#和得服务器

1

20 小时以前 fb74f60f1d8397acf5251ae289e80ab8a056857f

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -5,10 +5,17 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvMap;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasRgvMapService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.common.utils.News;
@@ -18,17 +25,21 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.RgvTaskStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.sql.Wrapper;
import java.text.MessageFormat;
import java.util.Date;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;

/**
 * RGV线程
@@ -41,6 +52,8 @@
    private SiemensS7Net siemensNet;
    private RgvSlave slave;
    private RgvProtocol rgvProtocol;
    private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();

    /**
     * 工位1复位信号
     */
@@ -52,6 +65,18 @@

    //锁定标记
    private boolean PakMk = true;
    //入库标记
//    private boolean PakIn = true;
//    //出库标记
//    private boolean PakOut = true;
//    //根据距离跳过取货
//    private boolean PakRgv  = true;
//    //接驳标记
//    private boolean PakToCrn = true;
    // 任务锁定
    private boolean Paking  = true;
//    //连续任务下发
//    private boolean PakAll = true;

    public RgvThread(RgvSlave slave) {
        this.slave = slave;
@@ -73,18 +98,10 @@
                    case 1:
                        readStatus();
                        break;
//                    // 工位1、2写入数据
//                    case 2:
//                        write((RgvCommand) task.getData());
//                        break;
                    //工位1写入数据
                    case 4:
                        write1((RgvCommand) task.getData());
                    // 小车工位写入数据
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
//                    //工位2写入数据
//                    case 5:
//                        write2((RgvCommand) task.getData());
//                        break;
                    // 复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
@@ -92,33 +109,12 @@
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // RGV编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setAckFinish1((short) 1);  // 任务完成确认位
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short)0);     // 源站
                        command.setDestinationStaNo1((short)0);     // 目标站
                        command.setCommand((short)0);
                        write1(command);
                        break;
                    // 回原点  避让
                    case 9:
                        RgvCommand commandAvoidanceXY = (RgvCommand) task.getData();
                        if (null == commandAvoidanceXY) {
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 9999); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站
                        commandAvoidanceXY.setDestinationStaNo1((short)0);     // 目标站
//                        commandAvoidanceXY.setTaskNo2((short) 0); // 工作号
//                        commandAvoidanceXY.setAckFinish2((short) 1);  // 任务完成确认位
//                        commandAvoidanceXY.setTaskMode2(RgvTaskModeType.GO_ORIGIN); // 任务模式
//                        commandAvoidanceXY.setSourceStaNo2((short)0);     // 源站
//                        commandAvoidanceXY.setDestinationStaNo2((short)0);     // 目标站
                        commandAvoidanceXY.setCommand((short)0);
                        write(commandAvoidanceXY);
                        command.setTaskNo(0); // 工作号
                        command.setTaskStatus(RgvTaskStatusType.NONE); // 任务模式
                        command.setTargetPosition(0);     // 源站
                        command.setWrkTaskPri(0);     // 目标站
                        command.setCommand(false);
                        write2(command);
                        break;
                    default:
                        break;
@@ -130,6 +126,45 @@

        }
    }
    private static final Set<Integer> specialSites = new HashSet<>(
            Arrays.asList(1004,1014,1018,1028,1035));
    public static final Map<Integer, Integer> StaPosition = new HashMap<Integer, Integer>() {{
        put(1004, 1001);put(1014, 1011);put(1018, 1015);put(1028, 1025);put(1035, 1032);

    }};
    public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
        add(1);add(2);

    }};

    public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
        add(3);add(4);

    }};
    /**
     * 初始化站点状态
     */
    private void initSite() {
        ArrayList<Integer> staNos = getStaNo();

