*

L

13 小时以前 1dacf2305187f5c2fb44f03b6b754c46cb73ba25

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

@@ -100,7 +100,7 @@
    public synchronized int[][] getStePositionNearby(Integer siteNo) {
        try {
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            if (basDevpPositions.isEmpty()) {
            if (basDevpPositions == null || basDevpPositions.isEmpty()) {
                log.error("获取所有站点信息异常");
                return null;
            }
@@ -114,8 +114,11 @@
            List<List<Long>> rgvPositionList = new ArrayList<>();
            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                if (rgvProtocol == null || rgvProtocol.getRgvNo() == null || rgvProtocol.getRgvPos() == null) {
                    continue;
                }
                List<Long> rgvPosition = new ArrayList<>();
@@ -123,17 +126,31 @@
                rgvPosition.add(rgvProtocol.getRgvPos());
                rgvPositionList.add(rgvPosition);
            }
            if (rgvPositionList.isEmpty()) {
                return null;
            }
            Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
            if (rgvNo == -1) {
                log.info("更新小车排序信息异常={}", rgvNo);
                return null;
            }
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            if (basCircularShuttleList == null || basCircularShuttleList.isEmpty()) {
                return null;
            }
            int[][] ints = new int[basCircularShuttleList.size()][2];
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null || basCircularShuttle.getRgvId() == null) {
                    continue;
                }
                if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > basCircularShuttleList.size()) {
                    continue;
                }
                ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
            }
            if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
            if (basCircularShuttleList.get(0) != null
                    && basCircularShuttleList.get(0).getRgvNo() != null
                    && basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
                return ints;
            }
//            String[] oldList = new String[ints.length];
@@ -145,7 +162,7 @@


        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常：" + e);
            log.error("自动更新小车排序信息失败(getStePositionNearby), siteNo={}", siteNo, e);
        }
        return null;

@@ -159,12 +176,23 @@
            boolean sign = false;
            Integer rgvNo = 0;
            List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
            if (basCircularShuttleList == null || basCircularShuttleList.isEmpty()) {
                return;
            }
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
                    sign = true;
                    continue;
                }
                if (basCircularShuttle.getStatus() != 0){
                    sign = true;
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                if (rgvThread == null) {
                    sign = true;
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    sign = true;
@@ -178,6 +206,12 @@
            if (sign && rgvNo != 0) {
                int[][] ints = new int[basCircularShuttleList.size()][2];
                for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                    if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null || basCircularShuttle.getRgvId() == null) {
                        continue;
                    }
                    if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > basCircularShuttleList.size()) {
                        continue;
                    }
                    ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
                }
//                String[] oldList = new String[ints.length];
@@ -192,55 +226,70 @@

//                log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
                for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
                    if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
                        continue;
                    }
                    if (basCircularShuttle.getRgvNo() < 1 || basCircularShuttle.getRgvNo() > rgvList.length) {
                        continue;
                    }
                    int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
                    if (rgv == null || rgv.length < 2) {
                        continue;
                    }
                    basCircularShuttle.setRgvId(rgv[1]);
                    basCircularShuttleService.updateById(basCircularShuttle);
                }
            }

        } catch (Exception e) {
            log.error("自动更新小车排序信息失败，异常：" + e);
            log.error("自动更新小车排序信息失败(updateStePosition)", e);
        }
    }

    /**
     * 站点任务检测  下发小车取放任务
     */
    public synchronized List<List<List<WrkMast>>> DevpTaskNoRun() {
        List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
    public synchronized void DevpTaskNoRun() {

        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
            if (wrkMasts.isEmpty()) {
                return wrkMastListAll;
                return;
            }
            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
            if (differenceInSeconds <= 1000) {
                return wrkMastListAll;
                return;
            }

            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            if (basCircularShuttle == null || basCircularShuttle.getRgvNo() == null) {
                return;
            }
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            if (rgvThread == null) {
                return;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return wrkMastListAll;
            if (rgvProtocol == null || rgvProtocol.getRgvPos() == null) {
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
            List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
            if (basDevpPositions == null || basDevpPositions.isEmpty() || basDevpPositionDevRegion == null || basDevpPositionDevRegion.isEmpty()) {
                return;
            }
            Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
            BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
            BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
            List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
//            List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
            return getWrkMastListAll(siteListAll,basDevpPositionsListUN);
            List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll, basDevpPositionsListUN);
            //下发任务
//            taskDown(wrkMastLists);

            taskDown(wrkMastListAll);
        } catch (Exception e) {
            log.error("自动下发小车取放任务失败，异常：" + e);
            log.error("自动下发小车任务失败，异常：" + e);
        }
        return wrkMastListAll;


