvProtocol.setLoaded1(status1[0]);
                rgvProtocol.setLoaded2(status1[1]);
                boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 26, 1);
                rgvProtocol.setErr1(status2[0]);
                rgvProtocol.setErr2(status2[1]);
                rgvProtocol.setErr3(status2[2]);
                rgvProtocol.setErr4(status2[3]);
                rgvProtocol.setErr5(status2[4]);
                rgvProtocol.setErr6(status2[5]);
                rgvProtocol.setErr7(status2[6]);
                boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 27, 1);
                rgvProtocol.setErr1(status3[0]);
                rgvProtocol.setErr2(status3[1]);
                rgvProtocol.setErr3(status3[2]);
                rgvProtocol.setErr4(status3[3]);
                rgvProtocol.setErr5(status3[4]);
                rgvProtocol.setErr6(status3[5]);
                rgvProtocol.setErr7(status3[6]);

//                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 4));
//                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 8));
//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
//                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
//                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
//                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));

                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));

                // 工位1复位信号
                if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish1(true);
                        if (write1(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }
                }

//                 工位2复位信号
                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish2(true);
                        if (write2(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
                } catch (Exception ignore){
                    System.out.println(ignore);
                }

            } else {
                initRgv();
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
//                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }

//    /**
//     * 工位1、2同时写入数据
//     */
//    private boolean write(RgvCommand command) throws InterruptedException {
//        if (null == command) {
//            log.error("RGV写入命令为空");
//            return false;
//        }
////        convertRow(command);
//        command.setRgvNo(slave.getId());
//        short[] array = new short[11];
//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
//        array[3] = command.getSourceStaNo1();
//        array[4] = command.getDestinationStaNo1();
////        array[0] = command.getAckFinish1();
////        array[1] = command.getTaskNo1();
////        array[2] = command.getTaskMode1();
////        array[3] = command.getSourceStaNo1();
////        array[4] = command.getDestinationStaNo1();
////        array[5] = command.getAckFinish2();
////        array[6] = command.getTaskNo2();
////        array[7] = command.getTaskMode2();
////        array[8] = command.getSourceStaNo2();
////        array[9] = command.getDestinationStaNo2();
////        array[10] = command.getCommand();
//        OperateResult result = siemensNet.Write("DB100.0", array);
//
////        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
////            short commandFinish = 3;  //工位1、2任务同时写入
////            Thread.sleep(100L);
////            result = siemensNet.Write("DB100.20", commandFinish);
////        }
//
//        try {
//            // 日志记录
//            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
//            BasRgvOpt basRgvOpt = new BasRgvOpt(
//                    command.getTaskNo1().intValue(),
//                    command.getTaskNo2().intValue(),
//                    command.getRgvNo(),
//                    new Date(),
//                    command.getTaskModeType1().toString(),
//                    command.getSourceStaNo1().intValue(),
//                    command.getDestinationStaNo1().intValue(),
//                    command.getSourceStaNo2().intValue(),
//                    command.getDestinationStaNo2().intValue(),
//                    null,
//                    new Date(),
//                    null
//            );
//            bean.insert(basRgvOpt);
//        } catch (Exception ignore) {}
//
//        if (result != null && result.IsSuccess) {
//            Thread.sleep(200);
//            this.readStatus();
//            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
//        } else {
//            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
//    }

    /**
     * 工位1写入数据
     */
    private boolean write1(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
//        OperateResultExOne<byte[]> result4 = siemensNet.Read("DB100.10", (short) 2);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(result1.Content, 0));
            one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 4));
            one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(result1.Content, 8));
            one.setTaskNo1(siemensNet.getByteTransform().TransInt32(result1.Content, 10));
            one.setDirection1(siemensNet.getByteTransform().TransInt16(result1.Content, 14));
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
//            one.setTaskNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 2));
//            one.setTaskMode1(siemensNet.getByteTransform().TransInt16(result3.Content, 4));
//            one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 6));
//            one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(result3.Content, 8));
//            one.setCommand(siemensNet.getByteTransform().TransInt16(result4.Content, 0));

