~whyclj/Motor_Monitor.git

package com.motor.conn;
 
import java.util.Date;
 
import com.base.Com;
import com.modbus.data.MyModbusMaster;
import com.modbus.data.MyModbusUtils;
import com.motor.data.Load_motor_state;
import com.motor.data.Motor_control;
import com.motor.data.Motor_inf;
import com.motor.data.Subject_motor_state;
import com.serotonin.modbus4j.BatchRead;
import com.serotonin.modbus4j.BatchResults;
import com.serotonin.modbus4j.code.DataType;
import com.sql.MysqlConnPool;
 
public class Motor_SocketClient_Thread implements Runnable{
    public MysqlConnPool conn_pool;
    public Motor_inf motor;
    
    public Motor_control control;
    public Load_motor_state load_state;
    public Subject_motor_state subject_state;
    
    public MyModbusMaster master;
    
    public static final int MAX_READALARM_COUNT = 20;        //Ò»´Î¶ÁÈ¡¸æ¾¯½ÚµãµÄ×î´óÊýÁ¿
    public int read_alarm_index = 0;                        //¶ÁÈ¡¸æ¾¯Ë÷Òý
    
    public Motor_SocketClient_Thread(Motor_inf motor,MysqlConnPool conn_pool) {
        this.conn_pool = conn_pool;
        this.motor = motor;
        
        load_state = new Load_motor_state(motor.motor_id);
        subject_state = new Subject_motor_state(motor.motor_id);
        control = new Motor_control(motor.motor_id);
        
        motor.load_state = load_state;
        motor.subject_state = subject_state;
        
        master = new MyModbusMaster(motor.motor_ip, MyModbusMaster.SLAVEID_DEFAULT);
    }
        
    @Override
    public void run() {    
        int runCount = 0;
        while(true) {
            try {
                /*Motor_Task_SQL.queryMotor_ControlTable(conn_pool, control);
                //System.out.println(control.isControl_en()+"################33");
                
                if(control.isControl_en()) {
                    *//************************** ¿ØÖÆÊä³ö *******************************//*
                    writeControlSignal(master,control);
                    Motor_Task_SQL.updateMotor_Control(conn_pool, control);
                }*/
                
                Date t1 = new Date();
                Date t2 = new Date();
                if(runCount %2 == 0) {
                    /*************************** ¸üÐÂ¼ÓÔØµç»úÊý¾Ý ******************************/
                    //readLoadMotorSingnal(master,load_state);
                    readMutilLoadMotorSingnal(master,load_state);
                    Motor_Task_SQL.updateLoadMotor_State(conn_pool, load_state);
                    
                    
                }
                if(runCount %3 == 0) {
                    /**************************** ¶ÁÈ¡ÊÜÊÔµç»úÊý¾Ý *****************************/
                    //readSubjectMotorSingnal(master,subject_state);
                    readMutilSubjectMotorSingnal(master,subject_state);
                    //t2 = new Date();
                    Motor_Task_SQL.updateSubjectMotor_State(conn_pool, subject_state);
                    //System.out.println((new Date().getTime()-t2.getTime()));
                }
                //System.out.println((new Date().getTime()-t1.getTime())+"==="+(t2.getTime()-t1.getTime()));
                if(runCount %5 == 0) {
                    /*************************** ¶ÁÈ¡¹ÊÕÏ×´Ì¬ÐÅÏ¢ ******************************/
                    //Date start = new Date();                    
                    //readMotorAlarmData(master,motor);
                    readMutilMotorAlarmData(master,motor);
                    //Date end = new Date();
                    //System.err.println((end.getTime()-start.getTime()));
                }
                //System.err.println(Com.getDateTimeFormat(new Date(), Com.DTF_YMDhms));
                