    }

@@ -330,140 +379,7 @@
        }
    }

//    public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
//        long rgvId = 0;
//        runRgv:
//        for (List<WrkMast> wrkMastList : wrkMastLists) {
//            for (WrkMast wrkMast : wrkMastList) {
//                while (rgvId <= rgvCount) {
//                    rgvId++;
////                    log.info("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));
//                    if (rgvId > rgvCount) {
//                        break runRgv;
//                    }
//                    BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
//                    if (basCircularShuttle.getStatus() != 0){
//                        continue ;
//                    }
//                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
//                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                    if (rgvProtocol == null) {
//                        continue;
//                    }
//
//                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
//                    if (!wrkMasts.isEmpty()) {
//                        continue;
//                    }
//                    if (rgvProtocol != null
//                            && rgvProtocol.modeType == RgvModeType.AUTO
//                            && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
//                            && rgvProtocol.getTaskNo1() == 0
//                            && rgvProtocol.getAlarm() == 0) {
//                        if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
//                            double finalVelocity = 0.0;     // 最终速度 (m/s)
//                            double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
//                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
//                            if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
////                                List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
////                                if (basDevpPositions.isEmpty()) {
////                                    log.error("获取所有站点信息异常,RGV任务下发失败，请联系管理员！！！");
////                                    break runRgv;
////                                }
////                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
////
////                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
//                                    continue;
////                                }
//                            }
//                        }
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
//                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
//                        rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
//                        rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
//                        rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
//                        rgvCommand.setCommand((short) 1);   //工位1任务确认
//                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
//                        if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
//                            //
//                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                            break runRgv;
//                        }
//                        log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//
//                        wrkMast.setWrkSts(2L);
//                        wrkMast.setRgvNo(rgvProtocol.getRgvNo());
//                        Date now = new Date();
//                        wrkMast.setAppeTime(now);
//                        wrkMast.setCrnStrTime(now);
//                        try {
//                            wrkMastService.updateById(wrkMast);
//                            break;
//                        } catch (Exception e) {
//                            log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
//                        }
//                        break runRgv;
//                    } else if (rgvProtocol != null
//                            && rgvProtocol.modeType == RgvModeType.AUTO
//                            && rgvProtocol.getStatusType() == RgvStatusType.WALK
//                            && rgvProtocol.getTaskNo1() == 0
//                            && rgvProtocol.getAlarm() == 0) {
//                        if (rgvProtocol.getStatusType() == RgvStatusType.WALK) {
//                            double finalVelocity = 0.0;     // 最终速度 (m/s)
//                            double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
//                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
//                            if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
////                                List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
////                                if (basDevpPositions.isEmpty()) {
////                                    log.error("获取所有站点信息异常,RGV任务下发失败，请联系管理员！！！");
////                                    break runRgv;
////                                }
////                                List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
////
////                                if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
//                                continue;
////                                }
//                            }
//                        }
//                        RgvCommand rgvCommand = new RgvCommand();
//                        rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
//                        rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
//                        rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
//                        rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  取放货
//                        rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
//                        rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
//                        rgvCommand.setCommand((short) 1);   //工位1任务确认
//                        rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
//                        if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(3, rgvCommand))) {
//                            //
//                            log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//                            break runRgv;
//                        }
//                        log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
//
//                        wrkMast.setWrkSts(2L);
//                        wrkMast.setRgvNo(rgvProtocol.getRgvNo());
//                        Date now = new Date();
//                        wrkMast.setAppeTime(now);
//                        wrkMast.setCrnStrTime(now);
//                        try {
//                            wrkMastService.updateById(wrkMast);
//                            break;
//                        } catch (Exception e) {
//                            log.error("更新小车任务失败,任务号：" + wrkMast.getWrkNo());
//                        }
//                        break runRgv;
//                    } else {
//                        break runRgv;
//                    }
//                }
//            }
//        }
//    }
    public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {
//0小车车号  1小车编号
        List<Integer> rgvNoM = new ArrayList<>();
        List<Integer> rgvNoR = new ArrayList<>();
        int wrkMastRunCount = 0;
@@ -491,14 +407,20 @@
                            }