            // 站点编号
            for (Integer siteId : staNos) {
                StaProtocol staProtocol = station.get(siteId);
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);
                    station.put(siteId, staProtocol);
                }
                staProtocol.setWorkNo(0);    // ID
                staProtocol.setAutoing(false);      // 自动
                staProtocol.setLoading(false);      // 有物
                staProtocol.setInEnable(false);     // 可入
                staProtocol.setOutEnable(false);    // 可出
                staProtocol.setEmptyMk(false);      // 空板信号
                staProtocol.setStaNo((short) 0);     // 目标站

            }
    }

    /**
     * 初始化RGV状态
@@ -138,22 +173,44 @@
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setMode((short) -1);
        //小车状态
        rgvProtocol.setStatus((short)-1);
        rgvProtocol.setTaskNo1((short)0);
        rgvProtocol.setRgvPosDestination(0);
        rgvProtocol.setMode((short) -1);
        rgvProtocol.setRgvPos(0);
        rgvProtocol.setErr1(false);
        rgvProtocol.setErr2(false);
        rgvProtocol.setErr3(false);
        rgvProtocol.setErr4(false);
        rgvProtocol.setErr5(false);
        rgvProtocol.setErr6(false);
        rgvProtocol.setErr7(false);
        rgvProtocol.setWrkTaskPri((short)0);
        //工位1状态
        rgvProtocol.setTaskNo1(0);
        rgvProtocol.setStatus1((short)-1);
        rgvProtocol.setLoaded1((short)0);
        rgvProtocol.setWalkPos((short)0);
        rgvProtocol.setRgvPos((short)0);
//        rgvProtocol.setTaskNo2((short)0);
//        rgvProtocol.setStatus2((short)-1);
//        rgvProtocol.setLoaded2((short)0);
        rgvProtocol.setAlarm((short)0);
        rgvProtocol.setxSpeed((short) 0);
        rgvProtocol.setxDistance((short) 0);
        rgvProtocol.setxDuration((short) 0);
        rgvProtocol.setLoaded1(false);
        rgvProtocol.setWrkTaskMove1((short)0);
        //工位2状态
        rgvProtocol.setTaskNo2(0);
        rgvProtocol.setStatus2((short)-1);
        rgvProtocol.setLoaded2(false);
        rgvProtocol.setWrkTaskMove2((short)0);
//        rgvProtocol.setAlarm((short)0);
//        rgvProtocol.setxSpeed((short) 0);
//        rgvProtocol.setxDistance((short) 0);
//        rgvProtocol.setxDuration((short) 0);
    }

    private ArrayList<Integer> getStaNo() {
        switch (slave.getId()) {
            case 1:
                return staNos1;
            case 2:
                return staNos2;
            default:
                throw new CoolException("服务器异常");
        }
    }
    @Override
    public boolean connect() {
        boolean result = false;
@@ -174,64 +231,89 @@
        return result;
    }

    private void setBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
        if (value) {
            buffer[byteIndex] |= (1 << bitIndex); // 置位
        } else {
            buffer[byteIndex] &= ~(1 << bitIndex); // 清零
        }
    }
    private void updateFlagInDb(String field, boolean value) {
        try {
            BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);

            EntityWrapper<BasRgv> wrapper = new EntityWrapper<>();
            wrapper.eq("rgv_no", slave.getId());

            BasRgv entity = new BasRgv();
            switch (field) {
                case "pak_mk":    entity.setPakMk(value ? "1" : "0"); break;
                case "pak_in":    entity.setPakIn(value ? "1" : "0"); break;
                case "pak_out":   entity.setPakOut(value ? "1" : "0"); break;
                case "pak_rgv":   entity.setPakRgv(value ? "1" : "0"); break;
                case "pak_to_crn":entity.setPakToCrn(value ? "1" : "0"); break;
                case "paking":entity.setPaking(value ? "1" : "0"); break;
                case "pak_all":entity.setPakAll(value ? "1" : "0"); break;
                default:
                    log.warn("未知标志位字段: {}", field);
                    return;
            }

            basRgvService.update(entity, wrapper);
//            log.info("RGV标志位更新成功 [rgv_no:{}] {}={}", slave.getId(), field, value ? "1" : "0");

