#和得服务器

1

9 小时以前 fb74f60f1d8397acf5251ae289e80ab8a056857f

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

@@ -6,6 +6,7 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
@@ -197,7 +198,9 @@
                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    staProtocol.setPakMk(false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    System.out.println(staProtocol);
                    log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                }

@@ -244,6 +247,11 @@
                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
                        if (wrkNo1 != 0){
                            News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                            StaProtocol staProtocolNew = new StaProtocol();
                            staProtocolNew.setWorkNo(wrkNo1);
                            staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                            staProtocolNew.setSiteId(staProtocol.getSiteId());
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
                            if (ledThread != null) {
                                News.error(methodName + ":扫码失败，请重试");
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号="+ wrkMast.getWrkNo()));
@@ -1348,10 +1356,10 @@
//                    continue;
                }
                // 判断堆垛机出库站状态
//                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                     if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

                if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading()
                        ) {
//                    if (slave.getId() == 1 || slave.getId() == 2){
//                        if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
@@ -2612,7 +2620,7 @@
    }

    public synchronized void autoEmptyIn() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
         SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        List<Integer> list = new ArrayList<>();
        list.add(1038);
        for (Integer site:list){
@@ -3045,7 +3053,7 @@
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
            if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
@@ -3053,12 +3061,21 @@
                log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
                continue;
            }
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
                rgvThread.setPaking(true);
            }
            //小车无任务时跳过
            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
                continue;
            }
            //入库放货
            if(rgvThread.isPakIn()){
            if(!rgvThread.isPaking()){
                continue;

            }
            if(!basRgv.getPakAll().equals("1")){
                continue;
            }
            if(basRgv.getPakIn().equals("1")){
                for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
                    boolean flag = false;

@@ -3101,6 +3118,7 @@
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            rgvThread.setPaking(false);
                            wrkMast.setSheetNo("2");
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
@@ -3114,9 +3132,11 @@
                    }

                }
                basRgv.setPakRgv("1");
                basRgvService.updateById(basRgv);
            }
            //出库放货
            if(  rgvThread.isPakOut()){
            if( basRgv.getPakOut().equals("1")){
                for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//入库放货站点
                    boolean flag = false;

@@ -3148,7 +3168,7 @@
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    Integer workNo = 0;
                    if(rgvThread.isPakToCrn()){
                    if(basRgv.getPakToCrn().equals("1")){
                        workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2();  //正常情况出库放货优先工位1放
                    }else{
                        workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1();  //接驳情况优先工位2放
@@ -3163,6 +3183,7 @@
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            rgvThread.setPaking(false);
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
@@ -3175,8 +3196,9 @@
                    }

                }
                basRgv.setPakRgv("1");
                basRgvService.updateById(basRgv);
            }
            rgvThread.setPakRgv(true);//优先放货完成，开启预调度
        }
    }
    /**
@@ -3188,6 +3210,11 @@
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
                continue;
            }
            Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
@@ -3213,10 +3240,22 @@
                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
                    && !rgvProtocol.isLoaded1ing()
                    && !rgvProtocol.isLoaded2ing()){
                rgvThread.setPakRgv(true);
                rgvThread.setPakIn(true);
                rgvThread.setPakOut(true);
                rgvThread.setPakToCrn(true);
                List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk();
                List<WrkMastSta> wrkMastStaLockT = wrkMastStaService.selectLockWrkT();

                if(wrkMastStaLock.size() > 0 && rgvProtocol.getRgvNo() == 1){
                    continue ;
                }
                if(wrkMastStaLockT.size() > 0 && rgvProtocol.getRgvNo() == 2){
                    continue ;
                }
                basRgv.setPakRgv("1");
                basRgv.setPakToCrn("1");
                basRgv.setPakIn("1");
                basRgv.setPakOut("1");
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
                rgvThread.setPakMk(true);
            }

        }
@@ -3234,35 +3273,53 @@
            if (rgvProtocol == null) {
                continue;
            }