                Motor_Task_SQL.insertOrUpdateDeviceConnectState(conn_pool, motor.motor_id, master);
                if(runCount%10 == 0) {
                    //¸üÐÂµ±Ç°Éè±¸ip
                    master.setTarget_ip(motor.motor_ip);
                }
                if(runCount > 999900) {
                    runCount = 0;
                }
                runCount ++;                
                Thread.sleep(50);                
            } catch (Exception e) {
                try {
                    Thread.sleep(1000);
                } catch (InterruptedException e1) {
                    //e1.printStackTrace();
                }
                e.printStackTrace();
            }
        }        
    }
 
    /**
     *     ¶ÁÈ¡Éè±¸±¨¾¯ÐÅÏ¢
     * @param master2
     * @param motor2
     */
    private void readMotorAlarmData(MyModbusMaster master2, Motor_inf motor2) {
        for(int i=read_alarm_index ; i< motor2.alarms.size() && i< (read_alarm_index+MAX_READALARM_COUNT);i++) {
            //Date start = new Date();
            motor2.alarms.get(i).checkAlarm((int)master2.checkNullData(MyModbusUtils.readCoilStatus(12000+i*4, master2), motor2.alarms.get(i).alarm_state));
            //Date end = new Date();
            //System.err.println((end.getTime()-start.getTime())+"===="+i);
        }
        read_alarm_index += MAX_READALARM_COUNT;
        if(read_alarm_index >= motor2.alarms.size()) {
            read_alarm_index = 0;
        }
    }
    
    /**
     *     ÅúÁ¿Éè±¸±¨¾¯ÐÅÏ¢
     * @param master2
     * @param motor2
     */
    private void readMutilMotorAlarmData(MyModbusMaster master2, Motor_inf motor2) {
        BatchRead<Integer> batch = motor2.createBatchRead(master2);        
        BatchResults<Integer> res = MyModbusUtils.readMutilRegisters(batch, master2);
        motor2.putBatchResult(res);
        