        } catch (Exception e) {
            log.error("更新RGV标志位异常 [rgv_no:{}] {}={} 错误：{}", slave.getId(), field, value, e.getMessage());
        }
    }


    public void setPakMk(boolean pakMk) {
        this.PakMk = pakMk;
        updateFlagInDb("pak_mk", pakMk);
    }

    /**
     * 读取状态
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 30);
            ArrayList<Integer> staNos = getStaNo();

            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
            if (result.IsSuccess) {
                if (null == rgvProtocol || rgvProtocol.getRgvNo() == null) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 6));
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 8));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//                rgvProtocol.setStatus2(siemensNet.getByteTransform().TransInt16(result.Content, 16));
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 18));
//                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));
                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 22));
//                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));
//                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));
//                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));
//                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
//                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
//                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
                    rgvProtocol.setRgvNo(siemensNet.getByteTransform().TransInt16(result.Content, 0));

                }
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 2));
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 4));
                rgvProtocol.setRgvPosDestination( siemensNet.getByteTransform().TransInt32(result.Content, 8));
                rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
                rgvProtocol.setStaNo1(siemensNet.getByteTransform().TransInt32(result.Content, 28));
                rgvProtocol.setStaNo2(siemensNet.getByteTransform().TransInt32(result.Content, 32));
                boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 1);
                rgvProtocol.setLoaded1(status1[0]);
                rgvProtocol.setLoaded2(status1[1]);
                boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 36,1);
                rgvProtocol.setErr1(status2[0]);
                rgvProtocol.setErr2(status2[1]);
                rgvProtocol.setErr3(status2[2]);
                rgvProtocol.setErr4(status2[3]);
                rgvProtocol.setErr5(status2[4]);
                rgvProtocol.setErr6(status2[5]);
                rgvProtocol.setErr7(status2[6]);
                rgvProtocol.setErr8(status2[7]);
                boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);
                rgvProtocol.setErr9(status3[0]);
                rgvProtocol.setErr10(status3[1]);
                rgvProtocol.setErr11(status3[2]);
                rgvProtocol.setErr12(status3[3]);
//                BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId()));

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

                // 工位2复位信号
//                if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
//                        || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
//                    if (resetFlag2) {
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setAckFinish2((short)1);
//                        if (write(rgvCommand)) {
//                            resetFlag2 = false;
//                        }
//                    }
//                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
@@ -257,100 +339,37 @@
            initRgv();
        }
    }

    /**
     * 工位1、2同时写入数据
     * 小车工位写入写入数据
     */
    private boolean write(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }
//        convertRow(command);
        command.setRgvNo(slave.getId());
        short[] array = new short[11];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
//        array[0] = command.getAckFinish1();
//        array[1] = command.getTaskNo1();
//        array[2] = command.getTaskMode1();
//        array[3] = command.getSourceStaNo1();
//        array[4] = command.getDestinationStaNo1();
//        array[5] = command.getAckFinish2();
//        array[6] = command.getTaskNo2();
//        array[7] = command.getTaskMode2();
//        array[8] = command.getSourceStaNo2();
//        array[9] = command.getDestinationStaNo2();
//        array[10] = command.getCommand();
        OperateResult result = siemensNet.Write("DB100.0", array);

//        if (command.getAckFinish1() == 0 && command.getAckFinish2() == 0) {
//            short commandFinish = 3;  //工位1、2任务同时写入
//            Thread.sleep(100L);
//            result = siemensNet.Write("DB100.20", commandFinish);
//        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位
            one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站
            one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态
            one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号
            News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }
    }

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

//        siemensNet.Write("DB100.20", command.getCommand());

        byte[] writeBytes = new byte[14];
        command.setRgvNo(slave.getId());
        short[] array = new short[5];
        array[0] = command.getAckFinish1();
        array[1] = command.getTaskNo1();
        array[2] = command.getTaskMode1();
        array[3] = command.getSourceStaNo1();
        array[4] = command.getDestinationStaNo1();
        siemensNet.Write("DB100.10", command.getCommand());