            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
                continue;
            }
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
                rgvThread.setPaking(true);
            }
            if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
            }
            // 只有当RGV空闲 并且 无任务时才继续执行
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn()) {
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
                    && basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
                // 如果最近一次是入库模式
//                rgvRunWrkMastInTest();

                if (rgvProtocol.getLastIo().equals("I")) {
                    if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
                    if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
                        //mark - 1 - ....
                        this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        if (rgvProtocol.getTaskNo1()==0){
                            this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        }
                        rgvProtocol.setLastIo("O");
                    } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
                    } else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
                        //mark - 2 - ....
                        this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        if (rgvProtocol.getTaskNo2()==0){
                            this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        }
                        rgvProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (rgvProtocol.getLastIo().equals("O")) {
                    if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
                        this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                    if (basRgv.getOutEnable().equals("1")  && basRgv.getPakOut().equals("1")) {
                        if (rgvProtocol.getTaskNo2()==0){
                            this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); //  出库
                        }
                        rgvProtocol.setLastIo("I");
                    } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
                        this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                    } else if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
                        if (rgvProtocol.getTaskNo1()==0){
                            this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); //  入库
                        }
                        rgvProtocol.setLastIo("O");
                    }
                }
@@ -3272,18 +3329,19 @@
            if(wrkMastSta1 != null && wrkMastSta2 != null){
                rgvThread.setPakMk(false);  //小车双工位锁定
            }
            if(!rgvThread.isPakToCrn()){
                rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
            }
//            if(!rgvThread.isPakToCrn()){
//                rgvRunWrkToCrn(rgv, rgvProtocol,mark); //若小车取到一个接驳任务，第二个工位只能取接驳任务
//            }
//            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
//                rgvPreScheduling();//若暂无下发任务预调度提前到取货点
//            }

            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
                //小车执行放货任务
                rgvOutExecute();

            }
//            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
//                //小车执行放货任务
//                rgvOutExecute();
//
//            }
        }
    }
    public synchronized void rgvRunWrkMastInTest(){
@@ -3330,11 +3388,17 @@
    public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
        for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv入库取货站点
            boolean flag = false;
            BasRgv basRgv = basRgvService.selectById(slave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
                continue;
            }
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            StaProtocol staProtocol2 = null;  //连续取货任务站点
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta3 = null;//连取两个
            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
                if (staProtocol2 == null) {
@@ -3348,18 +3412,9 @@
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                if(wrkMastSta2 != null){
                    wrkMastSta2.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta2);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
                wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
            }

            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
@@ -3389,7 +3444,7 @@
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
             WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
@@ -3403,7 +3458,10 @@
                 result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
            }
            if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
                rgvThread.setPakRgv(false);
                basRgv.setPakRgv("0");
                basRgvService.updateById(basRgv);

//                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
@@ -3411,8 +3469,25 @@
            boolean sign = false;
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(wrkMastSta3 != null){
                    wrkMastSta3.setMk(1);
                    basRgv.setPakAll("0");
                    basRgvService.updateById(basRgv);

                rgvThread.setPakOut(false);//出库不允许
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta3);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
                basRgv.setPakOut("0");
                basRgvService.updateById(basRgv);
                rgvThread.setPaking(false);
//                rgvThread.setPakOut(false);//出库不允许
//                basRgvService.updateById(basRgv);

                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
@@ -3437,7 +3512,14 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            BasRgv basRgv = basRgvService.selectById(slave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！4", slave.getId());
                continue;
            }
            StaProtocol staProtocol2 = null;
            WrkMastSta wrkMastSta3 = null;

            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
                if (staProtocol2 == null) {
@@ -3451,18 +3533,7 @@
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                if(wrkMastSta2 != null){
                    wrkMastSta2.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta2);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }

                wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

            }
            if (staProtocol == null) {
@@ -3508,7 +3579,10 @@
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
            }
            if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
                rgvThread.setPakRgv(false);
                basRgv.setPakRgv("0");
                basRgvService.updateById(basRgv);

//                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
@@ -3517,9 +3591,26 @@
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                    basRgv.setPakToCrn("0");
                    basRgvService.updateById(basRgv);