    }
 
    /**
     * ¶ÁÈ¡ÊÜÊÔµç»úÐÅÏ¢
     * @param master2
     * @param subject_state2
     */
    private void readSubjectMotorSingnal(MyModbusMaster master2, Subject_motor_state subject_state2) {
        subject_state2.sensor_torque = (float) master2.checkNullData(MyModbusUtils.readHoldingRegister(330, DataType.TWO_BYTE_INT_SIGNED, master2), subject_state2.sensor_torque);;             //´«¸ÐÆ÷×ª¾Ø        330
        subject_state2.sensor_power = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(514, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.sensor_power);                //´«¸ÐÆ÷¹¦ÂÊ        514
        subject_state2.fault_confirm = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(801, master2), subject_state2.fault_confirm);                                                    //¹ÊÕÏÈ·ÈÏ            801
        subject_state2.gear_box_power = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(853, DataType.TWO_BYTE_INT_SIGNED, master2), subject_state2.gear_box_power);                //³ÝÂÖÏäÖá¹¦ÂÊ        853
        subject_state2.advance_power = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(854, DataType.TWO_BYTE_INT_SIGNED, master2), subject_state2.advance_power);                //ÍÆ½øÖá¹¦ÂÊ        854
        subject_state2.gear_box_tmp1 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1010, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.gear_box_tmp1);            //³ÝÂÖÏäÖá³ÐÎÂ¶È1    1010
        subject_state2.gear_box_tmp2 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1011, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.gear_box_tmp2);            //³ÝÂÖÏäÖá³ÐÎÂ¶È2    1011
        subject_state2.gear_box_tmp3 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1012, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.gear_box_tmp3);            //³ÝÂÖÏäÖá³ÐÎÂ¶È3    1012
        subject_state2.gear_box_tmp4 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1013, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.gear_box_tmp4);            //³ÝÂÖÏäÖá³ÐÎÂ¶È4    1013
        subject_state2.gear_box_tmp5 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1014, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.gear_box_tmp5);            //³ÝÂÖÏäÖá³ÐÎÂ¶È5    1014
        subject_state2.gear_box_tmp6 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1015, DataType.TWO_BYTE_INT_UNSIGNED, master2), subject_state2.gear_box_tmp6);            //³ÝÂÖÏäÖá³ÐÎÂ¶È6    1015
        subject_state2.gas_station_start = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(4480, master2), subject_state2.gas_station_start);                                            //ÓÍÕ¾Æô¶¯            4480
        subject_state2.gas_station_stop = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(4481, master2), subject_state2.gas_station_stop);                                                //ÓÍÕ¾Í£»ú            4481
        subject_state2.pow_control = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(5683, master2), subject_state2.pow_control);                                                        //¹¦ÂÊ¿ØÖÆ            5683
        subject_state2.torque_control = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(5684, master2), subject_state2.torque_control);                                                    //×ª¾Ø¿ØÖÆ            5684
        subject_state2.transformer_hightmp_alarm = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16000, master2), subject_state2.transformer_hightmp_alarm);                            //±äÑ¹Æ÷¸ßÎÂ±¨¾¯    16000
        subject_state2.transformer_hightmp_fault = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16001, master2), subject_state2.transformer_hightmp_fault);                            //±äÑ¹Æ÷¸ßÎÂ¹ÊÕÏ    16001
        subject_state2.transformer_lackphase_alarm = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16007, master2), subject_state2.transformer_lackphase_alarm);                        //±äÑ¹Æ÷È±Ïà±¨¾¯    16007
        subject_state2.lubrication_pump1_start = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16008, master2), subject_state2.lubrication_pump1_start);                                //Èó»¬±Ã1ÔËÐÐ        16008
        subject_state2.lubrication_pump2_start = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16009, master2), subject_state2.lubrication_pump2_start);                                //Èó»¬±Ã2ÔËÐÐ        16009
        subject_state2.lubrication_remote_start_allow = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16011, master2), subject_state2.lubrication_remote_start_allow);                //Èó»¬ÔÊÐíÔ¶³ÌÆô¶¯    16011    
        subject_state2.remote_control = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17056, master2), subject_state2.remote_control);                                                //Ò£¿Ø/¾ÍµØ        17056
        subject_state2.inverter_ready = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17065, master2), subject_state2.inverter_ready);                                                //±äÆµÆ÷¾ÍÐ÷        17065
        subject_state2.inverter_running = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17066, master2), subject_state2.inverter_running);                                            //±äÆµÆ÷ÔËÐÐ        17066
        subject_state2.inverter_alarm = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17067, master2), subject_state2.inverter_alarm);                                                //±äÆµÆ÷±¨¾¯        17067
        subject_state2.inverter_fault = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17068, master2), subject_state2.inverter_fault);                                                //±äÆµÆ÷¹ÊÕÏ        17068
        subject_state2.lubrication_host_running_allow = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17069, master2), subject_state2.lubrication_host_running_allow);                //Èó»¬ÔÊÐíÖ÷»úÔËÐÐ    17069
        subject_state2.main_switch_state = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17084, master2), subject_state2.main_switch_state);                                            //Ö÷¿ª¹Ø×´Ì¬        17084
        subject_state2.subject_motor_running = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17091, master2), subject_state2.subject_motor_running);                                    //ÊÜÊÔµç»úÔËÐÐ        17091
        subject_state2.subject_motor_alarm = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17136, master2), subject_state2.subject_motor_alarm);                                        //ÊÜÊÔµç»ú±¨¾¯        17136
        subject_state2.subject_motor_fault = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17346, master2), subject_state2.subject_motor_fault);                                        //ÊÜÊÔµç»ú¹ÊÕÏ        17346
        subject_state2.subject_motor_stop = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17347, master2), subject_state2.subject_motor_stop);                                        //ÊÜÊÔµç»ú½ôÍ£        17347
        subject_state2.lubrication_falut = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17348, master2), subject_state2.lubrication_falut);                                            //Èó»¬¹ÊÕÏ            17348
        subject_state2.lubrication_alarm = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17349, master2), subject_state2.lubrication_alarm);                                            //Èó»¬±¨¾¯            17349
        subject_state2.record_time = new Date();
    }
    