        OperateResult result = siemensNet.Write("DB100.0", array);
        if(specialSites.contains(command.getTargetPosition())){
            command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
        }
        writeInt32(writeBytes, 0, command.getWrkTaskPri());
        writeInt32(writeBytes, 4, command.getTargetPosition());
        writeInt16(writeBytes, 8, (short)command.getTaskStatus());
        writeInt32(writeBytes, 10, command.getTaskNo());
        OperateResult result = siemensNet.Write("DB100.0", writeBytes);

        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(4,command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
            Thread.sleep(100);
            readStatus();
            return false;
@@ -359,20 +378,19 @@
        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 12);
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
//                one.setAckFinish1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setTaskMode1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位
                one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站
                one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态
                one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号
                if (
                    !command.getTaskNo1().equals(one.getTaskNo1()) ||
                        !command.getTaskMode1().equals(one.getTaskMode1()) ||
                        !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
                        !command.getDestinationStaNo1().equals(one.getDestinationStaNo1())
                ){
                        !command.getTaskNo().equals(one.getTaskNo()) ||
                        !command.getTaskStatus().equals(one.getTaskStatus()) ||
                        !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
                        !command.getTargetPosition().equals(one.getTargetPosition())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
@@ -383,7 +401,7 @@
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
@@ -395,61 +413,46 @@
            News.error("RGV命令地址写入后回读出错");
        }

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

                do {
                    writeCount2++;
                    short commandFinish = (short) 1;
                    result = siemensNet.Write("DB100.10", commandFinish);
                    if(result.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.10", (short) 2);
                        if (resultRead.IsSuccess) {
                            commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                            if (commandFinish != 1){
                                News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
        if (result.IsSuccess) {  //任务下发确认
            Thread.sleep(300);
            //任务下发次数
            int writeCount2 = 0;
            do {
                writeCount2++;
                Short commandFinish = 1;
                result = siemensNet.Write("DB100.34.0", commandFinish);
                if(result.IsSuccess){
                    //RGV任务写入后，回读一次，看是否成功
                    Thread.sleep(200);
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
                    if (resultRead.IsSuccess) {
                        commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                        if (commandFinish !=1){
                            News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                        }else{
                            //任务命令写入成功
                            News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                            break;
                        }
                    } else {
                        News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }else {
                        News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
                } else {
                    News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                }
            }while (writeCount2<5);
        }

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

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getTaskNo(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
                    command.getTaskStatus().toString(),
                    command.getTargetPosition(),
                    command.getWrkTaskPri(),
                    new Date()
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {
@@ -459,74 +462,193 @@
        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

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

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
        if (result1.IsSuccess){
            RgvCommand one = new RgvCommand();
            one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//执行工位
            one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//行走目标站
            one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//小车状态
            one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//下发工作号
            News.info("RGV命令下发前读取状态[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
        }
        byte[] writeBytes = new byte[36];
        command.setRgvNo(slave.getId());
        short[] array = new short[6];
        array[0] = command.getAckFinish2();
        array[1] = command.getTaskNo2();
        array[2] = command.getTaskMode2();
        array[3] = command.getSourceStaNo2();
        array[4] = command.getDestinationStaNo2();
        array[5] = command.getCommand();
        if(specialSites.contains(command.getTargetPosition())){
            command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
        }
        writeInt32(writeBytes, 0, command.getWrkTaskPri());
        writeInt32(writeBytes, 4, command.getTargetPosition());
        writeInt16(writeBytes, 8, (short)command.getTaskStatus());
        writeInt32(writeBytes, 10, command.getTaskNo());
        writeBool(writeBytes, 34, 0, command.getCommand());
        OperateResult result = siemensNet.Write("DB100.0", writeBytes);