            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }
        byte[] writeBytes = new byte[34];
        command.setRgvNo(slave.getId());
        siemensNet.getByteTransform().TransInt32(writeBytes, 0, command.getTargetPosition1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 4, command.getEndStaNo1());
        siemensNet.getByteTransform().TransInt16(writeBytes, 8, command.getTaskStatus1());
        siemensNet.getByteTransform().TransInt32(writeBytes, 10, command.getTaskNo1());
        siemensNet.getByteTransform().TransInt16(writeBytes, 14, command.getDirection1());
        setBool(writeBytes, 32, 0, command.getAckFinish1());

//        command.setRgvNo(slave.getId());
//        short[] array = new short[5];
//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
//        array[3] = command.getSourceStaNo1();
//        array[4] = command.getDestinationStaNo1();
//        siemensNet.Write("DB100.10", command.getCommand());

        OperateResult result = siemensNet.Write("DB100.0", writeBytes);

        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));
                if (
                        !command.getDirection1().equals(one.getDirection1()) ||
                                !command.getTaskNo1().equals(one.getTaskNo1()) ||
                                !command.getTaskStatus1().equals(one.getTaskStatus1()) ||
                                !command.getEndStaNo1().equals(one.getEndStaNo1()) ||
                                !command.getTargetPosition1().equals(one.getTargetPosition1())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    boolean commandFinish = false;
                    result = siemensNet.Write("DB100.32.0", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (!commandFinish){
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

//        if (command.getAckFinish1() == 0) {
//            short commandFinish = 1;  //工位1任务写入
//            Thread.sleep(200);
//            result = siemensNet.Write("DB100.10", commandFinish);
//        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskStatus1().toString(),
                    command.getTargetPosition1(),
                    command.getEndStaNo1(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 工位2写入数据
     */
    private boolean write2(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 34);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setTargetPosition2(siemensNet.getByteTransform().TransInt32(result1.Content, 16));
            one.setEndStaNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 20));
            one.setTaskStatus2(siemensNet.getByteTransform().TransInt16(result1.Content, 24));
            one.setTaskNo2(siemensNet.getByteTransform().TransInt32(result1.Content, 26));
            one.setDirection2(siemensNet.getByteTransform().TransInt16(result1.Content, 30));
            News.error("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }


        OperateResult result2 = siemensNet.Write("DB100.34", false);
        if (result2.IsSuccess){
            News.error("下发前把车子确认位置为0");
        }
        byte[] writeBytes = new byte[34];
        command.setRgvNo(slave.getId());
        siemensNet.getByteTransform().TransInt32(writeBytes, 16, command.getTargetPosition2());
        siemensNet.getByteTransform().TransInt32(writeBytes, 20, command.getEndStaNo2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 24, command.getTaskStatus2());
        siemensNet.getByteTransform().TransInt32(writeBytes, 26, command.getTaskNo2());
        siemensNet.getByteTransform().TransInt16(writeBytes, 30, command.getDirection2());
        setBool(writeBytes, 32, 1, command.getAckFinish2());

        OperateResult result = siemensNet.Write("DB100.0", writeBytes);

        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(5,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 34);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setDirection1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 26));
                one.setTaskStatus1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24));
                one.setEndStaNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 20));
                one.setTargetPosition1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 16));
                if (
                        !command.getDirection2().equals(one.getDirection2()) ||
                                !command.getTaskNo2().equals(one.getTaskNo2()) ||
                                !command.getTaskStatus2().equals(one.getTaskStatus2()) ||
                                !command.getEndStaNo2().equals(one.getEndStaNo2()) ||
                                !command.getTargetPosition2().equals(one.getTargetPosition2())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(5, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (command.getAckFinish1()) {
            if (result.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    boolean commandFinish = false;
                    result = siemensNet.Write("DB100.32.1", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.32", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 1);
                            if (!commandFinish){
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo2(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskStatus2().toString(),
                    command.getTargetPosition2(),
                    command.getEndStaNo2(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    @Override
    public void close() {
        siemensNet.ConnectClose();
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        RgvSlave slave = new RgvSlave();
        slave.setId(1);
        slave.setIp("192.168.6.9");
        slave.setRack(0);
        slave.setSlot(0);
        RgvThread rgvThread = new RgvThread(slave);
        rgvThread.connect();
        rgvThread.readStatus();
        System.out.println(JSON.toJSONString(rgvThread.rgvProtocol));
        Thread.sleep(3000L);

    }

}