    /**
     * ÅúÁ¿¶ÁÈ¡ÊÜÊÔµç»úÐÅÏ¢
     * @param master2
     * @param subject_state2
     */
    private void readMutilSubjectMotorSingnal(MyModbusMaster master2, Subject_motor_state subject_state2) {
        BatchRead<Integer> batch = subject_state2.createBatchRead(master2);        
        BatchResults<Integer> res = MyModbusUtils.readMutilRegisters(batch, master2);
        subject_state2.putBatchResult(res);
    }
 
    /**
     *     ¶ÁÈ¡¼ÓÔØµç»úÐÅÏ¢
     * @param master2
     * @param load_state2
     */
    private void readLoadMotorSingnal(MyModbusMaster master2, Load_motor_state load_state2) {
        load_state2.load_power = (float) master2.checkNullData(MyModbusUtils.readHoldingRegister(58, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_power);                                        //¼ÓÔØ¹¦ÂÊ¸ø¶¨                58    
        load_state2.load_torque = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(364, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_torque);                                        //¼ÓÔØ×ª¾Ø¸ø¶¨                364            
        load_state2.load_motor_speed_limit = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(366, DataType.TWO_BYTE_INT_UNSIGNED_SWAPPED, master2), load_state2.load_motor_speed_limit);        //¼ÓÔØµç»ú×ªËÙÏÞÖÆ            366
        load_state2.load_motor_torque_limit = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(367, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_torque_limit);                //¼ÓÔØµç»ú×ª¾ØÏÞÖÆ            367
        load_state2.load_step_length = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(505, DataType.TWO_BYTE_INT_UNSIGNED, master2), load_state2.load_step_length);                            //¼ÓÔØ²½³¤                    505    
        load_state2.load_motor_inwater_tmp = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1006, DataType.TWO_BYTE_INT_UNSIGNED, master2), load_state2.load_motor_inwater_tmp);            //¼ÓÔØµç»úË®Àä½øË®·çÎÂ        1006
        load_state2.load_motor_outwater_tmp = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1008, DataType.TWO_BYTE_INT_UNSIGNED, master2), load_state2.load_motor_outwater_tmp);            //¼ÓÔØµç»úË®Àä³öË®·çÎÂ        1008
        load_state2.load_motor_curr = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1096, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_curr);                            //¼ÓÔØµç»úµçÁ÷                1096
        load_state2.load_motor_power = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1099, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_power);                            //¼ÓÔØµç»ú¹¦ÂÊ                1099
        load_state2.load_motor_speed = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1101, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_speed);                            //¼ÓÔØµç»ú×ªËÙ                1101
        load_state2.load_motor_vol = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1103, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_vol);                                //¼ÓÔØµç»úµçÑ¹                    1103
        load_state2.load_motor_wind_tmp1 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1119, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_wind_tmp1);                    //¼ÓÔØµç»úÈÆ×éÎÂ¶È1            1119
        load_state2.load_motor_wind_tmp2 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1120, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_wind_tmp2);                    //¼ÓÔØµç»úÈÆ×éÎÂ¶È2            1120
        load_state2.load_motor_wind_tmp3 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1121, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_wind_tmp3);                    //¼ÓÔØµç»úÈÆ×éÎÂ¶È3            1121
        load_state2.load_motor_bear_tmp1 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1122, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_bear_tmp1);                    //¼ÓÔØµç»úÖá³ÐÎÂ¶È1            1122
        load_state2.load_motor_bear_tmp2 = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1123, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_bear_tmp2);                    //¼ÓÔØµç»úÖá³ÐÎÂ¶È2            1123
        load_state2.load_motor_out_tmp = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1250, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_out_tmp);                        //¼ÓÔØµç»ú³ö¿ÚÎÂ¶È            1250
        load_state2.load_motor_into_tmp = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1124, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_into_tmp);                    //¼ÓÔØµç»ú½ø¿ÚÎÂ¶È            1124
        load_state2.load_motor_torque = (float)master2.checkNullData(MyModbusUtils.readHoldingRegister(1251, DataType.TWO_BYTE_INT_SIGNED, master2), load_state2.load_motor_torque);                        //¼ÓÔØµç»ú×ª¾Ø                1251
        load_state2.load_motor_start = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(5680, master2), load_state2.load_motor_start);                                                                //¼ÓÔØµç»úÆô¶¯                5680
        load_state2.load_motor_downtime = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(5681, master2), load_state2.load_motor_downtime);                                                        //¼ÓÔØµç»úÍ£»ú                5681
        load_state2.load_add = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(8000, master2),load_state2.load_add);                                                                                //¼ÓÔØ                        8000
        load_state2.load_reduct = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(8001, master2), load_state2.load_reduct);                                                                        //¼õÔØ                        8001
        load_state2.load_manual = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(8040, master2), load_state2.load_manual);                                                                        //ÊÖ¶¯¼ÓÔØ                    8040
        load_state2.load_motor_stop = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(16005, master2), load_state2.load_motor_stop);                                                                //¼ÓÔØµç»ú½ôÍ£                16005
        load_state2.load_motor_fan_state = (int)master2.checkNullData(MyModbusUtils.readCoilStatus(17082, master2), load_state2.load_motor_fan_state);                                                    //¼ÓÔØµç»ú·ç»ú×´Ì¬    17082                                                                                                                            
        load_state2.record_time = new Date();    
    }
    