        OperateResult result = siemensNet.Write("DB100.10", array);

        if (command.getAckFinish2() == 0) {
            short commandFinish = 2;  //工位2任务写入
            Thread.sleep(100L);
            result = siemensNet.Write("DB100.20", commandFinish);
        if (!result.IsSuccess){
            News.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
            if (resultRead.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//执行工位
                one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//行走目标站
                one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//小车状态
                one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//下发工作号
                if (
                        !command.getTaskNo().equals(one.getTaskNo()) ||
                                !command.getTaskStatus().equals(one.getTaskStatus()) ||
                                !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
                                !command.getTargetPosition().equals(one.getTargetPosition())
                ) {
                    try{
                        News.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    News.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    News.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }
        }catch (Exception e){
            News.error("RGV命令地址写入后回读出错");
        }

        if (result.IsSuccess) {  //任务下发确认
            Thread.sleep(300);
            //任务下发次数
            int writeCount2 = 0;
            do {
                writeCount2++;
                Short commandFinish = 1;
                result = siemensNet.Write("DB100.34.0", commandFinish);
                if(result.IsSuccess){
                    //RGV任务写入后，回读一次，看是否成功
                    Thread.sleep(200);
                    OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
                    if (resultRead.IsSuccess) {
                        commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
                        if (commandFinish !=1){
                            News.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                        }else{
                            //任务命令写入成功
                            News.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                            break;
                        }
                    }else {
                        News.error("RGV任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                } else {
                    News.error("RGV任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次");
                }
            }while (writeCount2<5);
        }
        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getTaskNo1().intValue(),
                    command.getTaskNo2().intValue(),
                    command.getTaskNo(),
                    command.getRgvNo(),
                    new Date(),
                    command.getTaskModeType1().toString(),
                    command.getSourceStaNo1().intValue(),
                    command.getDestinationStaNo1().intValue(),
                    command.getSourceStaNo2().intValue(),
                    command.getDestinationStaNo2().intValue(),
                    null,
                    new Date(),
                    null
                    command.getTaskStatus().toString(),
                    command.getTargetPosition(),
                    command.getWrkTaskPri(),
                    new Date()
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}
        } catch (Exception ignore) {
            log.error(ignore.getMessage());
        }

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("RGV 工位2命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位2命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            log.info("RGV 工位命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位2数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位2数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
    public static void writeInt32(byte[] buffer, int index, int value) {
        buffer[index]     = (byte)((value >> 24) & 0xFF);
        buffer[index + 1] = (byte)((value >> 16) & 0xFF);
        buffer[index + 2] = (byte)((value >> 8) & 0xFF);
        buffer[index + 3] = (byte)(value & 0xFF);
    }


    public static void writeInt16(byte[] buffer, int index, short value) {
        buffer[index]     = (byte)((value >> 8) & 0xFF); // 高字节
        buffer[index + 1] = (byte)(value & 0xFF);        // 低字节
    }

    public static void writeBool(byte[] buffer, int byteIndex, int bitIndex, boolean value) {
        if (value) {
            buffer[byteIndex] |= (1 << bitIndex);
        } else {
            buffer[byteIndex] &= ~(1 << bitIndex);
        }
    }

    public Integer getRgvPosI(Integer pos) {
        if (pos == null) return 0;

        // key: 站点号  value: 基准物理位置
        Map<Integer, Integer> posMap = new HashMap<>();
        posMap.put(1004, 6534);
        posMap.put(1007, 33634);
        posMap.put(1010, 75174);
        posMap.put(1014, 102124);
        posMap.put(1018, 138224);
        posMap.put(1021, 178034);
        posMap.put(1024, 219684);
        posMap.put(1028, 246724);
        posMap.put(1031, 288194);
        posMap.put(1035, 315204);
        int tolerance = 50; // 允许误差范围

        for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
            int site = entry.getKey();
            int basePos = entry.getValue();
            if (Math.abs(pos - basePos) <= tolerance) {
                return site;
            }
        }

        return 0; // 没匹配到站点
    }

    @Override
    public void close() {