#

zjj

2024-07-19 5d0f7a5aa4ee994782f3f3bcc66e23653a6ac40a

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -1,54 +1,550 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.ExtProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

/**
 * 立体仓库WCS系统主流程业务
 * Created by vincent on 2020/8/6
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;

    @Autowired
    private CommonService commonService;
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private FillingMastService fillingMastService;
    @Autowired
    private VacuumMastService vacuumMastService;

    @Value("${wms.url}")
    private String wmsUrl;

    public Integer wrkNo1 = 10000;

    public Integer wrkNo2 = 20000;



    /**
     * 入库站，根据条码扫描生成入库工作档，工作状态1
     * 堆垛机演示  ===>> 库位移转
     */
    @Transactional
    public void generateStoreWrkFile() {
        // 根据输送线plc遍历
    public void getRgvTask() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.InSta inSta : devp.getInSta()) {
                // 获取条码
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                String barcode = barcodeThread.getBarcode();
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
                        && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNO() ==0
                        && !Cools.isEmpty(barcode)) {
                    // 生成工作档
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                for (RgvSlave rgv : slaveProperties.getRgv()) {
                    if (!rgv.getDemo()){
                        continue;
                    }
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isPakMk()){
                        VacuumMast vacuumMast = vacuumMastService.selectByStatusIsN();
                        FillingMast fillingMast = fillingMastService.selectByStatusIsn();
                        Date now = new Date();
                        WrkMastSta wrkMastSta = new WrkMastSta();
                        int workNo = commonService.getWorkNo(0);
                        wrkMastSta.setWrkNo((long)workNo);
                        wrkMastSta.setWrkStart(2);
                        wrkMastSta.setWrkEnd(vacuumMast.getStaNo());
//                    wrkMastSta.setStaStart();
                        wrkMastSta.setStaEnd(fillingMast.getStaNo());
                        wrkMastSta.setCreateTime(now);
                        wrkMastSta.setUpdateTime(now);
                        wrkMastSta.setBignTime(now);
                        wrkMastSta.setType(0);      //类型 0:非空  1:空板
                        wrkMastSta.setWrkType(3);                      //工作类型  1:取（叠盘）  2：放 3：取放 4：拆盘
                        Integer insert = wrkMastStaMapper.insert(wrkMastSta);
                        if (insert>0){
                            devpThread.setPakMk(devp.getId(),false);
                        }
                    }
                }

            }
        }
    }
    public synchronized void RGVDemoShow0() {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
//                    if (){ //输送线状态
//
//                    }

                    for (RgvSlave rgv : slaveProperties.getRgv()) {

                        SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                        RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                        if (rgvProtocol == null) {
                            continue;
                        }else {
                            rgvProtocol = rgvProtocol.clone();
                        }
                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                                && rgvProtocol.getModeType() == RgvModeType.AUTO
                                && rgvProtocol.getLoaded1()==0
                                && rgvProtocol.getTaskNo1() == 0
                                && rgvThread.isPakMk()
                        ){
                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts0();
                            if (!Cools.isEmpty(wrkMastSta)){
                                //  命令下发区 --------------------------------------------------------------------------
                                RgvCommand rgvCommand = new RgvCommand();
                                rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                                rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                                rgvCommand.setTaskNo1(wrkNo1); // 工位1工作号
                                rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                                rgvCommand.setSourceStaNo1(wrkMastSta.getWrkStart().shortValue());   //工位1起点
                                rgvCommand.setDestinationStaNo1(wrkMastSta.getWrkEnd().shortValue());   //工位1目标站点
                                rgvCommand.setCommand((short) 1);   //工位1任务确认
                                if (!MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, rgvCommand))) {
                                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));

                                } else {
                                    vacuumMastStatusSetY(wrkMastSta.getWrkEnd());
                                    rgvThread.setPakMk(false);

                                    wrkMastSta.setWrkSts(1);
                                    Integer update = wrkMastStaMapper.updateById(wrkMastSta);
                                    if (update>0){

                                    }else {
                                        log.error("RGV命令下发后，更新工作任务状态失败");
                                    }

                                }

                            }


                        }

                    }
                }

            }

        } catch (Exception e) {
            log.error("Rgv演示  ===>> 失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    public synchronized void RGVDemoShow1() {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
//                    if (){ //输送线状态
//
//                    }

                    for (RgvSlave rgv : slaveProperties.getRgv()) {
                        if (!rgv.getDemo()) {
                            continue;
                        }
                        SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                        RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                        if (rgvProtocol == null) {
                            continue;
                        }else {
                            rgvProtocol = rgvProtocol.clone();
                        }
                        if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                                && rgvProtocol.getModeType() == RgvModeType.AUTO
                                && rgvProtocol.getLoaded1()==0
                                && rgvProtocol.getTaskNo1() == 0
                                && rgvThread.isPakMk()
                        ){
                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts1();
                            if (!Cools.isEmpty(wrkMastSta)){
                                //  命令下发区 --------------------------------------------------------------------------
                                RgvCommand rgvCommand = new RgvCommand();
                                rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                                rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
                                rgvCommand.setTaskNo1(wrkNo1); // 工位1工作号
                                rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                                rgvCommand.setSourceStaNo1(wrkMastSta.getWrkEnd().shortValue());   //工位1起点
                                rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
                                rgvCommand.setCommand((short) 1);   //工位1任务确认
                                if (!MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, rgvCommand))) {
                                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));