    /**
     *     ÅúÁ¿¶ÁÈ¡¼ÓÔØµç»úÐÅÏ¢
     * @param master2
     * @param load_state2
     */
    private void readMutilLoadMotorSingnal(MyModbusMaster master2, Load_motor_state load_state2) {
        //BatchRead<Integer> batch = load_state2.createBatchRead(master2);        
        //BatchResults<Integer> res = MyModbusUtils.readMutilRegisters(batch, master2);
        //load_state2.putBatchResult(res);
        
        BatchRead<Integer> batch = load_state2.createHeadBatchRead(master2);        
        BatchResults<Integer> res = MyModbusUtils.readMutilRegisters(batch, master2);
        load_state2.putHeadBatchResult(res);
        
        batch = load_state2.createBodyBatchRead(master2);        
        res = MyModbusUtils.readMutilRegisters(batch, master2);
        load_state2.putBodyBatchResult(res);
            
    }
    
    /**
     *     Ð´Èë¿ØÖÆÁ¿ÐÅºÅ
     * @param master2
     * @param control2
     */
    private void writeControlSignal(MyModbusMaster master2, Motor_control control2) {
        System.out.println(control2);
        if(control2.load_power >0) {
            MyModbusUtils.writeHoldingRegister(58, control.load_power, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.sensor_torque >0) {
            MyModbusUtils.writeHoldingRegister(330, control.sensor_torque, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.load_torque >0) {
            MyModbusUtils.writeHoldingRegister(364, control.load_torque, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.load_motor_speed_limit >0) {
            MyModbusUtils.writeHoldingRegister(366, control.load_motor_speed_limit, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.load_motor_torque_limit >0) {
            MyModbusUtils.writeHoldingRegister(367, control.load_motor_torque_limit, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.load_step_length >0) {
            MyModbusUtils.writeHoldingRegister(505, control.load_step_length, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.sensor_power >0) {
            MyModbusUtils.writeHoldingRegister(514, control.sensor_power, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.gear_box_power >0) {
            MyModbusUtils.writeHoldingRegister(853, control.gear_box_power, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        if(control2.advance_power >0) {
            MyModbusUtils.writeHoldingRegister(854, control.advance_power, DataType.TWO_BYTE_INT_UNSIGNED, master2);
        }
        control2.clear();
    }
    
}