                            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
                            if (basCircularShuttle == null) {
                                continue;
                            }
                            if (basCircularShuttle.getStatus() != 0){
                                continue ;
                            }
                            long rgvId = basCircularShuttle.getRgvId();

                            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                            if (rgvThread == null) {
                                continue;
                            }
                            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                            if (rgvProtocol == null) {
                            if (rgvProtocol == null || rgvProtocol.getRgvNo() == null || rgvProtocol.getRgvPos() == null) {
                                continue;
                            }

@@ -510,8 +432,12 @@
                                    && rgvProtocol.modeType == RgvModeType.AUTO
                                    && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                                    && rgvProtocol.getTaskNo1() == 0
                                    && rgvProtocol.getRgvPosInt() != 0
                                    && rgvProtocol.getAlarm() == 0) {
                                BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
                                if (basDevpPosition == null || basDevpPosition.getPlcPosition() == null) {
                                    continue;
                                }
                                if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
                                    if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
                                        if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
@@ -602,7 +528,7 @@
            }

        } catch (Exception e){
            log.error("RGV漫游启动命令下发失败，任务数据===> "+JSON.toJSON(wrkMastListAll));
            log.error("RGV取放货启动命令下发失败，任务数据===> "+JSON.toJSON(wrkMastListAll));
            return;
        }
        try{
@@ -614,6 +540,9 @@
                    continue;
                }
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -639,9 +568,12 @@

    //任务完成
    public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
        try {
            for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
@@ -651,7 +583,7 @@
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING || rgvProtocol.getStatusType() == RgvStatusType.WAITING101) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
@@ -660,7 +592,7 @@
                        && rgvProtocol.getTaskNo1() != 0
                ) {
//                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()).eq("rgv_no",rgvProtocol.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
@@ -712,10 +644,80 @@
                        }
                    } catch (Exception e){}
                    wrkMastService.updateById(wrkMast);
                } else if (rgvProtocol.getStatusType() == RgvStatusType.WAITING101
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ){
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete) {
                        log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
                        break;
                    }
                }
            } catch (Exception e) {
                log.error("小车复位线程报错！" + e);
            }
        } catch (Exception e) {
            log.error("小车复位线程报错！" + e);
        }
    }
    public synchronized void rgvCancelWrkMastSta() {
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            try {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                if (rgvThread == null) {
                    continue;
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL) {
                    log.info("{}号小车等待wcs取消，状态{}，参数{}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.CANCEL
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1() != 0
                ) {

                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(rgvProtocol.getTaskNo1());
                    rgvCommand.setTaskMode1(RgvTaskModeType.CANCEL); // 工位1任务模式:  取消
                    rgvCommand.setSourceStaNo1((short)-1);   //工位1起点
                    rgvCommand.setDestinationStaNo1((short)-1);   //工位1目标站点
//                    rgvCommand.setCommand((short) 1);   //工位1任务确认
//                    rgvCommand.setRgvSome((short) 1);
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
                        //
                        log.error("RGV取消命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
//                        wrkMast.setLogErrTime(new Date());
//                        wrkMast.setLogErrMemo("RGV取消命令下发失败，RGV号={"+rgvProtocol.getRgvNo()+"}===>跳过");
//                        wrkMastService.updateById(wrkMast);
                        continue;
                    }
                    log.info("RGV取消命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));

                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvCommand.getTaskNo1().longValue()).eq("rgv_no",rgvCommand.getRgvNo()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
                        log.error("未查到小车执行任务或者执行任务状态不符合！" + wrkMast);
                        continue;
                    }

                    Date now = new Date();
                    wrkMast.setWrkSts(1L);
                    wrkMast.setRgvNo(0);
                    wrkMast.setAppeTime(now);
                    wrkMast.setLogErrTime(now);

                    wrkMast.setLogErrMemo("RGV申请取消任务，RGV号={"+rgvProtocol.getRgvNo()+"}，取消时间："+now);

                    wrkMastService.updateById(wrkMast);

                }
            } catch (Exception e) {
                log.error("小车取消线程报错！" + e);
            }
        }
    }