                                } else {
                                    rgvThread.setPakMk(false);
                                    vacuumMastStatusSetN(wrkMastSta.getWrkEnd());
                                    fillingMastStatusSetY(wrkMastSta.getStaEnd());

                                    wrkMastSta.setWrkSts(2);
                                    Integer update = wrkMastStaMapper.updateById(wrkMastSta);
                                    if (update>0){

                                    }else {
                                        log.error("RGV命令下发后，更新工作任务状态失败");
                                    }

                                }

                            }


                        }

                    }
                }

            }

        } catch (Exception e) {
            log.error("Rgv演示  ===>> 失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    public synchronized void RGVDemoShow2() throws InterruptedException {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
//            if (!rgv.getDemo()) {
//                continue;
//            }
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }else {
                rgvProtocol = rgvProtocol.clone();
            }
            if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1() >0
//                    && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
            ){
                boolean rgvComplete = rgvComplete(rgv.getId());
                if (rgvComplete){
                    rgvThread.setPakMk(true);
                }
                List<WrkMastSta> wrkMastStas = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", rgvProtocol.getTaskNo1()));
                if (!Cools.isEmpty(wrkMastStas) || wrkMastStas.size()<=0){
                    WrkMastSta wrkMastSta = wrkMastStas.get(0);
                    wrkMastSta.setWrkSts(3);
                    wrkMastStaMapper.updateById(wrkMastSta);
                }
            }

        }
    }

    public boolean vacuumMastStatusSetN(Integer staNo){
        EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
        vacuumMastEntityWrapper.eq("sta_no",staNo);
        VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
        vacuumMast.setStatus("N");
        boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
        return update;
    }
    public boolean vacuumMastStatusSetY(Integer staNo){
        EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
        vacuumMastEntityWrapper.eq("sta_no",staNo);
        VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
        vacuumMast.setStatus("Y");
        boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
        return update;
    }
    public boolean fillingMastStatusSetN(Integer staNo){
        EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
        fillingMastEntityWrapper.eq("sta_no",staNo);
        FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
        fillingMast.setStatus("N");
        boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
        return update;
    }

    public boolean fillingMastStatusSetY(Integer staNo){
        EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
        fillingMastEntityWrapper.eq("sta_no",staNo);
        FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
        fillingMast.setStatus("Y");
        boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
        return update;
    }



    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }

    public synchronized void ExtTaskAndPut() throws InterruptedException {
        for (ExtSlave extSlave : slaveProperties.getExt()) {
//            if (!rgv.getDemo()) {
//                continue;
//            }
            MelsecExtThread extThread = (MelsecExtThread) SlaveConnection.get(SlaveType.Ext, extSlave.getId());
            ExtProtocol extProtocol = extThread.getExtProtocol();
            if (extProtocol == null) {
                continue;
            }
//            else {
//                extProtocol = extProtocol.clone();
//            }
            if (extProtocol.isTake()){//允许取

            }else if (extProtocol.isPut()){//允许放

            }

        }

    }

    public synchronized void DevpTaskAndPut() throws InterruptedException {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
//                    System.out.println(JSON.toJSONString(staProtocol));
                    if (staProtocol.isAutoing()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,1);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }else if (staProtocol.isLoading()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,3);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }else if (staProtocol.isInEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,5);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }else if (staProtocol.isOutEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,7);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isEmptyMk()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),1,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isFullPlt()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),3,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isCar()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),5,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isLow()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),7,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                }
            }
        } catch (Exception e) {
            log.error("生成小车搬运任务  ===>> 失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
        try{
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                log.error("RGV不在线");
                return;
            }
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1() == 0
                    && rgvThread.isPakMk()
            ) {
                Integer selectCount = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts", 3).ne("wrk_sts", 0));
                if (selectCount>0){
                    log.error("存在执行RGV中任务，但是小车状态空闲！！！");
                    return;
                }

                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().eq("wrk_sts",0));
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(1, wrkMastSta); //命令下发
                    if (sign){
                        wrkMastSta.setWrkSts(1);
                        wrkMastStaMapper.updateById(wrkMastSta);
                    } else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
    }
    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().intValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 0);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }



}