//                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                }
                rgvThread.setPakIn(false);//入库不允许
                if(wrkMastSta3 != null){
                    wrkMastSta3.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta3);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
                basRgv.setPakIn("0");
                basRgvService.updateById(basRgv);

                rgvThread.setPaking(false);
//                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
@@ -3538,94 +3629,94 @@
    /**
     * 小车出库接驳任务取货下发
     */
    public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
        for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
            boolean flag = false;
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            StaProtocol staProtocol2 = null;
            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                    continue;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
                if (staDetl2 == null) {
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
            }
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
            if (staDetl == null) {
                News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                continue;
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
                    && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(以下需要全true):"
                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
                continue;
            }
            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
            List<Integer> route = new ArrayList<>();
            switch (rgvProtocol.getRgvNo()){
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            boolean result = false;
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
            }
            if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
                rgvThread.setPakRgv(false);
                continue;
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            boolean sign = false;
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }


        }
    }
//    public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
//        for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv出库取货站点
//            boolean flag = false;
//            //遍历rgv入库取货站点
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
//            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
//            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
//            StaProtocol staProtocol2 = null;
//            if(rgvStn.getStaNo2()!= null ){
//                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
//                if (staProtocol2 == null) {
//                    News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
//                    continue;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
//                if (staDetl2 == null) {
//                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
//                    continue;
//                }
//            }
//            if (staProtocol == null) {
//                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
//                continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//
//            // 查询站点详细信息
//            BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
//            if (staDetl == null) {
//                News.error("" + mark + " - 1" + " - 2" + " - 出库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
//                continue;
//            }
//
//            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
//                    && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
//                flag = true;
//            }
//            if (!flag) {
//                News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv出库取货站信息(以下需要全true):"
//                        + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading()
//                        + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isOutEnable()
//                        + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanouting());
//                continue;
//            }
//            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//            List<Integer> route = new ArrayList<>();
//            switch (rgvProtocol.getRgvNo()){
//                case 1: route = RouteUtils.getRouteOne();break;
//                case 2: route = RouteUtils.getRouteTwo();break;
//            }
//            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
//            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
//            if( null == wrkMastSta ) {
//                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
//                continue;
//            }
//            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
//            boolean result = false;
//            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
//                result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//工位2放货站点，工位1取货站点
//            }
//            if(result){//若小车距离放货点距离近于取货点则跳过取货 true跳过取货/false优先取货
//                rgvThread.setPakRgv(false);
//                continue;
//            }
//            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
//            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
//            boolean sign = false;
//            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
//            if (sign){
//                rgvThread.setPakIn(false);//入库不允许
//                try{
//                    wrkMastSta.setWrkSts(1);
//                    wrkMastStaMapper.updateById(wrkMastSta);
//                    log.error("更新小车任务成功");
//                }catch (Exception e){
//                    log.error("更新小车任务失败");
//                }
//            } else {
//                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
//            }
//
//
//        }
//    }
    /**
     * 执行小车搬运任务
     *
@@ -3754,9 +3845,9 @@
//        }
//        return wrkEnable;
//    }
//    /**
//     * 小车预调度
//     */
    /**
     * 小车预调度
     */
//    public synchronized  void rgvPreScheduling(){
//        try{
//            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -3793,7 +3884,7 @@
//                    // 根据输送线plc遍历
//                    for (DevpSlave devp : slaveProperties.getDevp()) {
//                        // 遍历入库口  入库预调度
//                        List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
//                        List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
//                        for (Integer staNo : staNos) {
//                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                            StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3801,9 +3892,8 @@
//                                RgvCommand rgvCommand = new RgvCommand();
//                                rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
//                                rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
//                                rgvCommand.setTaskNo1(9999); // 工位1工作号
//                                rgvCommand.setTaskNo(9999); // 工位1工作号
//                                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  移动
//                                rgvCommand.setEndStaNo1(0);   //工位1 放货后要去的位置
//                                switch (staNo){
//                                    case 1043: rgvCommand.setTargetPosition1(1042);break;  //工位1目标站点
//                                    case 1104: rgvCommand.setTargetPosition1(1105);break;
@@ -3858,6 +3948,7 @@
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {

                return true;
            }

@@ -3927,18 +4018,23 @@
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmSta()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
                    if (barcodeThread == null) {

                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    String barcode = barcodeThread.getBarcode();
                    barcode="999997";
                    String barcode = staProtocol.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            log.error("机械臂抓取任务完成："+JSON.toJSON(barcode)+"===》托盘条码异常");
                            continue;
                        }
                    } else {
                        log.error("机械臂抓取任务完成：===》托盘条码为空");
                        continue;
                    }