#

lsh

2024-01-10 f4645599f341a039673939fbe2699387ea5b48d2

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

@@ -119,7 +119,7 @@
                String barcode = barcodeThread.getBarcode();

                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
@@ -322,7 +322,7 @@

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -449,7 +449,7 @@

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo());
                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
@@ -1393,7 +1393,7 @@

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
                if(crnStn1.getStaNo() == wrkMast.getStaNo()){
                if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
                    crnStn = crnStn1;
                    break;
                } else {
@@ -1665,7 +1665,7 @@

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
                if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
                if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
                    crnStn = crnStn1;
                    break;
                } else {
@@ -3838,11 +3838,12 @@
                }

                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING )
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0){
                    if (rgvProtocol.getTaskNo1()!=0&&rgvProtocol.getStatusType1()==RgvStatusType.WAITING){
                        if (rgvProtocol.getTaskNo1()==9999){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
@@ -3853,7 +3854,7 @@
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
@@ -3868,7 +3869,7 @@
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0){
                    }else if (rgvProtocol.getTaskNo2()!=0 && rgvProtocol.getStatusType2()==RgvStatusType.WAITING){
                        if (rgvProtocol.getTaskNo2()==9999){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
@@ -3879,7 +3880,7 @@
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
@@ -3966,7 +3967,7 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastEmptyStaPut() {//放
    public synchronized void rgvRunWrkMastEmptyStaPut() {//拆盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -3983,7 +3984,7 @@
                // 只有当RGV空闲、自动,工位二有物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded2()==1  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && (rgvProtocol.getLoaded2()==3  || rgvProtocol.getLoaded2()==1 )////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物 ；3  1、2层都有物
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -3994,12 +3995,12 @@
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:空板  2:放 4：拆盘
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
                        }else {
                            continue;
                        }
@@ -4029,7 +4030,73 @@
        }
    }

    public synchronized void rgvRunWrkMastEmptyStaTake() {//取
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastEmptyStaPutFull() {//满放
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位二有物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//满放
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
                            if (signMap){
                                wrkMastSta.setWrkSts(2);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }else {
                                log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3933行执行小车放空板任务下发失败");
            log.error("3933行"+e);
        }
    }

    public synchronized void rgvRunWrkMastEmptyStaTake() {//叠盘
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -4046,7 +4113,7 @@
                // 只有当RGV空闲、自动,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        &&  (rgvProtocol.getLoaded2()==0  || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
@@ -4057,12 +4124,75 @@
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  1:取
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                        }else {
                            continue;
                        }
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                            if (signMap){
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                            }else {
                                log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
                        }else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
    }

    public synchronized void rgvRunWrkMastEmptyStaTakeFull() {//满取
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV空闲、自动,工位二无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        &&  rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (basRgvMap == null) {
                        log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                        continue;
                    }
                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                            continue;
                        }
                        boolean sign = false;
                        if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取
                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                        }else {
                            continue;
                        }
@@ -4174,14 +4304,16 @@
     * */
    public synchronized boolean rgvAvoidanceXY(Integer rgvId){
        try{
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1((short)9999); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 工位1任务模式:  回原点
            rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
            rgvCommand.setDestinationStaNo1(basRgvMap.getLockStartRoute().shortValue());
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, rgvCommand))) {
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(9, 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   step=9，回原点 9999任务号
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
@@ -4209,7 +4341,7 @@
            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) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(4, rgvCommand))) {
            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;
@@ -4234,7 +4366,7 @@
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式:  取货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setCommand((short) 1);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(4, rgvCommand))) {
            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;
@@ -4259,7 +4391,7 @@
            rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式:  放货
            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.Crn, rgvId, new Task(4, rgvCommand))) {
            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;
@@ -4272,7 +4404,7 @@
    }

    /*
     * 小车取空板至工位任务
     * 小车取空板至工位任务  叠盘
     * */
    public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
@@ -4284,7 +4416,7 @@
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式:  取货
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
@@ -4297,7 +4429,7 @@
    }

    /*
     * 小车放空板至输送线任务
     * 小车放空板至输送线任务   //拆盘
     * */
    public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
        try{
@@ -4309,7 +4441,57 @@
            rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式:  放货
            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
        }
    }

    /*
     * 小车取空板至工位任务  满取
     * */
    public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式:  满取
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
        }
    }

    /*
     * 小车放空板至输送线任务   //满放
     * */
    public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式:  满放
            rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue());   //工位2目标站点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
@@ -4359,7 +4541,7 @@
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            basRgvMapOther.setStartRoute(lockEndRoute);
            basRgvMapOther.setEndRoute(lockEndRoute);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){